CN106059405A - Large power dual-rotor brushless direct current motor commutation method capable of inhibiting torque pulsation - Google Patents
Large power dual-rotor brushless direct current motor commutation method capable of inhibiting torque pulsation Download PDFInfo
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- CN106059405A CN106059405A CN201610369348.7A CN201610369348A CN106059405A CN 106059405 A CN106059405 A CN 106059405A CN 201610369348 A CN201610369348 A CN 201610369348A CN 106059405 A CN106059405 A CN 106059405A
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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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Abstract
The present invention relates to a large power dual-rotor brushless direct current motor commutation method capable of inhibiting torque pulsation. The commutation control and the torque pulsation inhibition in the operation of the large power dual-rotor brushless direct current motor can be realized. Hall position signals D_HA2_OUT, D_HB2_OUT, D_HC2_OUT, Z_HA2_OUT, Z_HB2_OUT and Z_HC2_OUT are subjected to every two phases or logic processing in a complex programmable logic device (CPLD) to obtain and input signals D-HA_OUT and Z_HA_OUT into a DSP controller. In the condition that internal and external rotors in the DSP controller both rotate an electric period angle, the positions [Theta]n and [Theta]w of internal and external rotors are calculated, and the positions [Theta]n and [Theta]w of the internal and external rotors are subjected to angle correction processing according to the Hall position signals A1, B1, C1 and A combined signal state; the real-time angle [Theta] of the motor rotor is calculated, and the six-way driving signals UP, UN, VP, VN, WP and WN are outputted according to the driving signals and cp_ii corresponding table; and in the complex programmable logic device (CPLD), the six-way driving signals are subjected to PWM modulation, and the six-way driving signals through PWM modulation are outputted to the inverter through adoption of the H_PWM-L_ON type modulation mode.
Description
Technical field
The invention belongs to double turn brshless DC motor control field, specifically can be torque pulsation inhibited high-power double turn
Brshless DC motor phase change method.
Background technology
High-power brushless direct current generator has operational efficiency height, good speed adjustment features, high reliability, in aviation, boat
My god, the various fields such as navigation, high-power brushless direct current generator all can be used as advancing actuator.High-power double turn brushless directly
Stream motor is the principle design based on active force and counteracting force, under the promotion of electromagnetic torque inside and outside two rotors simultaneously to
Rightabout rotates.This high-power double brshless DC motors that turn are mainly used under water that twin shaft is to turning in propulsion system, permissible
Effectively prevent roll phenomenon, significantly improve the propulsive efficiency of submarine navigation device.
Brshless DC motor due to use electronics commutation, be inevitably present in running commutation torque ripple and
PWM is pulsed.High-power brushless direct current generator nominal torque in the running is relatively big, if do not pressed down torque pulsation
System, can have a strong impact on system lifetim and stability.High-power double brshless DC motor that turns all is rotating due to inner and outer rotors, is
System run more complicated, add commutation control and torque suppression difficulty, therefore invent a kind of can be torque pulsation inhibited
High-power pair turns brshless DC motor phase change method and seems particularly significant.
Summary of the invention
Solve the technical problem that
For the deficiencies in the prior art, high-power pair that present invention proposition can be torque pulsation inhibited turns brshless DC motor
Phase change method.
Technical scheme
A kind of can be torque pulsation inhibited high-power double turn brshless DC motor phase change method, it is characterised in that step is such as
Under:
Step 1: to hall sensor signal D_HA2_OUT, D_HB2_OUT, D_ in complex programmable logic device (CPLD)
HC2_OUT, Z_HA2_OUT, Z_HB2_OUT, Z_HC2_OUT carry out two biphase or logical operationss, obtain signal D_HA_OUT and
Z_HA_OUT is input in dsp controller；
D_HA_OUT=D_HA2_OUT | | D_HB2_OUT
+D_HA2_OUT||D_HC2_OUT；
+D_HB2_OUT||D_HC2_OUT
Z_HA_OUT=Z_HA2_OUT | | Z_HB2_OUT
+Z_HA2_OUT||Z_HC2_OUT；
+Z_HB2_OUT||Z_HC2_OUT
Step 2: in the case of inner and outer rotors all turns over a pair pole in dsp controller, calculates internal rotor position θn, turn outward
Sub-position θw:
Internal rotor real-time angular
Outer rotor real-time angular
Wherein: TnFor internal rotor apart from the time width of a upper D_HA1_OUT trailing edge；
TnbThe time width between two D_HA1_OUT trailing edges is enclosed on internal rotor one；
TwFor outer rotor apart from the time width of a upper Z_HA1_OUT trailing edge；
TwbThe time width between two Z_HA1_OUT trailing edges is enclosed on outer rotor one；
Step 3: according to hall sensor signal D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal shape
The internal rotor position of statenCarry out angle modification:
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0101, if θnIt is more than
Equal to 30 degree, then by θnIt is modified to 30 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0100, if θnIt is less than
Equal to 30 degree, then by θnIt is modified to 30 degree；If θnMore than or equal to 60 degree, then by θnIt is modified to 60 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0110, if θnIt is less than
Equal to 60 degree, then by θnIt is modified to 60 degree；If θnMore than or equal to 90 degree, then by θnIt is modified to 90 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0111, if θnIt is less than
Equal to 90 degree, then by θnIt is modified to 90 degree；If θnMore than or equal to 120 degree, then by θnIt is modified to 120 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0011, if θnIt is less than
Equal to 120 degree, then by θnIt is modified to 120 degree；If θnMore than or equal to 150 degree, then by θnIt is modified to 150 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0010, if θnIt is less than
Equal to 150 degree, then by θnIt is modified to 150 degree；If θnMore than or equal to 180 degree, then by θnIt is modified to 180 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1010, if θnIt is less than
Equal to 180 degree, then by θnIt is modified to 180 degree；If θnMore than or equal to 210 degree, then by θnIt is modified to 210 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1011, if θnIt is less than
Equal to 210 degree, then by θnIt is modified to 210 degree；If θnMore than or equal to 240 degree, then by θnIt is modified to 240 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1001, if θnIt is less than
Equal to 240 degree, then by θnIt is modified to 240 degree；If θnMore than or equal to 270 degree, then by θnIt is modified to 270 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1000, if θnIt is less than
Equal to 270 degree, then by θnIt is modified to 270 degree；If θnMore than or equal to 300 degree, then by θnIt is modified to 300 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1100, if θnIt is less than
Equal to 300 degree, then by θnIt is modified to 300 degree；If θnMore than or equal to 330 degree, then by θnIt is modified to 330 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1101, if θnIt is less than
Equal to 330 degree, then by θnIt is modified to 330 degree；If θnMore than or equal to 360 degree, then by θnIt is modified to 0 degree；
External according to hall sensor signal Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state
Rotor positionwCarry out angle modification:
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0101, if θwIt is more than
Equal to 30 degree, then by θwIt is modified to 30 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0100, if θwIt is less than
Equal to 30 degree, then by θwIt is modified to 30 degree；If θwMore than or equal to 60 degree, then by θwIt is modified to 60 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0110, if θwIt is less than
Equal to 60 degree, then by θwIt is modified to 60 degree；If θwMore than or equal to 90 degree, then by θwIt is modified to 90 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0111, if θwIt is less than
Equal to 90 degree, then by θwIt is modified to 90 degree；If θwMore than or equal to 120 degree, then by θwIt is modified to 120 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0011, if θwIt is less than
Equal to 120 degree, then by θwIt is modified to 120 degree；If θwMore than or equal to 150 degree, then by θwIt is modified to 150 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0010, if θwIt is less than
Equal to 150 degree, then by θwIt is modified to 150 degree；If θwMore than or equal to 180 degree, then by θwIt is modified to 180 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1010, if θwIt is less than
Equal to 180 degree, then by θwIt is modified to 180 degree；If θwMore than or equal to 210 degree, then by θwIt is modified to 210 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1011, if θwIt is less than
Equal to 210 degree, then by θwIt is modified to 210 degree；If θwMore than or equal to 240 degree, then by θwIt is modified to 240 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1001, if θwIt is less than
Equal to 240 degree, then by θwIt is modified to 240 degree；If θwMore than or equal to 270 degree, then by θwIt is modified to 270 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1000, if θwIt is less than
Equal to 270 degree, then by θwIt is modified to 270 degree；If θwMore than or equal to 300 degree, then by θwIt is modified to 300 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1100, if θwIt is less than
Equal to 300 degree, then by θwIt is modified to 300 degree；If θwMore than or equal to 330 degree, then by θwIt is modified to 330 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1101, if θwIt is less than
Equal to 330 degree, then by θwIt is modified to 330 degree；If θwMore than or equal to 360 degree, then by θwIt is modified to 0 degree；
Step 4: calculating rotor real-time angular θ:
Step 5: according to cp_ii and driving signal corresponding relation, the 2 tunnels driving signals that output IGBT conducting is corresponding:
When cp_ii is 0, UPAnd WNCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 1, VPAnd WNCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 2, UNAnd VPCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 3, UNAnd WPCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 4, VNAnd WPCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 5, UPAnd VNCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
2 roads are driven signal to carry out PWM by step 6: in complex programmable logic device (CPLD), then will be through PWM
2 tunnels of modulation drive signal output.
Described step 6 modulation uses H_PWM-L_ON type modulation system.
Beneficial effect
The present invention propose a kind of can be torque pulsation inhibited high-power double turn brshless DC motor phase change method, permissible
Realize high-power pair well and turn brshless DC motor operating electronics commutation and torque suppression, improve the use longevity of system
Life and job stability.
Accompanying drawing explanation
Fig. 1 is double turns brushless DC motor structure schematic diagram
In 1-, axle, 2-outer shaft, 3-enamel-covered wire, 4-internal rotor, 5-outer rotor, 6-magnet steel, 7-outer rotor Hall disc, 8-are slided
Ring, 9-internal rotor Hall disc；
Fig. 2 is double turns Speed Regulation Systems of BLDCM theory diagram
Fig. 3 is double turns brshless DC motor " star-like six states of three-phase " schematic diagram
Fig. 4 is double turns Speed Regulation Systems of BLDCM main program flow chart
Fig. 5 hall sensor signal sequential logic figure
Fig. 6 hall sensor signal photoelectric isolating circuit figure
Fig. 7 drives signal isolation and amplification circuit diagram
Fig. 8 commutation controls program flow diagram
Detailed description of the invention
In conjunction with embodiment, accompanying drawing, the invention will be further described:
The present embodiment is high-power pair in submarine navigation device to be turned brshless DC motor carry out commutation control.
Referring to the drawings 1, double brshless DC motors that turn are by internal rotor 4, outer rotor 5, internal rotor Hall disc 9, outer rotor Hall
Dish 7, interior axle 1, outer shaft 2, slip ring 8 etc. are constituted.
Referring to the drawings 2, double turn Speed Regulation Systems of BLDCM by dsp controller, complex programmable logic device (CPLD),
Inner and outer rotors hall sensor signal Acquisition Circuit, voltage transformation module, current detecting and protection circuit, inverter, DC source,
Double brshless DC motor body, communicating circuit, host computer, commutation control modules etc. of turning form.
Referring to the drawings 4, double Speed Regulation Systems of BLDCM mastery routines that turn are by system initialization, initial start, commutation control
The module compositions such as the regulation of system, current detecting, Hysteresis Current, rotating speed calculating, rotating speed PID regulation, data transmission.
Referring to the drawings 6, hall sensor signal photoelectric isolating circuit is by photoelectric isolating device N2, resistance R9 Yu R10 and filtering
Electric capacity C12 forms, and D_HA1_IN is in the 7 road hall sensor signals that hall sensor signal Acquisition Circuit collects
Road, is connected to the negative electrode of photoelectric isolating device N2 input, the anode of photoelectric isolating device N2 input by with a resistance
R9 series connection is pulled between negative electrode and the anode of 5VH, N2 input be connected a filter capacitor C12, and the emitter stage of outfan connects
Ground, colelctor electrode is connected by one resistance R10 with 5V of series connection, and the colelctor electrode of outfan is output as the Hall position after Phototube Coupling
Confidence D_HA1_OUT；
Referring to the drawings 7, signal isolation is driven to build by high speed photo coupling N1 and resistance R1, R2, R3 with amplifying circuit, UP_IN
For through commutation in dsp control and in CPLD PWM process after output driving signal, by series connection one resistance R1
Being pulled to 5V power supply, another resistance R2 that simultaneously connects is connected to the negative electrode of high speed photo coupling N1 input, the anode of N1 input
Connecting with+5V power supply, the grounded emitter of N1 outfan, connect between its colelctor electrode with 5VIGBT a resistance R3, the most defeated
Go out the IGBT after isolation processing and amplifying and drive signal UP_OUT.
So, high-power double to turn brshless DC motor commutation control system running as follows: double turns brshless DC motor
During operation, inner and outer rotors rotates simultaneously, and inner and outer rotors Hall disc senses that the change in location of inner and outer rotors produces real-time Hall position
Confidence number, each rotor one has 7 road hall sensor signals, and its sequential logic is as shown in Figure 5.By inner and outer rotors Hall position
Put signal acquisition circuit and can collect inner and outer rotors totally 14 road hall sensor signal D_HA1_IN, D_HB1_IN, D_HC1_
IN、D_HA2_IN、D_HB2_IN、D_HC2_IN、D_HZ_IN、Z_HA1_IN、Z_HB1_IN、Z_HC1_IN、Z_HA2_IN、Z_
HB2_IN, Z_HC2_IN, Z_HZ_IN, this 14 road hall sensor signal can be every through hall sensor signal photoelectric isolating circuit
Separate out 14 road signal D_HA1_OUT, D_HB1_OUT, D_HC1_OUT, D_HA2_OUT, D_HB2_OUT, D_HC2_OUT, D_HZ_
OUT, Z_HA1_OUT, Z_HB1_OUT, Z_HC1_OUT, Z_HA2_OUT, Z_HB2_OUT, Z_HC2_OUT, Z_HZ_OUT, input
To complex programmable logic device (CPLD), it is input to after complex programmable logic device (CPLD) completes corresponding logical process
In dsp controller, exporting 6 road IGBT and drive signal in dsp controller after actuating motor commutation program, this 6 road IGBT drives
Signal is input in complex programmable logic device (CPLD) again, carries out PWM in CPLD, exports final adjusting through PWM
6 road IGBT of system drive signal to inverter, it is achieved high-power pair turns brshless DC motor commutation and control.
Referring to the drawings 8, commutation controls program and implements to be divided into following steps:
(1) to hall sensor signal D_HA2_OUT, D_HB2_OUT, D_HC2_ in complex programmable logic device (CPLD)
OUT, Z_HA2_OUT, Z_HB2_OUT, Z_HC2_OUT carry out two biphase or logical process, obtain signal D_HA_OUT and Z_HA_
OUT is input in dsp controller；
D_HA_OUT=D_HA2_OUT | | D_HB2_OUT
+D_HA2_OUT||D_HC2_OUT；
+D_HB2_OUT||D_HC2_OUT
Z_HA_OUT=Z_HA2_OUT | | Z_HB2_OUT
+Z_HA2_OUT||Z_HC2_OUT；
+Z_HB2_OUT||Z_HC2_OUT
(2), in the case of inner and outer rotors all turns over an electric cycle in dsp controller, inner and outer rotors position θ is calculatedn、θw
Internal rotor real-time angular
Outer rotor real-time angular
Wherein: TnFor internal rotor apart from the time width of a upper D_HA1_OUT trailing edge；
TnbThe time width between two D_HA1_OUT trailing edges is enclosed on internal rotor one；
TwFor outer rotor apart from the time width of a upper Z_HA1_OUT trailing edge；
TwbThe time width between two Z_HA1_OUT trailing edges is enclosed on outer rotor one；
(3) according to hall sensor signal A1, B1, C1, A composite signal state to inner and outer rotors position θn、θwCarry out angle to repair
Just process；
(4) rotor real-time angular θ is calculated
(5) signal table corresponding with cp_ii, output drive signal U are driven according to table 1P、UN、VP、VN、WP、WNThe 2 of middle conducting
Road.
Table 1 drives signal table corresponding with cp_ii
(6) in complex programmable logic device (CPLD), drive signal to carry out PWM on 2 tunnels, use H_PWM-L_ON
Type modulation system, then 2 roads through PWM are driven signal output, so process and can significantly reduce motor torque arteries and veins
Dynamic.
Claims (2)
1. one kind can be torque pulsation inhibited high-power double turn brshless DC motor phase change method, it is characterised in that step is such as
Under:
Step 1: to hall sensor signal D_HA2_OUT, D_HB2_OUT, D_HC2_ in complex programmable logic device (CPLD)
OUT, Z_HA2_OUT, Z_HB2_OUT, Z_HC2_OUT carry out two biphase or logical operationss, obtain signal D_HA_OUT and Z_HA_
OUT is input in dsp controller；
D_HA_OUT=D_HA2_OUT | | D_HB2_OUT
+D_HA2_OUT||D_HC2_OUT；
+D_HB2_OUT||D_HC2_OUT
Z_HA_OUT=Z_HA2_OUT | | Z_HB2_OUT
+Z_HA2_OUT||Z_HC2_OUT；
+Z_HB2_OUT||Z_HC2_OUT
Step 2: in the case of inner and outer rotors all turns over a pair pole in dsp controller, calculates internal rotor position θn, outer rotor position
Put θw:
Internal rotor real-time angular
Outer rotor real-time angular
Wherein: TnFor internal rotor apart from the time width of a upper D_HA1_OUT trailing edge；
TnbThe time width between two D_HA1_OUT trailing edges is enclosed on internal rotor one；
TwFor outer rotor apart from the time width of a upper Z_HA1_OUT trailing edge；
TwbThe time width between two Z_HA1_OUT trailing edges is enclosed on outer rotor one；
Step 3: according to hall sensor signal D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state pair
Internal rotor position θnCarry out angle modification:
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0101, if θnIt is more than or equal to
30 degree, then by θnIt is modified to 30 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0100, if θnIt is less than or equal to
30 degree, then by θnIt is modified to 30 degree；If θnMore than or equal to 60 degree, then by θnIt is modified to 60 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0110, if θnIt is less than or equal to
60 degree, then by θnIt is modified to 60 degree；If θnMore than or equal to 90 degree, then by θnIt is modified to 90 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0111, if θnIt is less than or equal to
90 degree, then by θnIt is modified to 90 degree；If θnMore than or equal to 120 degree, then by θnIt is modified to 120 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0011, if θnIt is less than or equal to
120 degree, then by θnIt is modified to 120 degree；If θnMore than or equal to 150 degree, then by θnIt is modified to 150 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x0010, if θnIt is less than or equal to
150 degree, then by θnIt is modified to 150 degree；If θnMore than or equal to 180 degree, then by θnIt is modified to 180 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1010, if θnIt is less than or equal to
180 degree, then by θnIt is modified to 180 degree；If θnMore than or equal to 210 degree, then by θnIt is modified to 210 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1011, if θnIt is less than or equal to
210 degree, then by θnIt is modified to 210 degree；If θnMore than or equal to 240 degree, then by θnIt is modified to 240 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1001, if θnIt is less than or equal to
240 degree, then by θnIt is modified to 240 degree；If θnMore than or equal to 270 degree, then by θnIt is modified to 270 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1000, if θnIt is less than or equal to
270 degree, then by θnIt is modified to 270 degree；If θnMore than or equal to 300 degree, then by θnIt is modified to 300 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1100, if θnIt is less than or equal to
300 degree, then by θnIt is modified to 300 degree；If θnMore than or equal to 330 degree, then by θnIt is modified to 330 degree；
When D_HA1_OUT, D_HB1_IN, D_HC1_IN, D_HA_OUT composite signal state is 0x1101, if θnIt is less than or equal to
330 degree, then by θnIt is modified to 330 degree；If θnMore than or equal to 360 degree, then by θnIt is modified to 0 degree；
According to hall sensor signal Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state to outer rotor
Position θwCarry out angle modification:
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0101, if θwIt is more than or equal to
30 degree, then by θwIt is modified to 30 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0100, if θwIt is less than or equal to
30 degree, then by θwIt is modified to 30 degree；If θwMore than or equal to 60 degree, then by θwIt is modified to 60 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0110, if θwIt is less than or equal to
60 degree, then by θwIt is modified to 60 degree；If θwMore than or equal to 90 degree, then by θwIt is modified to 90 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0111, if θwIt is less than or equal to
90 degree, then by θwIt is modified to 90 degree；If θwMore than or equal to 120 degree, then by θwIt is modified to 120 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0011, if θwIt is less than or equal to
120 degree, then by θwIt is modified to 120 degree；If θwMore than or equal to 150 degree, then by θwIt is modified to 150 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x0010, if θwIt is less than or equal to
150 degree, then by θwIt is modified to 150 degree；If θwMore than or equal to 180 degree, then by θwIt is modified to 180 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1010, if θwIt is less than or equal to
180 degree, then by θwIt is modified to 180 degree；If θwMore than or equal to 210 degree, then by θwIt is modified to 210 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1011, if θwIt is less than or equal to
210 degree, then by θwIt is modified to 210 degree；If θwMore than or equal to 240 degree, then by θwIt is modified to 240 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1001, if θwIt is less than or equal to
240 degree, then by θwIt is modified to 240 degree；If θwMore than or equal to 270 degree, then by θwIt is modified to 270 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1000, if θwIt is less than or equal to
270 degree, then by θwIt is modified to 270 degree；If θwMore than or equal to 300 degree, then by θwIt is modified to 300 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1100, if θwIt is less than or equal to
300 degree, then by θwIt is modified to 300 degree；If θwMore than or equal to 330 degree, then by θwIt is modified to 330 degree；
When Z_HA1_OUT, Z_HB1_IN, Z_HC1_IN, Z_HA_OUT composite signal state is 0x1101, if θwIt is less than or equal to
330 degree, then by θwIt is modified to 330 degree；If θwMore than or equal to 360 degree, then by θwIt is modified to 0 degree；
Step 4: calculating rotor real-time angular θ:
θ=θn+θw；
If (θ >=360) θ=θ-360；
Cp_ii=θ/60；
Step 5: according to cp_ii and driving signal corresponding relation, the 2 tunnels driving signals that output IGBT conducting is corresponding:
When cp_ii is 0, UPAnd WNCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 1, VPAnd WNCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 2, UNAnd VPCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 3, UNAnd WPCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 4, VNAnd WPCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
When cp_ii is 5, UPAnd VNCorresponding IGBT conducting, other drives the IGBT cut-off that signal is corresponding；
2 roads are driven signal to carry out PWM by step 6: in complex programmable logic device (CPLD), then will be through PWM
2 roads drive signals output.
The most according to claim 1 can be torque pulsation inhibited high-power double turn brshless DC motor phase change method,
It is characterized in that described step 6 modulation uses H_PWM-L_ON type modulation system.
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| CN102624305A (en) * | 2012-04-06 | 2012-08-01 | 西北工业大学 | Initial starting method for double-shaft contra-rotating permanent magnet brushless direct current motor |
| CN105186944A (en) * | 2015-08-04 | 2015-12-23 | 西北工业大学 | Position detection method of inner and outer rotors of high precision biaxial counter-rotating brushless direct current motor |
| CN105007010B (en) * | 2015-08-04 | 2017-08-01 | 西北工业大学 | 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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| CN112683115B (en) * | 2020-12-16 | 2024-01-30 | 陕西航天时代导航设备有限公司 | Torpedo steering engine driving system based on CPLD control |
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