CN104821759A

CN104821759A - Brushless direct current motor starting control method with no position sensor for fuel pump

Info

Publication number: CN104821759A
Application number: CN201510246164.7A
Authority: CN
Inventors: 马瑞卿; 刘青; 韩伟健
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2015-05-14
Filing date: 2015-05-14
Publication date: 2015-08-05
Anticipated expiration: 2035-05-14
Also published as: CN104821759B

Abstract

The invention relates to a starting control method of a position sensorless brushless DC motor for a fuel pump, which divides the DC bus voltage fluctuation range of the motor into intervals, and calculates the starting duty of the test motor when the temperature changes with the rated working voltage. Ratio compensation value ΔD ₀ and switching duty cycle compensation value ΔD ₁ , calculate starting duty cycle compensation value ΔD _0x and switching duty cycle compensation value ΔD _1x , and determine the starting parameters of the motor according to the value of the temperature signal T°C: starting duty cycle The duty ratio D′ _0x and the switching duty ratio D′ _1x perform three-stage starting control on the motor. The method of the present invention only needs to obtain the two parameters of the DC bus voltage and the ambient temperature, so the implementation is relatively simple. In addition, the method requires only two steps for the self-adjustment of the starting parameters, and both of them are linear operations, so it is convenient in engineering. used in practice.

Description

Start control method of position sensorless brushless DC motor for fuel pump

技术领域technical field

本发明属于电机的起动控制，具体涉及一种燃油泵用无位置传感器无刷直流电机起动控制方法。The invention belongs to the starting control of a motor, in particular to a starting control method for a position sensorless brushless DC motor used in a fuel pump.

背景技术Background technique

无刷直流电机主要由电机本体、电子换相电路和转子位置传感器三大部分组成。位置传感器作为无刷直流电机故障率最高的部件，其存在降低了无刷直流电机的可靠性且增加了电机的成本与体积。因此，无位置传感器的无刷直流电机及其控制技术成为了近些年研究的热点。虽然无位置传感器无刷直流电机的控制技术已经比较成熟，但还是不能替代有位置传感器控制。无位置传感器无刷直流电机的起动一直是困扰其发展的难题，三段式起动法是最成熟也是最常用的无位置起动控制方法，但需要对控制系统有针对性地设计加速曲线，当母线电压或负载发生变化时便不能保证电机的可靠起动。The brushless DC motor is mainly composed of three parts: the motor body, the electronic commutation circuit and the rotor position sensor. As the component with the highest failure rate of the brushless DC motor, the position sensor reduces the reliability of the brushless DC motor and increases the cost and volume of the motor. Therefore, the brushless DC motor without position sensor and its control technology has become a research hotspot in recent years. Although the control technology of the position sensorless brushless DC motor is relatively mature, it still cannot replace the position sensor control. The starting of position sensorless brushless DC motor has always been a problem that plagues its development. The three-stage starting method is the most mature and commonly used positionless starting control method, but it is necessary to design the acceleration curve for the control system in a targeted manner. When the bus Reliable starting of the motor is not guaranteed when the voltage or load changes.

燃油泵负载是无位置传感器无刷直流电机的理想负载，但由于其特殊的工作环境要求驱动电机必须在母线电压变化、温度变化等恶劣条件下能可靠起动。母线电压变化会影响电机起动过程中的电磁转矩，温度变化时燃油粘度会发生改变进而造成电机负载转矩的变化，以上情况都会造成电机的加速曲线发生改变，影响电机正常起动。因此，无位置传感器无刷直流电机可靠起动控制方法的提出，有助于推动无位置传感器无刷直流电机在航空航天等领域中的应用，具有重要的现实意义。The fuel pump load is an ideal load for the sensorless brushless DC motor, but due to its special working environment, the drive motor must be able to start reliably under harsh conditions such as bus voltage changes and temperature changes. The change of the bus voltage will affect the electromagnetic torque during the starting process of the motor. When the temperature changes, the viscosity of the fuel will change, which will cause the change of the load torque of the motor. The above situations will cause the acceleration curve of the motor to change and affect the normal start of the motor. Therefore, the proposal of a reliable starting control method for the position sensorless brushless DC motor will help promote the application of the position sensorless brushless DC motor in aerospace and other fields, and has important practical significance.

发明内容Contents of the invention

要解决的技术问题technical problem to be solved

为了避免现有技术的不足之处，本发明提出一种燃油泵用无位置传感器无刷直流电机起动控制方法，能够在母线电压以及负载转矩变化的情况下实现电机的可靠起动。有效地降低了电机起动失败的故障率，减小了飞机“空中停车的可能性”，对无位置传感器无刷直流电机在航空航天领域中的应用具有积极的推动作用。In order to avoid the disadvantages of the prior art, the present invention proposes a position sensorless brushless DC motor starting control method for a fuel pump, which can realize reliable starting of the motor under the condition of bus voltage and load torque changes. It effectively reduces the failure rate of motor starting failure, reduces the "possibility of aircraft parking in the air", and has a positive role in promoting the application of position sensorless brushless DC motors in the aerospace field.

技术方案Technical solutions

一种燃油泵用无位置传感器无刷直流电机起动控制方法，其特征在于步骤如下：A sensorless brushless DC motor starting control method for a fuel pump, characterized in that the steps are as follows:

步骤1：将电机工作的直流母线电压波动范围划分成5～8个区间，依据公式(1)和(2)确定不同电压区间内控制电机起动的起动占空比D_0x和切换占空比D_1x：Step 1: Divide the fluctuation range of the DC bus voltage where the motor works into 5 to 8 intervals, and determine the starting duty cycle D _0x and switching duty cycle D for controlling motor startup in different voltage intervals according to formulas (1) and (2) _1x :

${D D.}_{00 x x} = = \frac{{U u}_{00}}{{U u}_{x x}} - - - - - - ((11))$

${D D.}_{11 x x} = = \frac{{U u}_{11}}{{U u}_{x x}} - - - - - - ((22))$

其中：U₀表示起动电压、U₁表示从外同步到自同步的切换电压，U_x表示不同的电压区间的电压值，x＝1,2,3...；Among them: U ₀ represents the starting voltage, U ₁ represents the switching voltage from external synchronization to self-synchronization, U _x represents the voltage value of different voltage intervals, x=1,2,3...;

步骤2：在额定工作电压情况下，测试电机随温度变化时的起动占空比补偿值ΔD₀和切换占空比补偿值ΔD₁，其中：Step 2: In the case of rated working voltage, test the starting duty cycle compensation value ΔD ₀ and switching duty cycle compensation value ΔD ₁ when the motor changes with temperature, where:

$\{\begin{matrix} Δ Δ {D D.}_{00} = = ((0.2 0.2 ~ ~ 0.5 0.5)) \cdot &Center Dot; {D D.}_{00} \\ {D D.}_{00} = = {U u}_{00} / / {U u}_{d d} \end{matrix} - - - - - - ((33))$

$\{\begin{matrix} Δ Δ {D D.}_{11} = = ((0.2 0.2 ~ ~ 0.5 0.5)) \cdot &Center Dot; {D D.}_{11} \\ {D D.}_{11} = = {U u}_{11} / / {U u}_{d d} \end{matrix} - - - - - - ((44))$

其中：D₀表示在额定工作电压下起动时的占空比，D₁表示在额定工作电压下切换时的占空比，U_d表示母线电压；Among them: D ₀ represents the duty cycle when starting under the rated operating voltage, D ₁ represents the duty cycle when switching under the rated operating voltage, U _d represents the bus voltage;

步骤3：计算起动占空比补偿值ΔD_0x和切换占空比补偿值ΔD_1x：Step 3: Calculate the starting duty cycle compensation value ΔD _0x and switching duty cycle compensation value ΔD _1x :

ΔD_0x＝ΔD₀·U_d/U_x (5)ΔD _0x = ΔD ₀ ·U _d /U _x (5)

ΔD_1x＝ΔD₁·U_d/U_x (6)ΔD _1x = ΔD ₁ ·U _d /U _x (6)

步骤4：根据温度信号T℃的值，确定电机的起动参数：起动占空比D'_0x和切换占空比D′_1x，Step 4: Determine the starting parameters of the motor according to the value of the temperature signal T°C: starting duty cycle D' _0x and switching duty cycle D' _1x ,

${D D.}_{00 x x}^{' '} = = \{\begin{matrix} {D D.}_{00 x x} + + Δ Δ {D D.}_{00 x x} & ((T T < < - - 2525)) \\ {D D.}_{00 x x} & ((T T &GreaterEqual; &Greater Equal; - - 2525)) \end{matrix} - - - - - - ((77))$

${D D.}_{11 x x}^{' '} = = \{\begin{matrix} {D D.}_{11 x x} + + Δ Δ {D D.}_{11 x x} & ((T T < < - - 2525)) \\ {D D.}_{11 x x} & ((T T &GreaterEqual; &Greater Equal; - - 2525)) \end{matrix} - - - - - - ((88))$

步骤5：根据电机的起动参数D'_0x和D′_1x，对电机进行三段式起动控制。Step 5: According to the starting parameters D' _0x and D' _1x of the motor, perform three-stage starting control on the motor.

有益效果Beneficial effect

本发明提出的一种燃油泵用无位置传感器无刷直流电机起动控制方法，与现有技术相比有如下优点：A kind of position sensorless brushless DC motor starting control method proposed by the present invention has the following advantages compared with the prior art:

(1)燃油泵用无位置传感器无刷直流电机起动通常使用三段式的起动控制方法，该方法设计的电机加速曲线适应性不好，一旦电机负载发生变化或直流母线电压发生波动都很可能造成电机起动的失败。而本发明提出的起动控制方法，正是考虑到了燃油泵工作过程中很可能出现的母线电压波动与负载转矩变化等恶劣情况，有针对性地提出了相应的解决措施，从而保证了电机在恶劣环境下起动的可靠性。有助于推动无位置传感器控制技术在我国航空航天产品中的应用，缩小与国外在该技术领域上的差距。(1) The position sensorless brushless DC motor used for the fuel pump usually uses a three-stage starting control method. The motor acceleration curve designed by this method is not adaptable. Once the motor load changes or the DC bus voltage fluctuates, it is very likely Cause the motor to fail to start. The starting control method proposed by the present invention just takes into account the possible adverse conditions such as bus voltage fluctuations and load torque changes that may occur during the operation of the fuel pump, and puts forward corresponding solutions in a targeted manner, thereby ensuring that the motor is running smoothly. Reliability of starting in harsh environments. It is helpful to promote the application of position sensorless control technology in my country's aerospace products and narrow the gap with foreign countries in this technology field.

(2)由于常用的无位置传感器无刷直流电机控制系统，其本身一般都具备直流母线电压和环境温度检测电路，因此本方法不需要进行额外的电路设计。(2) Since the commonly used sensorless brushless DC motor control system itself generally has DC bus voltage and ambient temperature detection circuits, this method does not require additional circuit design.

(3)由于本方法只需要获取直流母线电压和环境温度两个参数即可，因此实现也比较简单，此外，该方法进行起动参数自调整的过程只需要两步，且均为线性运算，因此方便在工程实际中使用。(3) Since this method only needs to obtain the two parameters of the DC bus voltage and the ambient temperature, the implementation is relatively simple. In addition, the process of self-adjustment of the starting parameters in this method only requires two steps, and both of them are linear operations. Therefore, It is convenient to use in engineering practice.

附图说明Description of drawings

图1：无刷直流电机带燃油泵负载升压升频曲线。Figure 1: The boost frequency curve of brushless DC motor with fuel pump load.

图2：起动控制流程图。Figure 2: Start control flow chart.

图3：母线电压和温度采集电路；Figure 3: Bus voltage and temperature acquisition circuit;

(a)母线电压检测电路原理图(a) Schematic diagram of bus voltage detection circuit

(b)温度检测电路原理图(b) Schematic diagram of temperature detection circuit

图4：频率上升曲线和占空比上升曲线；Figure 4: Frequency rising curve and duty cycle rising curve;

(a)频率上升曲线(a) Frequency rising curve

(b)占空比上升曲线(b) Duty cycle rising curve

图5：母线电压为24V环境温度为-30℃时带载起动的试验波形。Figure 5: The test waveform of on-load starting when the bus voltage is 24V and the ambient temperature is -30°C.

具体实施方式Detailed ways

现结合实施例、附图对本发明作进一步描述：Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

本发明方法能够在母线电压以及负载转矩变化的情况下实现电机的可靠起动，有效地降低了电机起动失败的故障率，减小了飞机“空中停车的可能性”。The method of the invention can realize the reliable starting of the motor under the condition that the bus voltage and the load torque vary, effectively reduces the failure rate of the motor starting failure, and reduces the "possibility of parking in the air" of the aircraft.

正常情况下，电机起动的加速曲线如图1所示，起动时的换相频率为f₀、切换时的换相频率为f₁、起动电压为U₀、切换电压为U₁、切换时间为t₁。该方法通过检测电机的母线电压和环境温度并进行判断，从而自动调整电机的起动参数，以适应不同母线电压和不同温度情况下电机的起动要求。Under normal circumstances, the acceleration curve of motor starting is shown in Figure 1. The commutation frequency at start is f ₀ , the commutation frequency at switching is f ₁ , the starting voltage is U ₀ , the switching voltage is U ₁ , and the switching time is t ₁ . The method detects and judges the bus voltage and ambient temperature of the motor, thereby automatically adjusting the starting parameters of the motor to meet the starting requirements of the motor under different bus voltages and different temperatures.

具体实施例，以一个260W燃油泵用无位置传感器无刷直流电机控制系统为对象进行试验验证，该电机的额定工作电压为28V。In a specific embodiment, a sensorless brushless DC motor control system for a 260W fuel pump is used as an object for test verification, and the rated operating voltage of the motor is 28V.

无位置传感器无刷直流电机控制系统的母线电压和温度采集电路，如图3所示，其中OPA365为电压跟随器。根据系统的供电电压与PWM斩波频率，选择分压电阻RV1、RV2与CV1的值，使得采样电压幅值在0～3V之内，且需要滤除母线电压中高频的PWM斩波干扰。由于系统的供电电压为28V，PWM斩波频率为25kHz，因此选择分压电阻RV1＝100kΩ，RV2＝9.1kΩ；为了滤除母线电压中的PWM斩波干扰，选择CV1＝0.022μF。The bus voltage and temperature acquisition circuit of the position sensorless brushless DC motor control system is shown in Figure 3, in which OPA365 is a voltage follower. According to the power supply voltage and PWM chopping frequency of the system, the values of voltage divider resistors RV1, RV2, and CV1 are selected so that the sampling voltage amplitude is within 0-3V, and the high-frequency PWM chopping interference in the bus voltage needs to be filtered out. Since the power supply voltage of the system is 28V and the PWM chopping frequency is 25kHz, the divider resistors RV1=100kΩ and RV2=9.1kΩ are selected; in order to filter out the PWM chopping interference in the bus voltage, CV1=0.022μF is selected.

正常情况下，电机起动的加速曲线中：起动时的换相频率f₀＝10Hz、切换时的换相频率f₁＝85Hz、起动电压U₀＝1.4V、切换电压U₁＝5.6V、切换时间t₁＝0.5s。Under normal circumstances, in the acceleration curve of motor startup: commutation frequency f ₀ at start = 10Hz, commutation frequency f ₁ at switching = 85Hz, starting voltage U ₀ = 1.4V, switching voltage U ₁ = 5.6V, switching Time t ₁ =0.5s.

第一步：直流母线电压的变化范围为22V～32V，将其划分成6个不同区间，依据公式(1)和(2)确定出不同电压区间内电机起动的起动占空比D_0x和切换占空比D_1x。其频率上升曲线和占空比上升曲线如图4所示。Step 1: The variation range of the DC bus voltage is 22V ~ 32V, which is divided into 6 different intervals, and the starting duty cycle D _0x and the switching of the motor starting in different voltage intervals are determined according to the formulas (1) and (2). Duty cycle D _1x . Its frequency rising curve and duty cycle rising curve are shown in Fig. 4 .

第二步：在额定工作电压情况下，通过实验确定电机随温度变化的起动占空比补偿值满足：ΔD₀＝0.3D₀＝0.3×1.4/28＝0.015，切换占空比补偿值满足：ΔD₁＝0.3D₁＝0.3×5.6/28＝0.06。Step 2: In the case of rated working voltage, it is determined through experiments that the starting duty ratio compensation value of the motor changing with temperature satisfies: ΔD ₀ =0.3D ₀ =0.3×1.4/28=0.015, and the switching duty ratio compensation value satisfies: ΔD ₁ =0.3D ₁ =0.3×5.6/28=0.06.

第三步：假设当前的母线电压值为24V，根据母线电压所在区间确定起动占空比D_0x以及起动占空比补偿值ΔD_0x，切换占空比D_1x和切换占空比补偿值ΔD_1x分别满足：Step 3: Assuming that the current bus voltage value is 24V, determine the starting duty cycle D _0x and the starting duty cycle compensation value ΔD _0x , the switching duty cycle D _1x and the switching duty cycle compensation value ΔD _1x according to the range of the bus voltage Satisfied respectively:

$\{\begin{matrix} {D D.}_{00 x x} = = {U u}_{00} / / {U u}_{x x} = = 1.4 1.4 / / 24 twenty four = = 0.058 0.058 \\ Δ Δ {D D.}_{00 x x} = = Δ Δ {D D.}_{00} \cdot &Center Dot; {U u}_{d d} / / {U u}_{x x} = = 0.015 0.015 \times \times 2828 / / 24 twenty four = = 0.0175 0.0175 \end{matrix} - - - - - - ((99))$

$\{\begin{matrix} {D D.}_{11 x x} = = {U u}_{11} / / {U u}_{x x} = = 5.6 5.6 / / 24 twenty four = = 0.23 0.23 \\ Δ Δ {D D.}_{11 x x} = = Δ Δ {D D.}_{11} \cdot &Center Dot; {U u}_{d d} / / {U u}_{x x} = = 0.06 0.06 \times \times 2828 / / 24 twenty four = = 0.07 0.07 \end{matrix} - - - - - - ((1010))$

第四步：假设此时环境温度信号T＝-30(℃)，电机的起动占空比D'_0x和切换占空比D′_1x为：Step 4: Assuming that the ambient temperature signal T=-30(°C), the starting duty cycle D' _0x and switching duty cycle D' _1x of the motor are:

$\{\begin{matrix} {D D.}_{00 x x}^{' '} = = {D D.}_{00 x x} + + Δ Δ {D D.}_{00 x x} = = 0.058 0.058 + + 0.0175 0.0175 = = 0.0775 0.0775 \\ {D D.}_{11 x x}^{' '} = = {D D.}_{11 x x} + + Δ Δ {D D.}_{11 x x} = = 0.23 0.23 + + 0.07 0.07 = = 0.30 0.30 \end{matrix} - - - - - - ((1111))$

第五步：根据计算的起动参数(D'_0x和D′_1x)，结合电机的加速曲线(图1)按照控制流程图(图2)对电机进行三段式起动控制，其起动实验波形如图5所示。Step 5: According to the calculated starting parameters (D' _0x and D' _1x ), combined with the acceleration curve of the motor (Fig. 1), the three-stage starting control of the motor is carried out according to the control flow chart (Fig. 2). The waveform of the starting experiment is as follows: Figure 5 shows.

Claims

1. a fuel pump brushless DC motor without position sensor method for starting-controlling, is characterized in that step is as follows:

Step 1: the DC bus-bar voltage fluctuation range of machine operation is divided into 5 ~ 8 intervals, determines according to formula (1) and (2) the starting duty ratio D controlling electric motor starting in different voltage range _0xwith switching duty cycle D _1x:

D_{0 x} = \frac{U_{0}}{U_{x}} - - - (1)

D_{1 x} = \frac{U_{1}}{U_{x}} - - - (2)

Wherein: U ₀represent starting voltage, U ₁represent and be synchronized to self synchronous switched voltage from outward, U _xrepresent the magnitude of voltage of different voltage ranges, x=1,2,3...;

Step 2: in rated operational voltage situation, starting duty ratio offset Δ D when testing of electric motors varies with temperature ₀with switching duty cycle offset Δ D ₁, wherein:

\{\begin{matrix} {ΔD}_{0} = (0.2 ~ 0.5) \cdot D_{0} \\ D_{0} = U_{0} / U_{d} \end{matrix} - - - (3)

\{\begin{matrix} {ΔD}_{1} = (0.2 ~ 0.5) \cdot D_{1} \\ D_{1} = U_{1} / U_{d} \end{matrix} - - - (4)

Wherein: D ₀represent duty ratio when starting under rated operational voltage, D ₁represent duty ratio when switching under rated operational voltage, U _drepresent busbar voltage;

Step 3: calculate and start duty ratio offset Δ D _0xwith switching duty cycle offset Δ D _1x:

ΔD _0x＝ΔD ₀·U _d/U _x(5)

ΔD _1x＝ΔD ₁·U _d/U _x(6)

Step 4: according to the value of temperature signal T DEG C, determine the start-up parameters of motor: start duty ratio D' _0xwith switching duty cycle D ' _1x,

D_{0 x}^{'} = \{\begin{matrix} D_{0 x} + {ΔD}_{0 x} & (T < - 25) \\ D_{0 x} & (T &GreaterEqual; - 25) \end{matrix} - - - (7)

D_{1 x}^{'} = \{\begin{matrix} D_{1 x} + {ΔD}_{1 x} & (T < - 25) \\ D_{1 x} & (T &GreaterEqual; - 25) \end{matrix} - - - (8)

Step 5: according to the start-up parameters D' of motor _0xwith D ' _1x, three steps start control is carried out to motor.