CN105429525B - Method for reducing torque fluctuation of brushless direct current motor - Google Patents
Method for reducing torque fluctuation of brushless direct current motor Download PDFInfo
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- CN105429525B CN105429525B CN201510967425.4A CN201510967425A CN105429525B CN 105429525 B CN105429525 B CN 105429525B CN 201510967425 A CN201510967425 A CN 201510967425A CN 105429525 B CN105429525 B CN 105429525B
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- 230000000630 rising effect Effects 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 6
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- 238000010276 construction Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
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Classifications
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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
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a method for reducing torque fluctuation of a brushless direct current motor of a precision turntable by optimizing a commutation signal based on angle measurement information. The method comprises the following steps: 1, collecting signals; setting a collection counter, collecting angle signals, and carrying out differential operation on the angle values to obtain speed values; and 3, performing mean square error calculation on the speed values to obtain a speed fluctuation mean square error value. Determining a trigger base; and 5, directly using the Hall commutation signal corresponding to the minimum value as a trigger signal after the next startup. The invention provides a torque fluctuation method for compensating phase change errors caused by processing, assembling and the like of a brushless direct current motor and improving the accuracy of a phase change angle.
Description
Technical field
The invention belongs to brshless DC motor control technology field, it is related to a kind of reduction brshless DC motor torque fluctuations
Method, more particularly to a kind of Angle Information optimization commutation signal that is based on is so as to reduce precise rotating platform brshless DC motor torque fluctuations
Method.
Background technology
Brshless DC motor (BLDC：Brushless Direct Current Motor) there is high efficiency, it is the long-life, low
The advantages of noise, particularly its difference has with brushed DC motor：Without commutation device, the characteristics of simple in construction, non-maintaining, into
For one of main motor of Aeronautics and Astronautics field precise flange mechanism.
In Aeronautics and Astronautics precise rotating platform, it is necessary to reduce brshless DC motor torque fluctuations, to realize index request
High-precision low-speed motion control.
Brshless DC motor is driven using square wave or trapezoidal wave electric current, there is larger torque fluctuations during its low speed.It is brushless straight
Flow the torque ripple reason of motor：Electromagnetic torque produces torque ripple caused by principle；Torque ripple caused by current commutation；Tooth
Torque ripple caused by the effect of grooves；Torque ripple etc. caused by armature-reaction and motor process defect.It is brushless straight through practice test
Stream motor is mainly commutation torque ripple in space flight with the torque fluctuations in precise rotating platform, and its reason is that commutation needs a side
Ripple, and because the inductance of machine winding is present so that the quick change of electric current needs a longer transit time, also there is
Commutation fluctuation.
The general Main Basiss of commutation signal of brshless DC motor be 3 hall devices pasted on magnetic steel of motor magnetic
The high and low level of pole induced signal constitutes one group " phase change logic truth table " to realize its commutation.Its 3 Hall chip is pasted
Number of pole-pairs of the position according to its brshless DC motor, realizes the effective commutation of 120 ° of electrical angle (known information) to design.It is preferable
State be 120 ° of 0'0 " commutations of electrical angle once, but be due to processing and assembly technology, the technique of Hall chip etc. limitation, it is difficult to
Ensure that it can realize such commutation, typically can all there is more than 30' error, thus have larger commutation error, also
Have larger torque fluctuations.
The theory and methods of many suppression brshless DC motors now are all based on pin in the state of commutation ideal
What counter electromotive force, commutation mode during to commutation etc. were studied, such as timesharing commutation strategy, auto-disturbance rejection technology, BP neural network
The strategy suppressed Deng torque.But, in engineering practice, the angle of commutation is not accurate, and its shadow to torque fluctuations
Sound is more notable.Only by this commutation it is accurate after so that the mathematical modeling of commutation is closer to ideal model, and corresponding torque suppresses
Strategy just can be more effective.
The content of the invention
In order to solve the technical problem in the presence of background technology, the present invention proposes a kind of reduction brushless dc machine power
The method of square fluctuation, accurate motor commutation information is obtained by taking the angular surveying information of comprehensive precise rotating platform, so that
Reduce torque fluctuations, the inaccurate technology of Hall commutation signal angle information for effectively solving the generation of commutation hall device is asked
Topic so that the torque ripple of motor is provided closer to ideal model further to suppress strategy using other torque fluctuations
Basis.
The technical scheme is that：A kind of method for reducing brshless DC motor torque fluctuations, it is characterized in that：
Comprise the following steps：
1】
1.1) 3 phases of collection " Hall commutation signal " (ha/hb/hc), are converted directly into " phase change logic signal " (HA/HB/
HC),
1.2) storage 3 " Hall commutation signals " is respectively H1=ha, H2=hb, H3=hc, controlled motor low-speed running,
Angle value during storage operating；
2】
2.1) it is 3 to set acquisition counter device i；It is the Steady speed data under different benchmark to 3 Hall commutation signals
Collection in turn, 1 Hall commutation signal is often gathered, counter subtracts 1, until being 0；
2.2) it is n that MCU, which sets and rotates lap count j,；The n is 1-5 natural number；Subtract 1 after a circle is gathered in turn,
Until being 0；Triggered on the basis of the rising edge of any one Hall commutation signal, produce one " standard phase change logic signal "；
Angle value JD during record triggering, when movement angle is JD+JJ, software produces one " standard phase change logic signal " again；
When movement angle is JD+2*JJ, software produces one " standard phase change logic signal " again；
2.3) gathered angle signal is stored, is obtained " velocity amplitude " after carrying out " calculus of differences " to angle value；
3】To " velocity amplitude " progress " mean square deviation calculating ", obtain " velocity perturbation mean square deviation ".
4】Contrast 3 Hall commutation signals ha, hb, hc obtain " velocity perturbation mean square deviation ", take its minimum value corresponding
Hall commutation signal is triggering benchmark；The benchmark is distinguished by the corresponding different port address of ha, hb, hc；
5】Direct after start next time is trigger signal, other two Hall letter with the corresponding Hall commutation signal of the minimum value
Number do not use.
It is an advantage of the invention that：Commutation of the present invention using the high precision angle-measuring of precise rotating platform to brshless DC motor is carried out
Accurate measurement and demarcation, make up the commutation error that brshless DC motor is brought due to processing and assembling etc., improve commutation angle
Accuracy, basis is provided further to realize that high-precision torque suppresses strategy.
Brief description of the drawings
Fig. 1；For commutation adjustment programme flow chart in Micro-processor MCV of the present invention；
Fig. 2 is present system structural representation.
Embodiment
Present disclosure is described in detail below in conjunction with the accompanying drawings.
Fig. 1-2 gives the specific embodiment of the present invention.Reduce the method for brshless DC motor torque fluctuations, including
Following steps：
1】
1.1) 3 phases of collection " Hall commutation signal " (ha/hb/hc), are converted directly into " phase change logic signal " (HA/HB/
HC),
1.2) storage 3 " Hall commutation signals " is respectively H1=ha, H2=hb, H3=hc, controlled motor low-speed running,
Angle value during storage operating；
2】
2.1) it is 3 to set acquisition counter device i；It is the Steady speed data under different benchmark to 3 Hall commutation signals
Collection in turn, 1 Hall commutation signal is often gathered, counter subtracts 1, until being 0；
2.2) it is n that MCU, which sets and rotates lap count j,；The n is 1-5 natural number；Subtract 1 after a circle is gathered in turn,
Until being 0；Triggered on the basis of the rising edge of any one Hall commutation signal, produce one " standard phase change logic signal "；
Angle value JD during record triggering, when movement angle is JD+JJ, software produces one " standard phase change logic signal " again；
When movement angle is JD+2*JJ, software produces one " standard phase change logic signal " again；
2.3) gathered angle signal is stored, is obtained " velocity amplitude " after carrying out " calculus of differences " to angle value；
3】To " velocity amplitude " progress " mean square deviation calculating ", obtain " velocity perturbation mean square deviation ".
4】Contrast 3 Hall commutation signals ha, hb, hc obtain " velocity perturbation mean square deviation ", take its minimum value corresponding
Hall commutation signal is triggering benchmark；The benchmark is distinguished by the corresponding different port address of ha, hb, hc；
5】Direct after start next time is trigger signal, other two Hall letter with the corresponding Hall commutation signal of the minimum value
Number do not use.
The method need not change the body construction of brshless DC motor, without addition hall device.But also it is not belonging to lead to
It can be used with equipment, because only that being provided with High-precision angle measuring apparatus in same shafting, can just there is such
Algorithm.The method is only applicable to high-precision servo control system of the motor with angle measurement system in same shafting and is applicable.
As shown in figure 1, microprocessor (MCU) software possess can correctly gather 3 Hall commutation signals and angle letter
Number；Constant low speed D/A controlled quentity controlled variables can correctly be sent；3 brshless DC motor phase change logic I/0 values can correctly be sent.Hardware
Aspect, system has：Change circuit, commutation translation circuit, gate-drive control circuit, three-phase of speed loop circuit, PWM is complete
Bridge circuit, brshless DC motor (have 3 commutation hall devices), it is equipped with and turns with motor coaxle angle measuring sensor
Platform, and line success.Preparation is completed.Commutation adjustment starts.MCU softwares are by 3 phases " Hall commutation signal " (ha/ of collection
Hb/hc) it is converted directly into " phase change logic signal " (HA/HB/HC), and it is respectively H1=ha to store 3 " Hall commutation signals ",
H2=hb, H3=hc, controlled motor low-speed running.Angle value during MCU storage operatings.(wherein：" Hall commutation signal " with
" phase change logic signal " is known information) MCU software design patterns counters i is 3, often performs once work below, counter subtracts
1, until being 0.So as to realize the collection in turn to 3 Hall commutation signals for the Steady speed data under different benchmark.MCU
It is 2 (can be increased according to actual conditions) to set and rotate lap count.Subtract 1 after a circle is rotated, until being 0.With 3
One in Hall commutation signal, such as ha rising edge on the basis of trigger, with MCU softwares produce one " standard phase change logic believe
Number " (i.e. in textbook, the electrical angle per phase signals is strictly separated by 120 ° of standard phase change logic truth table.This is known letter
Breath).Angle value JD when software records are triggered, when movement angle is JD+JJ (the corresponding theories of brshless DC motor that need to be adjusted
" commutation mechanical angle ", commutation mechanical angle is known information, and the number of pole-pairs of every brshless DC motor is different, its mechanical commutation
Angle is different, and textbook has formula) when, software produces one " standard phase change logic signal " again；When movement angle is JD+2*
During JJ, software produces one " standard phase change logic signal " again.Note：Original " phase change logic signal " is directly by " Hall is changed
3 rising edges of phase signals " trigger to adjust.And benchmark is done now with one of them " Hall commutation signal ", utilize collection
Angle information, every JJ just to " phase change logic signal " trigger adjust.Namely one hardware Hall trigger signal, two are adopted
The trigger signal that collection angle is realized by software, collectively constitutes a cycle " phase change logic ", rather than 3 original commutations
Triggering has hall signal generation) MCU storage acquisition angles signals, obtain " speed after carrying out " calculus of differences " to angle value
Value ".To " velocity amplitude " progress " mean square deviation calculating ", obtain " velocity perturbation mean square deviation ".Contrasted inside MCU by software：3
On the basis of individual Hall commutation signal ha, hb, hc, obtained " velocity perturbation mean square deviation " takes the corresponding Hall of its minimum value to change
Phase signals, such as ha are minimum, just on the basis of ha.It is (final to distinguish wherein, by the corresponding different port address of ha, hb, hc
Benchmark) determine after triggering benchmark, just with this hall signal is directly trigger signal, other two hall signal after start next time
Do not use.Its function is by software replacement.
Turntable body of the present invention：For precise rotating platform basic machine；Angular surveying：Generally high accuracy circular inductosyn,
Or space flight optical code wheel angularly measurement sensor；3 hall devices：It is pasted in brushless DC motor stator line bag
On, for sensing commutation signal；Brshless DC motor：Space flight is generally separately-loaded brshless DC motor with motor.Wherein, it is brushless
Direct current generator is joined directly together with turntable body by shafting and connect, that is, takes the mode directly driven to drive turntable to rotate.
Claims (1)
1. a kind of method for reducing brshless DC motor torque fluctuations, it is characterised in that：Comprise the following steps：
1】
1.1) 3 phases " Hall commutation signal " ha, hb, hc is gathered, " phase change logic signal " HA, HB, HC is converted directly into,
1.2) storage 3 " Hall commutation signals " is respectively H1=ha, H2=hb, H3=hc, controlled motor low-speed running, storage
Angle value during operating；
2】
2.1) it is 3 to set acquisition counter device i；To wheel of 3 Hall commutation signals for the Steady speed data under different benchmark
Stream collection, often gathers 1 Hall commutation signal, and counter subtracts 1, until being 0；
2.2) it is n that MCU, which sets and rotates lap count j,；The n is 1-5 natural number；Subtract 1 after a circle is gathered in turn, until
For 0；Triggered on the basis of the rising edge of any one Hall commutation signal, produce one " standard phase change logic signal "；Record
Angle value JD during triggering, when movement angle is JD+JJ, software produces one " standard phase change logic signal " again；Work as fortune
When dynamic angle is JD+2*JJ, software produces one " standard phase change logic signal " again；
2.3) gathered angle signal is stored, is obtained " velocity amplitude " after carrying out " calculus of differences " to angle value；
3】To " velocity amplitude " progress " mean square deviation calculating ", obtain " velocity perturbation mean square deviation "；
4】Contrast 3 Hall commutation signals ha, hb, hc obtain " velocity perturbation mean square deviation ", take the corresponding Hall of its minimum value
Commutation signal is triggering benchmark；The benchmark is distinguished by the corresponding different port address of ha, hb, hc；
5】Direct after start next time is trigger signal with the corresponding Hall commutation signal of the minimum value, and other two hall signal is not
Reuse.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510967425.4A CN105429525B (en) | 2015-12-20 | 2015-12-20 | Method for reducing torque fluctuation of brushless direct current motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510967425.4A CN105429525B (en) | 2015-12-20 | 2015-12-20 | Method for reducing torque fluctuation of brushless direct current motor |
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| CN105429525B true CN105429525B (en) | 2017-10-31 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4412159A (en) * | 1980-02-29 | 1983-10-25 | Sony Corporation | Drive circuit for an alternate phase brushless DC motor |
| CN102163947A (en) * | 2011-04-14 | 2011-08-24 | 天津大学 | Commutation torque ripple suppression method for permanent magnet brushless DC motor |
| CN104410341A (en) * | 2014-11-27 | 2015-03-11 | 江苏科技大学 | Low-speed torque ripple restraining device and restraining method based on direct current voltage adjustment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000245189A (en) * | 1999-02-22 | 2000-09-08 | Nsk Ltd | Controller for driving brushless dc motor |
-
2015
- 2015-12-20 CN CN201510967425.4A patent/CN105429525B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4412159A (en) * | 1980-02-29 | 1983-10-25 | Sony Corporation | Drive circuit for an alternate phase brushless DC motor |
| CN102163947A (en) * | 2011-04-14 | 2011-08-24 | 天津大学 | Commutation torque ripple suppression method for permanent magnet brushless DC motor |
| CN104410341A (en) * | 2014-11-27 | 2015-03-11 | 江苏科技大学 | Low-speed torque ripple restraining device and restraining method based on direct current voltage adjustment |
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| CN105429525A (en) | 2016-03-23 |
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