CN105007010A - Method for adjusting speed of high-power biaxial contra-rotating brushless direct-current motor for underwater vehicles - Google Patents
Method for adjusting speed of high-power biaxial contra-rotating brushless direct-current motor for underwater vehicles Download PDFInfo
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Abstract
The invention relates to a method for adjusting the speed of a high-power biaxial contra-rotating brushless direct-current motor for underwater vehicles. After inner and outer rotors rotate an angle of one power cycle, if the starting time of a motor is within 6s, the PWM duty cycle is raised by 1% for each interruption through system cycle interruption; if the difference between the total speed of the motor and the speed set by a main control center of an underwater vehicle is within 100 r/min, the speed is adjusted, or the PWM duty cycle is raised from 0 to 100% in 6s; when the starting time of the motor is beyond 6s, reference current is generated through speed adjustment, motor current detected by a system is received and adjusted, and the PWM duty cycle is calculated; and after inner and outer rotor position detection and phase commutation control, six driving signals and PWM waves meeting the duty cycle requirement of the process are output to perform PWM modulation. The method of the invention has the advantages of wide speed adjustment range, good speed adjustment performance, fast response, high stability, and the like. Test shows that the method satisfies the actual use requirement of underwater vehicles.
Description
Technical field
The invention belongs to submarine navigation device and brshless DC motor control field, being specifically related to the high-power twin shaft of a kind of submarine navigation device to turning method for regulating speed of brushless direct current motor.
Background technology
Autonomous Underwater Vehicle is a kind of unmanned platform of intellectuality that can perform various military-civil task under complicated marine environment.Underwater environment is badly dangerous, and the diving depth of people is limited, and submarine navigation device can meet the demands such as scientific research, military operation and business application preferably, abundant development and utilization marine resources.
High-power brushless direct current machine has that reliability is high, speed-regulating range width, good speed adjustment features, operational efficiency advantages of higher, is particularly useful for the field such as Aeronautics and Astronautics, navigation system effectiveness, reliability being had to particular/special requirement.High-power twin shaft is to turning brshless DC motor based on active force and reaction force principle design, and under the promotion of electromagnetic torque, inside and outside two rotors rotate simultaneously round about.This twin shaft is mainly used in twin shaft under water, can effectively prevents roll phenomenon to turning in propulsion system, significantly improve the propulsive efficiency of submarine navigation device turning brshless DC motor.
Owing to adopting electronics commutation, in running, there is commutation and PWM torque pulsation in brshless DC motor; Simultaneously high-power two brshless DC motor that turns is because inner and outer rotors is all in rotation, and nominal torque is comparatively large and rated speed is higher, and system cloud gray model is more complicated, adds to control motor and run and the difficulty of speed governing; In addition due under submarine navigation device works in complicated rough seas, require higher for the stability of its propulsion system and speed adjusting performance.Therefore invent the high-power twin shaft of a kind of submarine navigation device and seem very important to turning method for regulating speed of brushless direct current motor.
Summary of the invention
The technical problem solved
In order to avoid the deficiencies in the prior art part, the present invention proposes the high-power twin shaft of a kind of submarine navigation device to turning method for regulating speed of brushless direct current motor, realize motor safety, steadily, fast start, there is speed-regulating range width, good speed adjustment features, fast response time, stability advantages of higher, by verification experimental verification, meet submarine navigation device actual operation requirements.
Technical scheme
A kind of submarine navigation device to turning method for regulating speed of brushless direct current motor, is characterized in that step is as follows with high-power twin shaft:
Step 1: after motor completes initial start, turns over an electric cycle as completing initial start using motor inner and outer rotors, then receives the rotary speed instruction that submarine navigation device Master Control Center sends;
Step 2, parallel starting step a and step b two sequence of steps:
Step a sequence:
Step a1: when motor starting time is not more than 6s, performs step a2; If more than 6s, perform step a5;
Step a2: regulate PWM duty ratio by interrupt mode, each PWM of interruption duty ratio rises 1%;
Step a3: calculate internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor;
Step a4: judge whether to occur that the rotating speed that the total rotating speed of motor and submarine navigation device Master Control Center set differs situation within the scope of 100r/min.If there is, perform step (9), if do not had, return and perform step a2, until PWM duty ratio rises to 100% by 0;
Step a5: calculate internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor;
Step a6: carry out rotating speed PI adjustment, exports reference current;
Step a7: the motor current value detected according to current detection circuit and the reference current of output, carries out current PI adjustment;
Step a8: calculate PWM duty ratio;
Step b two sequence of steps:
Step b1: calculate internal rotor position calculation, external rotor position calculation and inner and outer rotors relative position;
Step b2: according to positional information and the following IGBT conducting time-scale of step b1, export 6 road drive singal;
Step 3: the PWM duty-cycle requirement calculated according to step a8, carries out the PWM of H_PWM_L_ON mode, exports the IGBT drive singal of 6 tunnel PWM;
Step 4: in the 6 road drive singal control inverters exported according to step b 2, IGBT opens and shutoff;
Step 5: the PWM modulation signal of modulating according to step 3 regulates input voltage with adjusting rotary speed;
Step 6: send rotating speed, PWM duty ratio and current of electric data to submarine navigation device Master Control Center;
Step 7: return step 1.
The step of described calculating internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor is:
First stage: initialization motor speed regulation system;
Step 1: motor speed regulation system Startup time by internal rotor counting variable D_count, D_countb, external rotor counting variable Z_count, Z_countb zero setting;
Step 2: system adopts regular triggered interrupts mode, each interruption detection hall sensor signal, and set T break period;
Step 3: initialization motor number of pole-pairs p.
Second stage: calculate inner and outer rotors cycle count length D_countb, Z_countb, and carry out real-time counting;
Step 1: when electric system completes initial start, detects the hall sensor signal of inner and outer rotors;
Detect internal rotor hall sensor signal D_U rising edge, if not rising edge does not count, if rising edge, start counting, variables D _ count=D_count+1;
Detect external rotor hall sensor signal Z_U rising edge, if not rising edge does not count, if rising edge, start counting, variable Z_count=Z_count+1;
Step 2: continue to detect internal rotor hall sensor signal D_U rising edge, if not rising edge, then continue counting; If rising edge detected, then stop counting, D_count value is assigned to variables D _ countb simultaneously, then D_count value is set to 0;
Continue to detect external rotor hall sensor signal Z_U rising edge, if not rising edge, then continue counting; If rising edge detected, then stop counting, Z_count value is assigned to variable Z_countb simultaneously simultaneously, then Z_count is set to 0;
Phase III: calculate inner and outer rotors real-time rotate speed ω
d, ω
zand total rotational speed omega:
Step 1: calculate internal rotor real-time rotate speed
calculate external rotor real-time rotate speed
wherein: Ts is the sampling time of first stage;
Step 2: the real-time rotate speed ω=ω calculating motor
d+ ω
z.
The step of described calculating internal rotor position calculation, external rotor position calculation and inner and outer rotors relative position is:
First stage: initialization motor speed regulation system;
Step 1: motor speed regulation system Startup time by internal rotor counting variable n_count, n_countb, external rotor counting variable w_count, w_countb zero setting;
Step 2: system adopts regular triggered interrupts mode to detect hall sensor signal;
Second stage: calculate inner and outer rotors cycle count length n_countb, w_countb, and carry out real-time counting;
Step 1: when electric system completes initial start, detects the hall sensor signal of inner and outer rotors;
Detect internal rotor hall sensor signal n_U trailing edge, if not trailing edge does not then count, if trailing edge, start counting, variable n_count=n_count+1;
Detect external rotor hall sensor signal w_U trailing edge, if not trailing edge does not then count, if trailing edge, start counting, variable w_count=w_count+1;
Step 2: continue to detect internal rotor hall sensor signal n_U trailing edge, if not trailing edge, then continue counting; If trailing edge detected, then stop counting, n_count value is assigned to variable n_countb simultaneously, then n_count value is set to 0;
Continue to detect external rotor hall sensor signal w_U trailing edge, if not trailing edge, then continue counting; If trailing edge detected, then stop counting, w_count value is assigned to variable w_countb simultaneously simultaneously, then w_count is set to 0;
Phase III, calculating real-time internal-external rotor angle
n, θ
w:
Calculate internal rotor real time position
Calculate external rotor real time position
Calculate the relative position θ=θ of inner and outer rotors
n+ θ
w;
When obtaining inner and outer rotors real-time relative position θ θ >=360 and spending, by θ and 360 ° of comparison operation process, actual relative position equals θ-360.
Beneficial effect
A kind of submarine navigation device that the present invention proposes is with high-power twin shaft to turning method for regulating speed of brushless direct current motor, and motor carries out initial start, after inner and outer rotors turns over an electric cycle angle separately, and the rotary speed instruction of system acceptance submarine navigation device Master Control Center.Judge that whether motor starting time is more than 6s, if in 6s, interrupt PWM duty ratio by system cycle implement of interruption function at every turn and rise 1%, in master controller DSP, calculate motor inner and outer rotors rotating speed simultaneously, the rotating speed set if there is the total rotating speed of motor and submarine navigation device Master Control Center differs situation within the scope of 100r/min, carry out rotational speed regulation, otherwise PWM duty ratio rises to 100% from 0 in 6s; Time when the motor is energized more than 6s, carry out rotational speed regulation, produce reference current, the current of electric that receiving system detects simultaneously carries out Current adjustment, exports the PWM duty ratio calculated; Meanwhile export 6 road drive singal after controlling through inner and outer rotors position probing, commutation and carry out PWM with the PWM ripple meeting said process duty-cycle requirement, modulation system adopts H_PWM_L_ON pattern, then in PWM drive singal control inverter, IGBT opens and shutoff, regulate input voltage with adjusting rotary speed, realize electric machine speed regulation.The present invention can realize motor safety, steadily, fast start, and has speed-regulating range width, good speed adjustment features, fast response time, stability advantages of higher, by verification experimental verification, meets submarine navigation device actual operation requirements.
Accompanying drawing explanation
Fig. 1: speed regulating method flow chart of the present invention;
Fig. 2: twin shaft is to turning brushless DC motor structure schematic diagram;
Axle in 1; 2 outer shafts; 3 bearings; 4 internal rotors; 5 external rotors; 6 magnet steel; 7 shells; 8 enamelled wires; 9 external rotor Hall discs; 10 internal rotor Hall discs; 11 slip rings;
Fig. 3: twin shaft is to turning Speed Regulation Systems of BLDCM block diagram;
Fig. 4: twin shaft is to turning brshless DC motor " star-like six states of three-phase " schematic diagram;
Fig. 5: calculate internal rotor rotating speed, external rotor rotating speed and the total rotating speed flow chart of motor;
Fig. 6: calculate internal rotor rotating speed, external rotor rotating speed and the total rotational speed devices of motor;
Hall sensor signal Phototube Coupling and drive amplification circuit diagram in Fig. 7: Fig. 6 device;
Fig. 8: the flow chart calculating internal rotor position calculation, external rotor position calculation and inner and outer rotors relative position.
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
The present embodiment is that be applied in submarine navigation device two turn Speed Regulation Systems of BLDCM.
With reference to accompanying drawing 2, two brshless DC motor that turns is made up of internal rotor, external rotor, internal rotor Hall disc, external rotor Hall disc, inner shaft, outer shaft, slip ring etc.
With reference to accompanying drawing 3, as can be seen from the figure, twin shaft is made up of host computer, communicating circuit, master controller DSP+CPLD, inverter circuit, drive unit, current detection circuit, hall sensor signal Acquisition Circuit and motor body turning Speed Regulation Systems of BLDCM.
With reference to accompanying drawing 1, in the present embodiment, submarine navigation device is with high-power twin shaft to turning method for regulating speed of brushless direct current motor, comprises following steps:
Step 1: after motor completes initial start, turns over an electric cycle as completing initial start using motor inner and outer rotors, then receives the rotary speed instruction that submarine navigation device Master Control Center sends;
Step 2, parallel starting step a and step b two sequence of steps:
Step a sequence:
Step a1: when motor starting time is not more than 6s, performs step a2; If more than 6s, perform step a5;
Step a2: regulate PWM duty ratio by interrupt mode, each PWM of interruption duty ratio rises 1%;
Step a3: calculate internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor;
Step a4: judge whether to occur that the rotating speed that the total rotating speed of motor and submarine navigation device Master Control Center set differs situation within the scope of 100r/min.If there is, perform step (9), if do not had, return and perform step a2, until PWM duty ratio rises to 100% by 0;
Step a5: calculate internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor;
Step a6: carry out rotating speed PI adjustment, exports reference current;
Step a7: the motor current value detected according to current detection circuit and the reference current of output, carries out current PI adjustment;
Step a8: calculate PWM duty ratio;
Step b two sequence of steps:
Step b1: calculate internal rotor position calculation, external rotor position calculation and inner and outer rotors relative position;
Step b2: according to positional information and the following IGBT conducting time-scale of step b1, export 6 road drive singal;
Step 3: the PWM duty-cycle requirement calculated according to step a8, carries out the PWM of H_PWM_L_ON mode, exports the IGBT drive singal of 6 tunnel PWM;
Step 4: in the 6 road drive singal control inverters exported according to step b 2, IGBT opens and shutoff;
Step 5: the PWM modulation signal of modulating according to step 3 regulates input voltage with adjusting rotary speed;
Step 6: send rotating speed, PWM duty ratio and current of electric data to submarine navigation device Master Control Center;
Step 7: return step 1.
Calculate the step of internal rotor position calculation, external rotor position calculation and inner and outer rotors relative position described in the present embodiment, see Fig. 8; Be divided into three phases, the first stage detects upper inner and outer rotors cycle count length n_countb, a w_countb, and second stage calculates real-time internal-external rotor angle
n, θ
w, three phases calculates and amplitude limiting processing inner and outer rotors relative angle θ:
First stage:
Internal rotor
(1) initialization meter internal rotor number variable n_count, n_countb; ;
n_count＝0；n_countb＝0；
(2) detect internal rotor hall sensor signal n_U trailing edge, test_tiao1 is trailing edge mark, if not trailing edge, does not count, if trailing edge, starts counting;
If(test_tiao1＝＝1)n_count＝n_count+1；
(3) detect internal rotor hall sensor signal n_U trailing edge, test_tiao1 is trailing edge mark, if not trailing edge,
Then continue counting; If trailing edge detected, then stop counting, n_count value is assigned to variable n_countb simultaneously simultaneously, then n_count value is set to 0;
External rotor
(1) count initialized external rotor variable w_count, w_countb; ;
w_count＝0；w_countb＝0；
(2) detect external rotor hall sensor signal w_U trailing edge, test_tiao2 is trailing edge mark, if not trailing edge, does not count, if trailing edge, starts counting;
If(test_tiao2＝＝1)w_count＝w_count+1；
(3) detect external rotor hall sensor signal w_U trailing edge, test_tiao2 is trailing edge mark, if not trailing edge, then continues counting; If trailing edge detected, then stop counting, w_count value is assigned to variable w_countb simultaneously simultaneously, then w_count value is set to 0;
Second stage:
Internal rotor
(1) detect internal rotor hall sensor signal n_U trailing edge, test_tiao1 is trailing edge mark, if not trailing edge, does not carry out any process; If trailing edge, start counting;
If(test_tiao1＝＝1)n_count＝n_count+1；
(2) internal rotor real time position is calculated
External rotor
(1) detect external rotor hall sensor signal w_U trailing edge, test_tiao2 is trailing edge mark, if not trailing edge, does not carry out any process; If trailing edge, start counting;
If(test_tiao2＝＝1)w_count＝w_count+1；
(2) external rotor real time position is calculated
Phase III:
(1) the relative position θ=θ of inner and outer rotors is calculated
n+ θ
w;
(2) by θ and 360 ° of comparison operation process, the actual inner and outer rotors relative position of the θ calculated;
The actual inner and outer rotors relative position θ-360 of If (θ >=360).
The device of internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor is calculated described in the present embodiment, see Fig. 6 and Fig. 7, comprise and two turn brshless DC motor body, internal rotor Hall disc, external rotor Hall disc, internal rotor hall sensor signal Acquisition Circuit, external rotor hall sensor signal Acquisition Circuit, internal rotor hall sensor signal Phototube Coupling and drive amplification circuit, external rotor hall sensor signal Phototube Coupling and drive amplification circuit and dsp controller; Internal rotor Hall disc and external rotor Hall disc are arranged on pair internal rotor turning brshless DC motor body and external rotor, the input of internal rotor hall sensor signal Acquisition Circuit is connected with the output of internal rotor Hall disc, and its output is connected dsp controller by internal rotor hall sensor signal Phototube Coupling with drive amplification circuit; The input of external rotor hall sensor signal Acquisition Circuit is connected with the output of external rotor Hall disc, and its output is connected dsp controller by external rotor hall sensor signal Phototube Coupling with drive amplification circuit; Hall sensor signal D_U, D_V, D_W, D_A, D_Z, Z_U, Z_V, Z_W, Z_A, Z_Z of the inner and outer rotors that internal rotor Hall disc and external rotor Hall disc export, through internal rotor hall sensor signal Acquisition Circuit and external rotor hall sensor signal Acquisition Circuit, and it is respective with Phototube Coupling and drive amplification circuit, input dsp controller, calculates and two turns brshless DC motor real-time rotate speed.
Described internal rotor hall sensor signal Phototube Coupling and drive amplification circuit or external rotor hall sensor signal Phototube Coupling and drive amplification circuit comprise optocoupler N9, resistance R9, R18 and electric capacity C20; D_U signal two turns brshless DC motor inner and outer rotors hall sensor signal Zhong mono-tunnel, D_U signal is connected to an input of optocoupler N9, the another one input of optocoupler N9 is pulled upward to+5VH power supply by resistance R9, output one end of optocoupler N9 connects with ground, exporting other one end is hall sensor signal after Phototube Coupling and drive amplification, is pulled to+5V power supply by resistance R18.
Calculate the implementation step of internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor, see Fig. 5, be divided into three phases, first stage arranges sampling time Ts, calculate inner and outer rotors cycle count length D_countb, Z_countb, second stage carries out counting D_count, Z_count, calculates inner and outer rotors real-time rotate speed ω
d, ω
z, the phase III calculates the total rotational speed omega of motor:
First stage:
Internal rotor
(1) count initialized variables D _ count, D_countb and number of pole-pairs p;
D_count＝0；D_countb＝0；
(2) sampling time Ts is set;
(3) do you judge that system completes initial start? if initial start completes, enter next step;
(4) detect internal rotor hall sensor signal D_U rising edge, test_tiao1 is rising edge indication, if not rising edge
Do not count, if rising edge, start counting;
If(test_tiao1＝＝1)D_count＝D_count+1；
(5) detect internal rotor hall sensor signal D_U rising edge, test_tiao1 is rising edge indication, if not rising edge, then continues counting; If rising edge detected, then stop counting, D_count value is assigned to variables D _ countb simultaneously simultaneously, then D_count value is set to 0;
External rotor
(1) count initialized variable Z_count, Z_countb and number of pole-pairs p;
Z_count＝0；Z_countb＝0；
(2) sampling time Ts is set;
(3) do you judge that system completes initial start? if initial start completes, enter next step;
(4) detect external rotor hall sensor signal Z_U rising edge, test_tiao2 is rising edge indication, if not rising edge
Do not count, if rising edge, start counting;
If(test_tiao2＝＝1)Z_count＝Z_count+1；
(5) detect external rotor hall sensor signal Z_U rising edge, test_tiao2 is rising edge indication, if not rising edge,
Then continue counting; If rising edge detected, then stop counting, Z_count value is assigned to variable Z_countb simultaneously simultaneously, then Z_count value is set to 0;
Second stage:
Internal rotor
(1) detect internal rotor hall sensor signal D_U rising edge, test_tiao1 is rising edge indication, if not rising edge, does not carry out any process; If rising edge, start counting;
If(test_tiao1＝＝1)D_count＝D_count+1；
(2) internal rotor real-time rotate speed is calculated
External rotor
(1) detect external rotor hall sensor signal Z_U rising edge, test_tiao2 is rising edge indication, if not rising edge, does not carry out any process; If rising edge, start counting;
If(test_tiao2＝＝1)Z_count＝Z_count+1；
(2) external rotor real-time rotate speed is calculated
Phase III:
Calculate the real-time rotate speed ω=ω of motor
d+ ω
z.
Claims (3)
1. submarine navigation device is with high-power twin shaft to turning a method for regulating speed of brushless direct current motor, it is characterized in that step is as follows:
Step 1: after motor completes initial start, turns over an electric cycle as completing initial start using motor inner and outer rotors, then receives the rotary speed instruction that submarine navigation device Master Control Center sends;
Step 2, parallel starting step a and step b two sequence of steps:
Step a sequence:
Step a1: when motor starting time is not more than 6s, performs step a2; If more than 6s, perform step a5;
Step a2: regulate PWM duty ratio by interrupt mode, each PWM of interruption duty ratio rises 1%;
Step a3: calculate internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor;
Step a4: judge whether to occur that the rotating speed that the total rotating speed of motor and submarine navigation device Master Control Center set differs situation within the scope of 100r/min.If there is, perform step (9), if do not had, return and perform step a2, until PWM duty ratio rises to 100% by 0;
Step a5: calculate internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor;
Step a6: carry out rotating speed PI adjustment, exports reference current;
Step a7: the motor current value detected according to current detection circuit and the reference current of output, carries out current PI adjustment;
Step a8: calculate PWM duty ratio;
Step b two sequence of steps:
Step b1: calculate internal rotor position calculation, external rotor position calculation and inner and outer rotors relative position;
Step b2: according to positional information and the following IGBT conducting time-scale of step b1, export 6 road drive singal;
Step 3: the PWM duty-cycle requirement calculated according to step a8, carries out the PWM of H_PWM_L_ON mode, exports the IGBT drive singal of 6 tunnel PWM;
Step 4: in the 6 road drive singal control inverters exported according to step b 2, IGBT opens and shutoff;
Step 5: the PWM modulation signal of modulating according to step 3 regulates input voltage with adjusting rotary speed;
Step 6: send rotating speed, PWM duty ratio and current of electric data to submarine navigation device Master Control Center;
Step 7: return step 1.
2. according to claim 1 submarine navigation device with high-power twin shaft to turning method for regulating speed of brushless direct current motor, it is characterized in that: the step of described calculating internal rotor rotating speed, external rotor rotating speed and the total rotating speed of motor is:
First stage: initialization motor speed regulation system;
Step 1: motor speed regulation system Startup time by internal rotor counting variable D_count, D_countb, external rotor counting variable Z_count, Z_countb zero setting;
Step 2: system adopts regular triggered interrupts mode, each interruption detection hall sensor signal, and set T break period;
Step 3: initialization motor number of pole-pairs p.
Second stage: calculate inner and outer rotors cycle count length D_countb, Z_countb, and carry out real-time counting;
Step 1: when electric system completes initial start, detects the hall sensor signal of inner and outer rotors;
Detect internal rotor hall sensor signal D_U rising edge, if not rising edge does not count, if rising edge, start counting, variables D _ count=D_count+1;
Detect external rotor hall sensor signal Z_U rising edge, if not rising edge does not count, if rising edge, start counting, variable Z_count=Z_count+1;
Step 2: continue to detect internal rotor hall sensor signal D_U rising edge, if not rising edge, then continue counting; If rising edge detected, then stop counting, D_count value is assigned to variables D _ countb simultaneously, then D_count value is set to 0;
Continue to detect external rotor hall sensor signal Z_U rising edge, if not rising edge, then continue counting; If rising edge detected, then stop counting, Z_count value is assigned to variable Z_countb simultaneously simultaneously, then Z_count is set to 0;
Phase III: calculate inner and outer rotors real-time rotate speed ω
d, ω
zand total rotational speed omega:
Step 1: calculate internal rotor real-time rotate speed
calculate external rotor real-time rotate speed
wherein: Ts is the sampling time of first stage;
Step 2: the real-time rotate speed ω=ω calculating motor
d+ ω
z.
3. according to claim 1 submarine navigation device with high-power twin shaft to turning method for regulating speed of brushless direct current motor, it is characterized in that: the step of described calculating internal rotor position calculation, external rotor position calculation and inner and outer rotors relative position is:
First stage: initialization motor speed regulation system;
Step 1: motor speed regulation system Startup time by internal rotor counting variable n_count, n_countb, external rotor counting variable w_count, w_countb zero setting;
Step 2: system adopts regular triggered interrupts mode to detect hall sensor signal;
Second stage: calculate inner and outer rotors cycle count length n_countb, w_countb, and carry out real-time counting;
Step 1: when electric system completes initial start, detects the hall sensor signal of inner and outer rotors;
Detect internal rotor hall sensor signal n_U trailing edge, if not trailing edge does not then count, if trailing edge, start counting, variable n_count=n_count+1;
Detect external rotor hall sensor signal w_U trailing edge, if not trailing edge does not then count, if trailing edge, start counting, variable w_count=w_count+1;
Step 2: continue to detect internal rotor hall sensor signal n_U trailing edge, if not trailing edge, then continue counting; If trailing edge detected, then stop counting, n_count value is assigned to variable n_countb simultaneously, then n_count value is set to 0;
Continue to detect external rotor hall sensor signal w_U trailing edge, if not trailing edge, then continue counting; If trailing edge detected, then stop counting, w_count value is assigned to variable w_countb simultaneously simultaneously, then w_count is set to 0;
Phase III, calculating real-time internal-external rotor angle
n, θ
w:
Calculate internal rotor real time position
Calculate external rotor real time position
Calculate the relative position θ=θ of inner and outer rotors
n+ θ
w;
When obtaining inner and outer rotors real-time relative position θ θ >=360 and spending, by θ and 360 ° of comparison operation process, actual relative position equals θ-360 °.
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| CN201510472250.XA CN105007010B (en) | 2015-08-04 | 2015-08-04 | A kind of submarine navigation device is with high-power twin shaft to turning method for regulating speed of brushless direct current motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107881881A (en) * | 2017-01-24 | 2018-04-06 | 徐州徐工筑路机械有限公司 | Cold regenerative machine Milling Rotor electrohydraulic control method, device and system |
| CN106059405B (en) * | 2016-05-30 | 2018-04-27 | 西北工业大学 | Can be torque pulsation inhibited high-power pair turns brshless DC motor phase change method |
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| CN105007010B (en) | 2017-08-01 |
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