CN105529971A - Control system applying software compensation method for phase commutation lag angle of high-speed brushless DC motor - Google Patents
Control system applying software compensation method for phase commutation lag angle of high-speed brushless DC motor Download PDFInfo
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- CN105529971A CN105529971A CN201610100452.6A CN201610100452A CN105529971A CN 105529971 A CN105529971 A CN 105529971A CN 201610100452 A CN201610100452 A CN 201610100452A CN 105529971 A CN105529971 A CN 105529971A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention discloses a control system applying a software compensation method for a phase commutation lag angle of a high-speed brushless DC (Direct Current) motor. The control system comprises a DC power supply, a Buck converter, a three-phase inverter bridge, a brushless DC motor and a DSP (Digital Signal Processor) control board; three Hall signals HallA, HallB and HallC generated by the brushless DC motor are received by the DSP control board; and a PWM (Pulse-Width Modulation) signal generated by the DSP control board is received by the Buck converter. According to the present invention, the control system can effectively eliminate the phase commutation lag angle of a motor, inhibit current spikes before freewheeling a non-conducting phase and turning off a conducting phase current, and achieve the purposes of reducing a phase current waveform distortion of a DC motor, reducing a heat value of the motor, reducing the loss of the motor and increasing the efficiency of the motor.
Description
Technical field
The invention belongs to brshless DC motor control field, be specifically related to a kind of control system applying high-speed brushless DC electromotor commutation angle of retard software compensation method.
Background technology
High-speed brushless DC electromotor adopts Buck(DC decompression) the converter mode that adds three phase inverter bridge drives, its commutation moment is determined by position signalling, position signalling is obtained by three Hall elements, the impacts such as motor-field, RC filter and installation site deviation are subject to due to Hall element, its commutation signal sent lags behind real commutation signal, there is certain lag angle.When machine operation is in high speed, this commutation angle of retard can cause the non-conduction phase winding of direct current machine to occur larger afterflow, larger current spike is there is in conducting phase winding before shutoff, electric machine phase current waveform is caused to distort, the motor feels hot, and amount increases, temperature raises, thus produces the extra loss of electric machine.
Summary of the invention
The present invention proposes to overcome the shortcoming existed in prior art, its objective is and provides a kind of control system applying high-speed brushless DC electromotor commutation angle of retard software compensation method.
The principle of technical solution of the present invention:
The compensation method of high-speed brushless DC electromotor commutation angle of retard is by DSP(digital signal processor) in commutation interrupt routine, commutation point is shifted to an earlier date with the compensation realized angle of retard.
Angle of retard is made up of interruption delay angle of retard, fix error angle, RC filtering angle of retard three part, wherein interruption delay, Hall element alignment error are all static receiver errors, can obtain by measuring, the dynamic error that hall signal produces through RC filter then obtains by calculating.
Brshless DC motor take hall signal as interrupt trigger signal, and in a certain order, every 60 ° of electrical degrees (commutating period is 60 ° of electrical degrees) carry out a commutation, because interrupt service routine can only carry out interrupt latency, can not carry out interruption advanced.Compensate to realize angle of retard, first must calculate commutating period corresponding to 60 ° of electrical degrees according to the real-time rotate speed of motor, again commutation order is shifted to an earlier date 60 ° of electrical degrees (commutating period), then in interrupt routine, postpone 60 ° of electrical degrees by timing routine and deduct the time corresponding after angle of retard, carry out commutation again, so just the commutation moment is advanced by certain angle of retard, achieve the object that angle of retard compensates.
Technical scheme of the present invention is:
The control system of application high-speed brushless DC electromotor commutation angle of retard software compensation method, comprises DC power supply, Buck converter, three phase inverter bridge, brshless DC motor and DSP control board; Described Buck converter is made up of controllable silicon T1, diode D1, inductance L 1 and electric capacity C1, and described three phase inverter bridge is made up of six controllable silicon Q1-Q6 of three brachium pontis; The anode of DC power supply is connected with the collector electrode of controllable silicon T1, the negative terminal of DC power supply is connected with the negative pole of the anode of diode D1, electric capacity C1, inductance L 1 one end is connected with the emitter of controllable silicon T1, the negative electrode of diode D1 simultaneously, and the other end of inductance L 1 is connected with the positive pole of electric capacity C1; The positive pole of electric capacity C1 is connected with the collector electrode of controllable silicon Q1, controllable silicon Q3, controllable silicon Q5, the negative pole of electric capacity C1 is connected with the emitter of controllable silicon Q2, controllable silicon Q4, controllable silicon Q6, the emitter of controllable silicon Q1 is connected with the collector electrode of controllable silicon Q2, the emitter of controllable silicon Q3 is connected with the collector electrode of controllable silicon Q4, and the emitter of controllable silicon Q5 is connected with the collector electrode of controllable silicon Q6; The A phase of brshless DC motor is connected with the collector electrode of the emitter of controllable silicon Q1, controllable silicon Q2, the B phase of brshless DC motor is connected with the collector electrode of the emitter of controllable silicon Q3, controllable silicon Q4, and the C phase of brshless DC motor is connected with the collector electrode of the emitter of controllable silicon Q5, controllable silicon Q6; Three hall signals HallA, HallB and HallC that brshless DC motor produces are received by DSP control board; The pwm signal that DSP control board produces is received by Buck converter.
The invention has the beneficial effects as follows:
The present invention effectively can eliminate motor commutation angle of retard, the current spike before suppressing Torque ripple and conducting phase current to turn off, and reaches and reduces the distortion of direct current machine phase current waveform, the amount that reduces that the motor feels hot, reduces the loss of electric machine, improves the object of electric efficiency.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is hall signal value figure corresponding with the conducting of brshless DC motor in the present invention;
Fig. 3 is the main program flow schematic diagram of high-speed brushless DC electromotor commutation angle of retard software compensation method of the present invention;
Fig. 4 is the schematic flow sheet of Hall-signal interrupt subprogram in the present invention.
Wherein:
1 DC power supply 2Buck converter
3 three phase inverter bridge 4 brshless DC motors
5DSP control board.
Embodiment
Below in conjunction with embodiment, the control system of Figure of description to the present invention's application high-speed brushless DC electromotor commutation angle of retard software compensation method is described in detail:
As shown in Figure 1, a kind of control system applying high-speed brushless DC electromotor commutation angle of retard software compensation method, comprises DC power supply 1, Buck converter 2, three phase inverter bridge 3, brshless DC motor 4 and DSP control board 5; Described Buck converter 2 is made up of controllable silicon T1, diode D1, inductance L 1 and electric capacity C1, and described three phase inverter bridge 3 is made up of six controllable silicon Q1-Q6 of three brachium pontis.
The anode of described DC power supply 1 is connected with the collector electrode of controllable silicon T1; The negative terminal of DC power supply 1 is connected with the negative pole of the anode of diode D1, electric capacity C1, and inductance L 1 one end is connected with the emitter of controllable silicon T1, the negative electrode of diode D1 simultaneously, and the other end of inductance L 1 is connected with the positive pole of electric capacity C1; The positive pole of electric capacity C1 is connected with the collector electrode of controllable silicon Q1, controllable silicon Q3, controllable silicon Q5, the negative pole of electric capacity C1 is connected with the emitter of controllable silicon Q2, controllable silicon Q4, controllable silicon Q6, the emitter of controllable silicon Q1 is connected with the collector electrode of controllable silicon Q2, the emitter of controllable silicon Q3 is connected with the collector electrode of controllable silicon Q4, and the emitter of controllable silicon Q5 is connected with the collector electrode of controllable silicon Q6; The A phase of brshless DC motor 4 is connected with the collector electrode of the emitter of controllable silicon Q1, controllable silicon Q2, the B phase of brshless DC motor 4 is connected with the collector electrode of the emitter of controllable silicon Q3, controllable silicon Q4, and the C phase of brshless DC motor 4 is connected with the collector electrode of the emitter of controllable silicon Q5, controllable silicon Q6.Three hall signals HallA, HallB and HallC that brshless DC motor 4 produces are received by DSP control board 5; The pwm signal that DSP control board 5 produces is received by Buck converter 2.
Described DC power supply 1 provides direct current for brshless DC motor, DC power conversion is adjustable direct voltage by Buck converter 2, three phase inverter bridge 3 is for the commutation of brshless DC motor, DSP control board 5 is for the collection of hall signal, pwm signal generates, the functions such as motor control algorithms realization and man-machine communication, the system control panel being core with TMS320F2812 chip that DSP control board 5 selects TI company to produce, TMS320F2812 chip is 32 fixed-point dsps, operation frequency is up to 150MHz, there is operational precision high, the features such as system processing power is strong, chip internal is integrated with A/D modular converter simultaneously, the module such as serial communication modular and task manager, the collection that conveniently can realize signal exports, hall signal is caught, the functions such as pwm signal generation and Electric Machine Control.
As shown in Figure 2, in figure, HallA, HallB, HallC represent three hall sensor signals of brshless DC motor respectively, wherein 1 represent high level, 0 represents low level, A, B, C represent the three-phase windings of brshless DC motor, and Q1-Q6 represents the controllable silicon of three phase inverter bridge, according to the value of synchronization three hall signals, control the corresponding silicon controlled conducting of three phase inverter bridge, just can realize the commutation function of brshless DC motor.The position signalling of brshless DC motor 4 is detected by three Hall elements and obtains, three Hall devices are looped around peritrochanteric, spatially 120 °, interval, rotor is through Hall element, Hall element can produce the output signal of 180 ° of pulsewidths, the output signal mutual deviation of three Hall elements 120 °, 6 rising edges or trailing edge is had in each swing circle, corresponding 6 commutation moment respectively, according to the value of three hall signals, just can drive corresponding switching tube, realize the correct commutation of motor.
As shown in Figure 3, of the present invention used high-speed brushless DC electromotor commutation angle of retard software compensation method, comprises the following steps:
(I) start
From main program entrance start program (S1);
(II) initialization
Carry out the initialization of DSP control board 5, complete the initial work (S2) of DSP control board 5 peripheral clock, house dog, I/O port and interrupt vector table;
(III) configuration register
Configure the timer of DSP control board 5, PWM register, SCI register and catch interrupt register, and enable related interrupts function (S3);
(IV) initializers parameter
The relevant parameters (S4) such as initialize Timer, PWM duty ratio, delay time, RS232 bitcom;
(V) circular wait
Enter major cycle, wait interruption to be captured that (S5) occurs;
(VI) interrupt routine returning
Perform Hall-signal interrupt subprogram, after completing, return the circular wait (S6) of main program;
As shown in Figure 4, described Hall-signal interrupt subprogram comprises the following steps:
(I) interrupt starting
Occur to catch and interrupt, enter Hall-signal interrupt program (S7);
(II) order of commutation in advance
According to motor commutation sequence list, by brshless DC motor 4 commutation order 60 degree of electrical degrees (S8) in advance;
(III) motor speed is calculated
The rotating speed of real-time calculating brshless DC motor 4 and motor commutating period (S9);
(IV) the computation delay time
Calculate brshless DC motor 4 commutation and postpone time (S10) corresponding to angle;
(V) commutation is performed
Enter major cycle, wait interruption to be captured that (S11) occurs;
(VI) interrupted returning main program
Call delay procedure and carry out time delay, after time delay, carry out motor commutation (S12).
The present invention effectively can eliminate motor commutation angle of retard, current spike before suppressing Torque ripple and conducting phase current to turn off, reaches the distortion reducing direct current machine phase current waveform, reduces the loss of electric machine, the amount that reduce further that the motor feels hot, improves the object of electric efficiency.
Claims (1)
1. apply a control system for high-speed brushless DC electromotor commutation angle of retard software compensation method, it is characterized in that: comprise DC power supply (1), Buck converter (2), three phase inverter bridge (3), brshless DC motor (4) and DSP control board (5); Described Buck converter (2) is made up of controllable silicon T1, diode D1, inductance L 1 and electric capacity C1, and described three phase inverter bridge (3) is made up of six controllable silicon Q1-Q6 of three brachium pontis; The anode of DC power supply (1) is connected with the collector electrode of controllable silicon T1, the negative terminal of DC power supply (1) is connected with the negative pole of the anode of diode D1, electric capacity C1, inductance L 1 one end is connected with the emitter of controllable silicon T1, the negative electrode of diode D1 simultaneously, and the other end of inductance L 1 is connected with the positive pole of electric capacity C1; The positive pole of electric capacity C1 is connected with the collector electrode of controllable silicon Q1, controllable silicon Q3, controllable silicon Q5, the negative pole of electric capacity C1 is connected with the emitter of controllable silicon Q2, controllable silicon Q4, controllable silicon Q6, the emitter of controllable silicon Q1 is connected with the collector electrode of controllable silicon Q2, the emitter of controllable silicon Q3 is connected with the collector electrode of controllable silicon Q4, and the emitter of controllable silicon Q5 is connected with the collector electrode of controllable silicon Q6; The A phase of brshless DC motor (4) is connected with the collector electrode of the emitter of controllable silicon Q1, controllable silicon Q2, the B phase of brshless DC motor (4) is connected with the collector electrode of the emitter of controllable silicon Q3, controllable silicon Q4, and the C phase of brshless DC motor (4) is connected with the collector electrode of the emitter of controllable silicon Q5, controllable silicon Q6; Three hall signals HallA, HallB and HallC that brshless DC motor (4) produces are received by DSP control board (5); The pwm signal that DSP control board (5) produces is received by Buck converter (2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610100452.6A CN105529971A (en) | 2016-02-24 | 2016-02-24 | Control system applying software compensation method for phase commutation lag angle of high-speed brushless DC motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610100452.6A CN105529971A (en) | 2016-02-24 | 2016-02-24 | Control system applying software compensation method for phase commutation lag angle of high-speed brushless DC motor |
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| CN105529971A true CN105529971A (en) | 2016-04-27 |
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| CN201610100452.6A Pending CN105529971A (en) | 2016-02-24 | 2016-02-24 | Control system applying software compensation method for phase commutation lag angle of high-speed brushless DC motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108494311A (en) * | 2018-03-22 | 2018-09-04 | 浙江大学 | A kind of electric machine phase current spike removing method of current source inverter control |
| CN113131818A (en) * | 2020-01-10 | 2021-07-16 | 武汉杰开科技有限公司 | Hall sensor installation error identification method and device and motor control system |
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| US20140111131A1 (en) * | 2012-10-24 | 2014-04-24 | Marvell World Trade Ltd. | Method and apparatus for windowless bemf detection |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108494311A (en) * | 2018-03-22 | 2018-09-04 | 浙江大学 | A kind of electric machine phase current spike removing method of current source inverter control |
| CN113131818A (en) * | 2020-01-10 | 2021-07-16 | 武汉杰开科技有限公司 | Hall sensor installation error identification method and device and motor control system |
| CN113131818B (en) * | 2020-01-10 | 2023-07-28 | 武汉杰开科技有限公司 | Hall sensor installation error identification method, device and motor control system |
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Application publication date: 20160427 |
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