CN105007010B - A kind of submarine navigation device is with high-power twin shaft to turning method for regulating speed of brushless direct current motor - Google Patents
A kind of submarine navigation device is with high-power twin shaft to turning method for regulating speed of brushless direct current motor Download PDFInfo
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- CN105007010B CN105007010B CN201510472250.XA CN201510472250A CN105007010B CN 105007010 B CN105007010 B CN 105007010B CN 201510472250 A CN201510472250 A CN 201510472250A CN 105007010 B CN105007010 B CN 105007010B
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Abstract
The present invention relates to a kind of submarine navigation device with high-power twin shaft to turning method for regulating speed of brushless direct current motor, after inner and outer rotors each turn over an electric cycle angle, if motor starting time is in 6s, realize that interrupting PWM duty cycle every time rises 1% by system cycle interruption, if the total rotating speed of motor differs the situation in the range of 100r/min with the rotating speed that submarine navigation device Master Control Center is set, rotational speed regulation is carried out, otherwise PWM duty cycle rises to 100% in 6s from 0；When between when the motor is energized more than 6s, rotational speed regulation produces reference current, while the current of electric of reception system detection carries out electric current regulation, the PWM duty cycle of calculating；6 road drive signals are exported after inner and outer rotors position is detected, commutation is controlled simultaneously and the PWM ripples progress PWM of said process duty-cycle requirement is met.The present invention has the advantages that speed-regulating range width, good speed adjustment features, fast response time, stability are high, by verification experimental verification, meets submarine navigation device actual operation requirements.
Description
Technical field
The invention belongs to submarine navigation device and brshless DC motor control field, and in particular to a kind of submarine navigation device is with greatly
Power twin shaft is to turning method for regulating speed of brushless direct current motor.
Background technology
Autonomous Underwater Vehicle is a kind of the intelligent nothing of various military-civil tasks to be performed under complicated marine environment
People's platform.Underwater environment is badly dangerous, and the diving depth of people is limited, and submarine navigation device can preferably meet scientific research, army
The demand, abundant development and utilization marine resources such as thing action and business application.
High-power brushless direct current generator has reliability height, speed-regulating range width, good speed adjustment features, operational efficiency height etc. excellent
Point, be particularly suitable for use in the fields such as the Aeronautics and Astronautics for having particular/special requirement to system effectiveness, reliability, navigation.High-power twin shaft is to turning
Brshless DC motor is that, based on active force and reaction force principle design, inside and outside two rotors are same under the promotion of electromagnetic torque
When rotate round about.This twin shaft to turn brshless DC motor be mainly used in twin shaft under water, can to turning in propulsion system
Effectively to prevent roll phenomenon, the propulsive efficiency of submarine navigation device is significantly improved.
There is commutation and PWM torque pulsation in the process of running due to using electronics commutation in brshless DC motor；Together
When high-power double brshless DC motors that turn because inner and outer rotors are all being rotated, nominal torque is larger and rated speed is higher, system
Operation is more complicated, adds the difficulty of controlled motor operation and speed governing；Worked in additionally, due to submarine navigation device complicated severe
Under marine environment, stability and speed adjusting performance for its propulsion system require higher.Therefore a kind of submarine navigation device is invented to use
High-power twin shaft seems particularly significant to turning method for regulating speed of brushless direct current motor.
The content of the invention
The technical problem to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of submarine navigation device with high-power twin shaft to turning nothing
Brushless motor speed regulating method, realizes motor safety, steady, quick startup, with speed-regulating range width, good speed adjustment features, response
The advantages of speed is fast, stability is high, by verification experimental verification, meets submarine navigation device actual operation requirements.
Technical scheme
A kind of submarine navigation device is with high-power twin shaft to turning method for regulating speed of brushless direct current motor, it is characterised in that step is such as
Under：
Step 1：After motor completes initial start, an electric cycle is turned over as completing initially to open using motor inner and outer rotors
It is dynamic, then receive the rotary speed instruction that submarine navigation device Master Control Center is sent；
Step 2, two sequence of steps of parallel starting step a and step b：
Step a sequences：
Step a1：When motor starting time is not less than 6s, step a2 is performed；If more than 6s, performing step a5；
Step a2：PWM duty cycle is adjusted by interrupt mode, PWM duty cycle is interrupted every time and rises 1%；
Step a3：Calculate internal rotor rotating speed, outer rotor rotating speed and the total rotating speed of motor；
Step a4：Judge whether that the total rotating speed of motor occur differs with the rotating speed that submarine navigation device Master Control Center is set
Situation in the range of 100r/min.If there is, step (9) is performed, if not provided, return execution step a2, until PWM duty cycle
100% is risen to by 0；
Step a5：Calculate internal rotor rotating speed, outer rotor rotating speed and the total rotating speed of motor；
Step a6：Rotating speed PI regulations are carried out, reference current is exported；
Step a7：The motor current value and the reference current of output detected according to current detection circuit, carries out electric current PI tune
Section；
Step a8：Calculate PWM duty cycle；
Two sequence of steps of step b：
Step b1：The calculating of internal rotor position, outer rotor position is calculated to calculate and inner and outer rotors relative position；
Step b2：According to step b1 positional information and following IGBT conducting time-scales, 6 road drive signals are exported；
Step 3：The PWM duty cycle requirement calculated according to step a8, carries out the PWM of H_PWM_L_ON modes, output 6
The IGBT drive signals of road PWM；
Step 4：IGBT is opened and turned off in the 6 road drive signal control inverters exported according to step b 2；
Step 5：The PWM modulation signal modulated according to step 3 adjusts input voltage to adjust rotating speed；
Step 6：Rotating speed, PWM duty cycle and current of electric data are sent to submarine navigation device Master Control Center；
Step 7：Return to step 1.
The step of calculating internal rotor rotating speed, outer rotor rotating speed and motor total rotating speed is：
First stage：Initialize motor speed regulation system；
Step 1：Motor speed regulation system Startup time counts internal rotor counting variable D_count, D_countb, outer rotor
Variable Z_count, Z_countb zero setting；
Step 2：System interrupts hall sensor signal of detection every time using regular triggering interrupt mode, and in setting
Disconnected time T；
Step 3：Initialize motor number of pole-pairs p.
Second stage：Inner and outer rotors cycle count length D_countb, Z_countb is calculated, and carries out real-time counting；
Step 1：When electric system completes initial start, the hall sensor signal of inner and outer rotors is detected；
Internal rotor hall sensor signal D_U rising edges are detected, if not rising edge, if rising edge, is opened without counting
Begin to count, variables D _ count=D_count+1；
Outer rotor hall sensor signal Z_U rising edges are detected, if not rising edge, if rising edge, is opened without counting
Begin to count, variable Z_count=Z_count+1；
Step 2：Continue to detect internal rotor hall sensor signal D_U rising edges, if not rising edge, then continue to count；If
Rising edge is detected, then stops counting, while D_count values are assigned into variables D _ countb, then D_count values is set to 0；
Continue to detect outer rotor hall sensor signal Z_U rising edges, if not rising edge, then continue to count；If detecting
Rising edge, then stop counting, while Z_count values are assigned into variable Z_countb simultaneously, then Z_count set to 0；
Phase III：Calculate the real-time rotational speed omega of inner and outer rotorsD、ωZAnd total rotational speed omega：
Step 1：Calculate the real-time rotating speed of internal rotorCalculate the real-time rotating speed of outer rotorWherein：Ts is the sampling time of first stage；
Step 2：Calculate real-time rotational speed omega=ω of motorD+ωZ。
The calculating internal rotor position is calculated, outer rotor position is calculated and is the step of inner and outer rotors relative position：
First stage：Initialize motor speed regulation system；
Step 1：Motor speed regulation system Startup time counts internal rotor counting variable n_count, n_countb, outer rotor
Variable w_count, w_countb zero setting；
Step 2：System is using periodically triggering interrupt mode detection hall sensor signal；
Second stage：Inner and outer rotors cycle count length n_countb, w_countb is calculated, and carries out real-time counting；
Step 1：When electric system completes initial start, the hall sensor signal of inner and outer rotors is detected；
Internal rotor hall sensor signal n_U trailing edges are detected, if not trailing edge is then without counting, if trailing edge,
Start counting up, variable n_count=n_count+1；
Outer rotor hall sensor signal w_U trailing edges are detected, if not trailing edge is then without counting, if trailing edge,
Start counting up, variable w_count=w_count+1；
Step 2：Continue to detect internal rotor hall sensor signal n_U trailing edges, if not trailing edge, then continue to count；If
Trailing edge is detected, then stops counting, while n_count values are assigned into variable n_countb, then n_count values is set to 0；
Continue to detect outer rotor hall sensor signal w_U trailing edges, if not trailing edge, then continue to count；If detecting
Trailing edge, then stop counting, while w_count values are assigned into variable w_countb simultaneously, then w_count set to 0；
Phase III, calculating real-time internal-external rotor anglen、θw：
Calculate internal rotor real time position
Calculate outer rotor real time position
Calculate relative position θ=θ of inner and outer rotorsn+θw；
When obtaining the real-time relative position θ θ of inner and outer rotors>At=360 degree, θ and 360 ° of comparison operation is handled, it is actual relative
Position is equal to θ -360.
Beneficial effect
A kind of submarine navigation device proposed by the present invention is entered with high-power twin shaft to turning method for regulating speed of brushless direct current motor, motor
Row initial start, after inner and outer rotors each turn over an electric cycle angle, system receives turning for submarine navigation device Master Control Center
Speed instruction.Whether motor starting time is judged more than 6s, if in 6s, being realized by system cycle interruption and interrupting PWM every time
Dutycycle rises 1%, while motor inner and outer rotors rotating speed is calculated in master controller DSP, if there is the total rotating speed of motor and water
The rotating speed of lower ROV Master Control Center setting differs the situation in the range of 100r/min, carries out rotational speed regulation, otherwise PWM duty cycle
In 6s 100% is risen to from 0；When between when the motor is energized more than 6s, rotational speed regulation is carried out, reference current is produced, connects simultaneously
The current of electric for receiving system detectio carries out electric current regulation, exports the PWM duty cycle calculated；At the same time inner and outer rotors position is passed through
6 road drive signals are exported after detection, commutation control and the PWM ripples progress PWM of said process duty-cycle requirement is met, adjusted
Mode processed uses H_PWM_L_ON patterns, and then IGBT is opened and turned off in PWM drive signal control inverter, is adjusted defeated
Enter voltage to adjust rotating speed, realize electric machine speed regulation.The present invention can realize motor safety, steady, quick startup, with speed governing model
The advantages of enclosing width, good speed adjustment features, fast response time, high stability, by verification experimental verification, meets submarine navigation device actual
Use requirement.
Brief description of the drawings
Fig. 1：Speed regulating method flow chart of the present invention；
Fig. 2：Twin shaft is to turning brushless DC motor structure schematic diagram；
1 interior axle；2 outer shafts；3 bearings；4 internal rotors；5 outer rotors；6 magnet steel；7 shells；8 enamel-covered wires；9 outer 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 state of three-phase " schematic diagram；
Fig. 5：Calculate internal rotor rotating speed, outer rotor rotating speed and the total rotating speed flow chart of motor；
Fig. 6：Calculate internal rotor rotating speed, outer rotor rotating speed and the total rotational speed devices of motor；
Fig. 7：Hall sensor signal Phototube Coupling and drive amplification circuit diagram in Fig. 6 devices；
Fig. 8：Calculate the flow chart of the calculating of internal rotor position, the calculating of outer rotor position and inner and outer rotors relative position.
Embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
The present embodiment is that be applied in submarine navigation device double turn Speed Regulation Systems of BLDCM.
Referring to the drawings 2, it is double turn brshless DC motor by internal rotor, outer rotor, internal rotor Hall disc, outer rotor Hall disc,
Inner shaft, outer shaft, slip ring etc. are constituted.
Referring to the drawings 3, it can be seen that twin shaft is to turning Speed Regulation Systems of BLDCM by host computer, communication electricity
Road, master controller DSP+CPLD, inverter circuit, drive device, current detection circuit, hall sensor signal Acquisition Circuit and motor
Body is constituted.
Referring to the drawings 1, submarine navigation device is wrapped with high-power twin shaft to turning method for regulating speed of brushless direct current motor in the present embodiment
Containing following steps：
Step 1：After motor completes initial start, an electric cycle is turned over as completing initially to open using motor inner and outer rotors
It is dynamic, then receive the rotary speed instruction that submarine navigation device Master Control Center is sent；
Step 2, two sequence of steps of parallel starting step a and step b：
Step a sequences：
Step a1：When motor starting time is not less than 6s, step a2 is performed；If more than 6s, performing step a5；
Step a2：PWM duty cycle is adjusted by interrupt mode, PWM duty cycle is interrupted every time and rises 1%；
Step a3：Calculate internal rotor rotating speed, outer rotor rotating speed and the total rotating speed of motor；
Step a4：Judge whether that the total rotating speed of motor occur differs with the rotating speed that submarine navigation device Master Control Center is set
Situation in the range of 100r/min.If there is, step (9) is performed, if not provided, return execution step a2, until PWM duty cycle
100% is risen to by 0；
Step a5：Calculate internal rotor rotating speed, outer rotor rotating speed and the total rotating speed of motor；
Step a6：Rotating speed PI regulations are carried out, reference current is exported；
Step a7：The motor current value and the reference current of output detected according to current detection circuit, carries out electric current PI tune
Section；
Step a8：Calculate PWM duty cycle；
Two sequence of steps of step b：
Step b1：The calculating of internal rotor position, outer rotor position is calculated to calculate and inner and outer rotors relative position；
Step b2：According to step b1 positional information and following IGBT conducting time-scales, 6 road drive signals are exported；
Step 3：The PWM duty cycle requirement calculated according to step a8, carries out the PWM of H_PWM_L_ON modes, output 6
The IGBT drive signals of road PWM；
Step 4：IGBT is opened and turned off in the 6 road drive signal control inverters exported according to step b 2；
Step 5：The PWM modulation signal modulated according to step 3 adjusts input voltage to adjust rotating speed；
Step 6：Rotating speed, PWM duty cycle and current of electric data are sent to submarine navigation device Master Control Center；
Step 7：Return to step 1.
The step of the calculating of internal rotor position, the calculating of outer rotor position and inner and outer rotors relative position is calculated described in the present embodiment
Suddenly, Fig. 8 is seen；It is divided into three phases, the first stage detects upper inner and outer rotors cycle count length n_countb, w_
Countb, second stage calculates real-time internal-external rotor anglen、θw, three phases are calculated and amplitude limiting processing inner and outer rotors are 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) internal rotor hall sensor signal n_U trailing edges are detected, test_tiao1 is trailing edge mark, if not declining
Edge, without counting, if trailing edge, is started counting up；
If (test_tiao1==1) n_count=n_count+1；
(3) internal rotor hall sensor signal n_U trailing edges are detected, test_tiao1 is trailing edge mark, if not declining
Edge,
Then continue to count；If detecting trailing edge, stop counting, while n_count values are assigned into variable n_ simultaneously
Countb, then n_count values are set to 0；
Outer rotor
(1) count initialized outer rotor variable w_count, w_countb；；
W_count=0；W_countb=0；
(2) outer rotor hall sensor signal w_U trailing edges are detected, test_tiao2 is trailing edge mark, if not declining
Edge, without counting, if trailing edge, is started counting up；
If (test_tiao2==1) w_count=w_count+1；
(3) outer rotor hall sensor signal w_U trailing edges are detected, test_tiao2 is trailing edge mark, if not declining
Edge, then continue to count；If detecting trailing edge, stop counting, while w_count values are assigned to variable w_countb simultaneously,
W_count values are set to 0 again；
Second stage：
Internal rotor
(1) internal rotor hall sensor signal n_U trailing edges are detected, test_tiao1 is trailing edge mark, if not declining
Edge, without any processing；If trailing edge, start counting up；
If (test_tiao1==1) n_count=n_count+1；
(2) internal rotor real time position is calculated
Outer rotor
(1) outer rotor hall sensor signal w_U trailing edges are detected, test_tiao2 is trailing edge mark, if not declining
Edge, without any processing；If trailing edge, start counting up；
If (test_tiao2==1) w_count=w_count+1；
(2) outer rotor real time position is calculated
Phase III：
(1) relative position θ=θ of inner and outer rotors is calculatedn+θw；
(2) θ and 360 ° of comparison operation is handled, the actual inner and outer rotors relative positions of θ calculated；
If(θ>=360) actual inner and outer rotors relative position θ -360.
The device of internal rotor rotating speed, outer rotor rotating speed and the total rotating speed of motor is calculated described in the present embodiment, Fig. 6 and Fig. 7 is seen, wrapped
Include it is double turn brshless DC motor body, internal rotor Hall disc, outer rotor Hall disc, internal rotor hall sensor signal Acquisition Circuit,
Outer rotor hall sensor signal Acquisition Circuit, internal rotor hall sensor signal Phototube Coupling and drive amplification circuit, outer rotor are suddenly
That position signalling Phototube Coupling and drive amplification circuit and dsp controller；Internal rotor Hall disc and outer rotor Hall disc are arranged on
On double internal rotors and outer rotor for turning brshless DC motor body, the input of internal rotor hall sensor signal Acquisition Circuit with it is interior
The output end connection of rotor Hall disc, its output end is connected by internal rotor hall sensor signal Phototube Coupling and drive amplification circuit
Connect dsp controller；The input of outer rotor hall sensor signal Acquisition Circuit is connected with the output end of outer rotor Hall disc, and its is defeated
Go out end and dsp controller is connected with drive amplification circuit by outer rotor hall sensor signal Phototube Coupling；Internal rotor Hall disc and
The hall sensor signal D_U of inner and outer rotors of outer rotor Hall disc output, D_V, D_W, D_A, D_Z, Z_U, Z_V, Z_W, Z_A,
Z_Z, by internal rotor hall sensor signal Acquisition Circuit and outer rotor hall sensor signal Acquisition Circuit, and respective and light
Be electrically isolated with drive amplification circuit, input dsp controller, calculate and double turn the real-time rotating speed of brshless DC motor.
The internal rotor hall sensor signal Phototube Coupling and drive amplification circuit or outer rotor hall sensor signal photoelectricity
Isolation includes optocoupler N9, resistance R9, R18 and electric capacity C20 with drive amplification circuit；D_U signals are double turn in brshless DC motor
In outer rotor hall sensor signal all the way, D_U signals are connected to an optocoupler N9 input, and another of optocoupler N9 is defeated
Enter end and+5VH power supplys are pulled upward to by resistance R9, optocoupler N9 output one end connects with ground, and output other end is to pass through photoelectricity
Isolation and the hall sensor signal after drive amplification ,+5V power supplys are pulled to by resistance R18.
The implementation steps of internal rotor rotating speed, outer rotor rotating speed and the total rotating speed of motor are calculated, Fig. 5 is seen, is divided into three phases, the
One stage set sampling time Ts, calculated inner and outer rotors cycle count length D_countb, Z_countb, and second stage is counted
Number D_count, Z_count, calculate the real-time rotational speed omega of inner and outer rotorsD、ωZ, the phase III calculating 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) judge whether system completes initial startIf initial start is completed, into next step；
(4) internal rotor hall sensor signal D_U rising edges are detected, test_tiao1 is rising edge indication, if not rising
Edge
Without counting, if rising edge, start counting up；
If (test_tiao1==1) D_count=D_count+1；
(5) internal rotor hall sensor signal D_U rising edges are detected, test_tiao1 is rising edge indication, if not rising
Edge, then continue to count；If detecting rising edge, stop counting, while D_count values are assigned to variables D _ countb simultaneously,
D_count values are set to 0 again；
Outer 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) judge whether system completes initial startIf initial start is completed, into next step；
(4) outer rotor hall sensor signal Z_U rising edges are detected, test_tiao2 is rising edge indication, if not rising
Edge
Without counting, if rising edge, start counting up；
If (test_tiao2==1) Z_count=Z_count+1；
(5) outer rotor hall sensor signal Z_U rising edges are detected, test_tiao2 is rising edge indication, if not rising
Edge,
Then continue to count；If detecting rising edge, stop counting, while Z_count values are assigned to variable Z_countb,
Z_count values are set to 0 again；
Second stage：
Internal rotor
(1) internal rotor hall sensor signal D_U rising edges are detected, test_tiao1 is rising edge indication, if not rising
Edge, without any processing；If rising edge, start counting up；
If (test_tiao1==1) D_count=D_count+1；
(2) the real-time rotating speed of internal rotor is calculated
Outer rotor
(1) outer rotor hall sensor signal Z_U rising edges are detected, test_tiao2 is rising edge indication, if not rising
Edge, without any processing；If rising edge, start counting up；
If (test_tiao2==1) Z_count=Z_count+1；
(2) the real-time rotating speed of outer rotor is calculated
Phase III：
Calculate real-time rotational speed omega=ω of motorD+ωZ。
Claims (3)
1. a kind of submarine navigation device is with high-power twin shaft to turning method for regulating speed of brushless direct current motor, it is characterised in that step is as follows：
Step 1：After motor completes initial start, an electric cycle is turned over as completion initial start using motor inner and outer rotors,
Then the rotary speed instruction that submarine navigation device Master Control Center is sent is received；
Step 2, two sequence of steps of parallel starting step a and step b：
Step a sequences：
Step a1：When motor starting time is not less than 6s, step a2 is performed；If more than 6s, performing step a5；
Step a2：PWM duty cycle is adjusted by interrupt mode, PWM duty cycle is interrupted every time and rises 1%；
Step a3：Calculate internal rotor rotating speed, outer rotor rotating speed and the total rotating speed of motor；
Step a4：Judge whether that the total rotating speed of motor occur differs in 100r/min with the rotating speed that submarine navigation device Master Control Center is set
In the range of situation.If there is, step a5 is performed, if not provided, return execution step a2, until PWM duty cycle is risen to by 0
100%；
Step a5：Calculate internal rotor rotating speed, outer rotor rotating speed and the total rotating speed of motor；
Step a6：Rotating speed PI regulations are carried out, reference current is exported；
Step a7：The motor current value and the reference current of output detected according to current detection circuit, carries out electric current PI regulations；
Step a8：Calculate PWM duty cycle；
Two sequence of steps of step b：
Step b1：The calculating of internal rotor position, outer rotor position is calculated to calculate and inner and outer rotors relative position；
Step b2：According to step b1 positional information and following IGBT conducting time-scales, 6 road drive signals are exported；
Step 3：The PWM duty cycle requirement calculated according to step a8, carries out the PWM of H_PWM_L_ON modes, exports 6 tunnels
The IGBT drive signals of PWM；
Step 4：IGBT is opened and turned off in the 6 road drive signal control inverters exported according to step b 2；
Step 5：The PWM modulation signal modulated according to step 3 adjusts input voltage to adjust rotating speed；
Step 6：Rotating speed, PWM duty cycle and current of electric data are sent to submarine navigation device Master Control Center；
Step 7：Return to 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, its feature
It is：The step of calculating internal rotor rotating speed, outer rotor rotating speed and motor total rotating speed is：
First stage：Initialize motor speed regulation system；
Step 1：Motor speed regulation system Startup time is by internal rotor counting variable D_count, D_countb, outer rotor counting variable
Z_count, Z_countb zero setting；
Step 2：System interrupts hall sensor signal of detection every time using periodically triggering interrupt mode, and when setting interruption
Between T；
Step 3：Initialize motor number of pole-pairs p.
Second stage：Inner and outer rotors cycle count length D_countb, Z_countb is calculated, and carries out real-time counting；
Step 1：When electric system completes initial start, the hall sensor signal of inner and outer rotors is detected；
Internal rotor hall sensor signal D_U rising edges are detected, if not rising edge is without counting, if rising edge, start meter
Number, variables D _ count=D_count+1；
Outer rotor hall sensor signal Z_U rising edges are detected, if not rising edge is without counting, if rising edge, start meter
Number, variable Z_count=Z_count+1；
Step 2：Continue to detect internal rotor hall sensor signal D_U rising edges, if not rising edge, then continue to count；If detection
To rising edge, then stop counting, while D_count values are assigned into variables D _ countb, then D_count values are set to 0；
Continue to detect outer rotor hall sensor signal Z_U rising edges, if not rising edge, then continue to count；If detecting rising
Edge, then stop counting, while Z_count values are assigned into variable Z_countb, then Z_count set to 0；
Phase III：Calculate the real-time rotational speed omega of inner and outer rotorsD、ωZAnd total rotational speed omega：
Step 1：Calculate the real-time rotating speed of internal rotorCalculate the real-time rotating speed of outer rotorWherein：Ts is the sampling time of first stage；
Step 2：Calculate real-time rotational speed omega=ω of motorD+ωZ。
3. according to claim 1 submarine navigation device with high-power twin shaft to turning method for regulating speed of brushless direct current motor, its feature
It is：The calculating internal rotor position is calculated, outer rotor position is calculated and is the step of inner and outer rotors relative position：
First stage：
Internal rotor
(1) initialization meter internal rotor number variable n_count, n_countb；；
N_count=0；N_countb=0；
(2) internal rotor hall sensor signal n_U trailing edges are detected, test_tiao1 is trailing edge mark, if not trailing edge, no
Counted, if trailing edge, started counting up；
If (test_tiao1==1) n_count=n_count+1；
(3) internal rotor hall sensor signal n_U trailing edges are detected, test_tiao1 is trailing edge mark, if not trailing edge,
Then continue to count；If detecting trailing edge, stop counting, while n_count values are assigned to variable n_countb, then will
N_count values are set to 0；
Outer rotor
(1) count initialized outer rotor variable w_count, w_countb；；
W_count=0；W_countb=0；
(2) outer rotor hall sensor signal w_U trailing edges are detected, test_tiao2 is trailing edge mark, if not trailing edge, no
Counted, if trailing edge, started counting up；
(3) outer rotor hall sensor signal w_U trailing edges are detected, test_tiao2 is trailing edge mark, if not trailing edge, then
Continue to count；If detecting trailing edge, stop counting, while w_count values are assigned into variable w_countb, then by w_
Count values are set to 0；
Second stage：
Internal rotor
(1) internal rotor hall sensor signal n_U trailing edges are detected, test_tiao1 is trailing edge mark, if not trailing edge, no
Carry out any processing；If trailing edge, start counting up；
(2) internal rotor real time position is calculated
Outer rotor
(1) outer rotor hall sensor signal w_U trailing edges are detected, test_tiao2 is trailing edge mark, if not trailing edge, no
Carry out any processing；If trailing edge, start counting up；
(2) outer rotor real time position is calculated
Phase III：
(1) relative position θ=θ of inner and outer rotors is calculatedn+θw；
(2) θ and 360 ° of comparison operation is handled, the actual inner and outer rotors relative positions of θ calculated；If θ>=360, it is actual
Inner and outer rotors relative position θ -360.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| 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 |
| CN107881881B (en) * | 2017-01-24 | 2023-03-31 | 徐州徐工筑路机械有限公司 | Cold regenerator milling rotor electro-hydraulic control method, device and system |
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| CN101976920A (en) * | 2010-10-25 | 2011-02-16 | 江苏大学 | Double rotor engine for pure electric car and control method thereof |
| CN103004081A (en) * | 2010-07-20 | 2013-03-27 | 罗伯特·博世有限公司 | Method and device for controlling a multi-phase electronically commutated electric machine and a motor system |
| CN202856673U (en) * | 2012-09-17 | 2013-04-03 | 西华大学 | Brushless direct current motor rotating speed control system for intelligent water pump based on INGA |
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| DE10032896A1 (en) * | 2000-07-06 | 2002-01-24 | Daimler Chrysler Ag | Method of operating a brushless DC motor |
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| CN103004081A (en) * | 2010-07-20 | 2013-03-27 | 罗伯特·博世有限公司 | Method and device for controlling a multi-phase electronically commutated electric machine and a motor system |
| CN101976920A (en) * | 2010-10-25 | 2011-02-16 | 江苏大学 | Double rotor engine for pure electric car and control method thereof |
| CN202856673U (en) * | 2012-09-17 | 2013-04-03 | 西华大学 | Brushless direct current motor rotating speed control system for intelligent water pump based on INGA |
| CN104638992A (en) * | 2015-02-06 | 2015-05-20 | 西北工业大学 | Initial startup method for biaxial contra-rotating permanent-magnet brushless direct-current motor |
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