CN106059409B - A kind of brushless DC motor without position sensor rotor commutation error calibration method and control system - Google Patents
A kind of brushless DC motor without position sensor rotor commutation error calibration method and control system Download PDFInfo
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- CN106059409B CN106059409B CN201610364726.2A CN201610364726A CN106059409B CN 106059409 B CN106059409 B CN 106059409B CN 201610364726 A CN201610364726 A CN 201610364726A CN 106059409 B CN106059409 B CN 106059409B
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention relates to a kind of brushless DC motor without position sensor rotor commutation error calibration method and control systems.Motor opposite potential harmonic information is obtained by Fourier decomposition, analyze there are be connected during commutation point phase offset area start and at the end of parsing relationship between motor terminal voltage difference and commutation point offset phase, and push off phase point offset phase according to back-emf harmonic information is counter, and then the phase deviation calculated in real time is added in original signal, obtain high-precision commutation signal.Control system using close-loop control mode, is effectively reduced the commutation error of motor without position sensor, is substantially increased the working efficiency of error convergence speed and motor without position sensor based on designed bearing calibration.
Description
Technical field
The present invention relates to a kind of brushless DC motor without position sensor rotor commutation error calibration method and control system,
It is used to implement the accurate commutation of brushless DC motor without position sensor rotor.
Background technology
Brshless DC motor has many advantages, such as that simple in structure, easy to maintain, efficient, controllability is good, speed adjusting performance is excellent,
In industrial circle extensive use.Conventional brushless DC motor carries out rotor-position detection using position sensor, and realizes commutation.
But the installation of position sensor usually requires position alignment, increases additional lead, influences system reliability, while military products are suddenly
You can increase system power dissipation by member magnetic pin.In order to avoid above-mentioned unfavorable factor, by motor without position sensor actuation techniques
Applied to brshless DC motor.Position-sensor-free commutation controls generally use opposite potential zero crossing detection, this method skill
Art is ripe, using simple and reliable especially under high speed.However, due to low-pass filtering, armature-reaction and device latencies,
Opposite potential zero crossing detection inevitably results from position detection error, and motor torque ripple is caused to increase, under high speed
Cause non-conduction diode phase afterflow, generate negative electromagnetic torque, reduce electric efficiency.Therefore, it is necessary to it studies based on no position
The brshless DC motor high-precision phase change method of sensor technology reduces torque pulsation, reduces systematic steady state power consumption, ensures simultaneously
Motor realizes that position-sensor-free commutation controls in full speed range, improves reliability.
Invention content
Present invention solves the technical problem that it is：For the commutation of brushless DC motor without position sensor rotor, there are errors
Problem based on the relationship between motor terminal voltage difference and commutation point phase offset, proposes a kind of no brush and no position sensing direct current
Rotor commutation error calibration method, and the control system for realizing this method is designed, accurate compensation back-emf zero-crossing method
Commutation error greatly reduces the error convergence time, improves commutation precision.
The technical solution of the present invention：Brushless DC motor without position sensor rotor commutation error correction control system
System, including 28V D.C. regulated power supplies (1), Buck converters (2), three phase full bridge circuit (3), trapper (4), brushless dc
Machine (5), back-emf crossover point signal obtain circuit (6), phase voltage obtains circuit (7), digitial controller (8) etc..Back-emf mistake
Zero signal obtains circuit (6), including RC low-pass filters, dummy neutral circuit, voltage comparator.Three-phase voltage is through too low
It is compared respectively with dummy neutral voltage after bandpass filter, obtains three opposite potential crossover point signals；Phase voltage obtains electricity
A certain phase terminal voltage and dummy neutral voltage are compared to obtain the phase voltage by road (7).Digitial controller (8) is by FPGA+
DSP realizes that wherein FPGA portion includes PWM modulation module, sampling pulse generation module, A/D interface modules, original commutation signal
Postponement module, rotation speed measuring module etc.；DSP parts are by PID regulator, phase voltage difference computing module, commutation error calculation with mending
Repay module composition.Sampling pulse generation module according to the original commutation signal in three tunnels, is conducted previous moment at certain and conducting terminates
Later moment in time generates sampling pulse respectively.The crossover point signal of input is postponed 30 electrical angles by original commutation signal Postponement module,
Generate the original commutation signal in three tunnels；Phase voltage is obtained the phase voltage signal of circuit output according to AD clocks frequency by A/D interface modules
Rate is constantly converted to digital quantity；The phase voltage digital quantity that the phase voltage difference computing module calculating adjacent double sampling moment obtains is poor
Value；Commutation error calculation goes out commutation error using the voltage difference of acquirement with compensating module according to error calculation equation calculation, then
It is added in the original commutation signal in three tunnels by the commutation error calculating compensation time, obtains accurate commutation signal.
The principle of the present invention is：Brushless DC motor without position sensor rotor commutation error calibration method, according to brushless
The voltage equation of direct current generator, non-conduction phase phase voltage are the opposite potential, by detecting back-emf crossover point signal and prolonging
Slow 30 electrical angle can generate the original commutation signal in three tunnels, and according to back-emf Harmonic Equation, when commutation signal has error, certain is opposite
Potential can generate asymmetry at the beginning and end of this is conducted, and the asymmetry value i.e. voltage difference be detected, according to error solution
Commutation error can be calculated by calculating equation, and commutation moment adjuster generates thermal compensation signal according to commutation error, and three tunnels that are added to are original
In commutation signal, you can obtain the accurate commutation signal in three tunnels.
The realization step for going out commutation error according to error resolving equation calculation is as follows：The first step, error resolve equation
For following cubic equation：
a·α3+ c α+d=0
D=-V (α)
Wherein △ V represent voltage difference, and α represents commutation error, A2k-1Represent that the harmonic constant of corresponding order (can be by anti-
Potential waveform carries out offline Fast Fourier Transform (FFT) and obtains), ideally error resolving equation should be stringent by back-emf equation
The back-emf at two moment asks poor before conducting and after conducting on ground, but during due to motor commutation, and motor terminal voltage, which exists, to be fluctuated,
For the influence that commutation voltage is avoided to pulse, two moment of difference is asked back-emf equation to be adjusted, maximum phase shift delta rad is set,
δ rad before conducting is started respectively, the back-emf at two moment of δ rad, which is sought difference and ignored, after conducting influences smaller height in difference
Then secondary item harmonic wave ignores its sine term progress Taylor series expansion high-order term and obtains practical error resolving equation；
δ rad are calculated to obtain by motor inductances value, motor angular velocity and phase current initial value, and by taking B phases as an example, other are similar,
The electric current that B correlations are had no progeny is：
Whereinib0It is initial current, L is motor inductances value, ω
For motor angular velocity, ibIt is B phase current values, calculates B correlations and have no progeny electric current duration, with reference to the angular speed of motor at this time
Lasting maximum phase shift can be obtained.
The voltage difference detected is substituted into equation, can calculate accurate commutation error alpha by second step.
The principle of the present invention：
Error ideally resolves equattion root according to back-emf equation：
Wherein, exRepresent back-emf, subscriptxRepresenting A, B, C three-phase respectively, 2k-1 represents back-emf harmonic order, m=-1,
0,1 is used for representing the phase difference of three opposite potentials, A2k-1Represent the harmonic constant of corresponding order, θ is rotor-position, harmonic constant
It can be obtained by carrying out Fast Fourier Transform (FFT) to counter potential waveform offline.It is analyzed so that B is conducted as an example, other are mutually led
When logical, analysis is similar.It is assumed that B phase initial time rotor phases areConducting previous moment is terminated later moment in time with conducting (to turn
Sub- position isPhase) back-emf ask poor, obtain：
Wherein, E represents back-emf, and subscript B, E represents the starting and ending moment of turn-on cycle, " ' respectively " represent commutation
Back-emf in the presence of error, α represent commutation error, since high-order term harmonic constant is very small compared to fundamental factor, neglect
Slightly back-emf high-order term harmonic wave, obtains：
Taylor series expansion is carried out to the sine term in voltage equation, ignores high order term coefficient, obtains simple cubic equation：
Back emf coefficient and the voltage difference detected are substituted into equation, accurate commutation error alpha can be calculated.
During due to motor commutation, there is fluctuation in motor terminal voltage, and for the influence that commutation voltage is avoided to pulse, bearing calibration will
Terminal voltage sampling point position is adjusted, and is obtained in motor commutation process according to motor inductances value, motor speed and phase current values
Conducting is started sampled point respectively and shifts to an earlier date δ rad by the maximum phase shift delta rad of rotor, and conducting terminates sampled point and delays δ rad, further
It is adjusted the voltage eikonal equation after sampled point：
Wherein, α represents commutation error, and δ is maximum phase shift, and ignores back-emf high-order term harmonic wave, is obtained：
By sine term Taylor series expansion, ignore high order term coefficient, obtain simple cubic equation：
a2·α3+c2·α+d2=0
d2=-V (α)
Back emf coefficient, the voltage difference detected and phase δ are substituted into equation, accurate commutation error alpha can be calculated.
After obtaining commutation error, commutation moment adjuster generates thermal compensation signal according to commutation error, and three tunnels that are added to are original
In commutation signal, you can obtain the accurate commutation signal in three tunnels.
The advantages of the present invention over the prior art are that：
(1) present invention is for brushless DC motor without position sensor rotor commutation error correction problem, in existing voltage
On the basis of poor Pi adjusting methods, error is calculated by voltage equation and back-emf equation inference and resolves equation, is accurately calculated
Commutation error greatly reduces the error convergence time, improves commutation precision.
(2) compared with existing brushless DC motor without position sensor rotor commutation error calibration method, the present invention is mutually electric
Pressure difference acquisition process does not influence the working frequency of AD conversion device, does not influence the feedback of electric machine speed regulation electric current loop and control frequency.
Description of the drawings
Fig. 1 is the algorithm flow chart of the present invention；
Fig. 2 is the brshless DC motor error correction driving control system of the present invention；
Fig. 3 is phase voltage waveform and sampling pulse schematic diagram under the different commutation error states of the present invention；
Fig. 4 is the sampling pulse generating principle schematic diagram of the present invention；
Fig. 5 is the method for the present invention and traditional PI adjusting method experiment effect comparison diagram, and a is using traditional under 800rpm
The convergence time of advanced commutation error during PI regulating error modes, b are to use to surpass during regulating error mode of the present invention under 800rpm
The convergence time of preceding commutation error, when c is the convergence of lag commutation error when regulating error mode of the present invention is used under 800rpm
Between, d lags the convergence time of commutation error when being and regulating error mode of the present invention is used under 800rpm.
Specific embodiment
As shown in Figure 1, the method realization of the present invention is as follows：
The first step, system is according to the back-emf zero-crossing examination rotor-position of non-conduction phase, and according to the information that tests the speed by phase
Back-emf zero crossing postpones 30 electrical angles and generates practical commutation signal.
Second step, according to error calculation method, controller collection voltages difference simultaneously goes out commutation mistake by error resolving equation calculation
Difference.
Third walks, and appropriate offset is added in commutation signal, and then driving motor by controller according to commutation error
Operation.
4th step, control system repeat the first step to third and walk, and realize the closed-loop corrected and driving motor fortune of commutation error
Row.
As shown in Fig. 2, based on commutation error calibration method proposed by the present invention, no brush and no position sensing direct current is designed
Rotor commutation error correction control system, including 28v D.C. regulated power supplies 1, Buck converters 2, three phase full bridge circuit 3,
Trapper 4, brshless DC motor 5, back-emf crossover point signal obtain circuit 6, phase voltage obtains circuit 7, digitial controller 8
Deng.
In order to reduce the iron loss of brushless DC motor without position sensor stator, brshless DC motor 5 is used in this system
Stator without iron core motor, winding inductance value is minimum, if carrying out PWM modulation using traditional driving structure, modulation pulsation compared with
It is serious.In order to reduce pulsation of current, this system realizes motor control, Buck using the driving structure based on Buck converters 2
Converter 2 adjusts DC voltage by pwm signal and realizes speed governing, and three phase full bridge circuit 3 only controls commutation according to commutation signal.
Error correction control system is by non-conduction opposite potential, i.e., benchmark of the non-conduction phase phase voltage as error correction,
However non-conduction phase phase voltage is readily incorporated switching noise interference.In order to eliminate the harmonic wave of switching frequency, in three phase full bridge circuit 3
Increased between brshless DC motor 5 no phase delay, high impedance parallel LC trap 4.The inductance and capacitance of trapper 4
Value is according to formulaIt is adjusted, wherein fcRepresent trapper working frequency, that is, switching noise frequency 20KHz,
LTAnd CTThe inductance and capacitance in trapper are represented respectively.
The three phase terminals control source of brshless DC motor 5 is obtained to back-emf crossover point signal in circuit 6, back-emf zero passage
The dummy neutral that point signal acquisition circuit 6 generates three-phase signal after the processing of RC low-pass filters with resistor network respectively
Signal is compared with voltage comparator circuit, the meeting in terminal voltage and the difference signal zero passage of neutral point of comparison circuit output signal
Overturning is generated, thus obtains the original commutation signal in three tunnels, this signal is sent by shaping circuit in digitial controller, is being controlled
Device control processed is lower to generate commutation signal, realizes brushless DC motor without position sensor commutation operation.Back-emf crossover point signal
It obtains circuit 6 and includes RC low-pass filter circuits, amplifier comparison circuit, dummy neutral circuit, plastic filter circuit.
The a certain wire-end voltage of brshless DC motor is input to phase voltage to obtain in circuit 7, is obtained in circuit 7 in phase voltage
Terminal voltage does differential amplification operation after electric resistance partial pressure amplifies respectively with dummy neutral, obtains the phase phase voltage signal, poor
Phase voltage signal after partite transport calculation, which is input in A/D convertor circuit, carries out analog-to-digital conversion, and controller is according to sampling pulse signal to phase
Voltage digital signal is read out.Phase voltage obtains circuit 7 and includes：Dummy neutral circuit, resistor voltage divider circuit, difference amplifier
Circuit, A/D convertor circuit.
Digitial controller 8 is realized that wherein FPGA includes PWM modulation module, sampling pulse generation module, A/ by FPGA+DSP
D interface module, original commutation signal Postponement module, rotation speed measuring module etc.；DSP calculates mould by PID regulator, phase voltage difference
Block, commutation error calculation and compensating module form.Phase voltage difference computing module in digitial controller 8 is according to three-phase commutation signal
State determine the voltage difference at phase voltage double sampling moment, obtain the asymmetrical voltage difference as caused by commutation there are error,
Error is input to commutation error and resolves in module, and resolving equation by error exports accurate commutation error, compensating module according to
Commutation error generates thermal compensation signal, is added in the original commutation signal in three tunnels, you can obtains the accurate commutation signal in three tunnels, realizes
Compensation to commutation error.
As shown in figure 3, during the accurate commutation of motor, opposite potential signal is symmetrical trapezoidal wave.When commutation is there are during error,
Opposite potential signal will appear apparent distortion, and waveform is no longer symmetrical：When lagging commutation, back-emf at the end of ratio conducting before being connected
Voltage is significantly bigger than normal；During advanced commutation, be connected before than be connected at the end of back-emf voltage it is significantly less than normal.The present invention is exactly to utilize this
Deviation calculates commutation error, therefore needs to sample the back-emf voltage value at two moment.According to error calculation method proposed by the present invention,
It needs same phase phase voltage before conducting and the voltage difference of conducting finish time (back-emf is the phase voltage at this time) is as feedback
Information, sampling pulse is used for marking the two moment and trigger controller interrupts to read two moment respective phase voltage value, controls
It is poor that the difference calculating module of device processed according to the assembled state and the voltage at two moment of three road commutation signals calculates phase voltage.According to
Fig. 4 can be seen that turn-on instant and shutdown moment by three road commutation signals generations, therefore sampling pulse also should be according to three tunnel commutations
Signal generates.
The estimation of back emf coefficient, error calculation method proposed by the present invention need accurate back emf coefficient parameter, because
This is extremely important to the accurately estimation of back emf coefficient.The back-emf of motor is in cyclically-varying, periodic regularity and rotor
Position and rotating speed are related.The present invention uses the method being fitted based on neural network to estimate back emf coefficient, first offline
Counter potential waveform of the motor under specific rotation speeds is obtained, back-emf harmonic information is fitted using the method for neural network fitting,
Counter potential waveform function is obtained, it is then that its is unitization, it obtains with the unrelated COEFFICIENT K of rotating speed, as control system measuring rotating speed ω
Afterwards, back emf coefficient A=K ω.
The original commutation signal in three tunnels needs commutation signal driving motor could be used as to run after 30 electrical angles postpone, and
Delay time of this angle in digitial controller 8 is closely related with rotating speed, therefore accurately and rapidly velocity measuring closes very much
Key.In addition, electric machine speed regulation also requires to test the speed accurately quickly.Consider the factors such as simple and reliable and inexpensive, this system directly uses
The original back-emf zero cross signal in three tunnel of motor itself carries out tachometric survey, does not increase other velocity measuring elements.Tradition tests the speed
Signal measures method generally use all the way, but there are the shortcomings that one-channel signal resolution ratio is relatively low, and feedback cycle is longer, no
Adapt to the requirement of rapidity.Additionally, due to motor pole, inevitably there are installation deviations, and it is stringent that zero cross signal, which is not,
50% duty ratio, the width of two neighboring pulse is inconsistent, can lead to larger measurement error.In order to overcome the above problem, this
Invention is employed using three road commutation signals, by logical process, generates the frequency-doubled signal of 6 times of commutation signal frequencies all the way,
Then it is measured.Simultaneously in order to avoid the error that installation deviation is brought, in a manner that rotor rotates a circle timing, root
Rotor is calculated according to the number of pole-pairs of motor to rotate a circle the umber of pulse that should occur, by pulse interval all within one week
Addition calculation rotating speed.
The commutation error correction effect of control system is as shown in figure 5, method using the present invention and traditional PI adjusting method
It compares, error convergence speed is significantly improved.A figures are advanced commutation when traditional PI regulating error modes are used under 800rpm
The convergence time of error, b figures are the convergence time of advanced commutation error when regulating error mode of the present invention is used under 800rpm, can
To find out that the method for the present invention is significantly reduced than the error convergence time of traditional PI adjusting method；C figures are that this hair is used under 800rpm
The convergence time of commutation error is lagged during bright regulating error mode, d figures are when regulating error mode of the present invention is used under 800rpm
Lag the convergence time of commutation error, it can be seen that the method for the present invention significantly subtracts than the error convergence time of traditional PI adjusting method
It is few.
Claims (2)
1. a kind of brushless DC motor without position sensor rotor commutation error calibration method, it is characterised in that：According to brushless straight
The voltage equation of galvanic electricity machine, non-conduction phase phase voltage are the opposite potential, by detecting back-emf crossover point signal and postponing
30 electrical angles generate the original commutation signal in three tunnels, and according to back-emf Harmonic Equation, when commutation signal has error, opposite potential is at this
Asymmetry can be generated at the beginning and end of being conducted, detects the asymmetric value i.e. voltage difference, equation is resolved according to error
Commutation error is calculated, adjuster generates thermal compensation signal according to commutation error, is added in the original commutation signal in three tunnels, you can
To the accurate commutation signal in three tunnels；
The realization step for going out commutation error according to error resolving equation calculation is as follows：
The first step, it is following cubic equation that error, which resolves equation,：
a·α3+ c α+d=0
D=- Δs V
Wherein Δ V represents voltage difference, can be obtained by measuring circuit, and α represents commutation error, and voltage difference changes with commutation error
Become and change, can commutation error be solved by voltage difference by the relationship between voltage difference and commutation error,
A2k-1Represent the harmonic constant of corresponding order, to avoid the influence of commutation voltage pulsation, when two of difference are asked back-emf equation
Quarter is adjusted, and sets maximum phase shift delta rad, δ rad, the back-emf at two moment of δ rad after conducting before conducting is started respectively
Seeking difference and ignoring influences smaller high-order term harmonic wave in difference, then back-emf difference fundamental wave and low-order harmonic sine term are carried out
Taylor series expansion ignores high-order term and obtains practical error resolving equation；
The voltage difference detected is substituted into equation, can calculate accurate commutation error alpha by second step；
The maximum phase shift delta rad is calculated to obtain by motor inductances value, motor speed and phase current initial value, specially：For B phases,
The electric current that B correlations are had no progeny is：
Whereinib0It is initial current, L is motor inductances value, and ω is electricity
Machine angular speed, ibIt is B phase current values, calculating B correlations according to current formula has no progeny electric current duration, with reference to motor at this time
Angular speed i.e. obtain the lasting maximum phase shift of electric current；A phases are identical with C phase calculating process.
2. a kind of brushless DC motor without position sensor rotor commutation error correction control system, it is characterised in that：Including 28V
D.C. regulated power supply (1), Buck converters (2), three phase full bridge circuit (3), trapper (4), brshless DC motor (5), anti-electricity
Gesture crossover point signal obtains circuit (6), phase voltage obtains circuit (7), digitial controller (8)；Described in accordance with the claim 1 one
Kind brushless DC motor without position sensor rotor commutation error calibration method is controlled, and voltage difference is by digitial controller (8)
Needing to ask two moment of difference the next real-time voltage signal of phase voltage acquisition circuit (7) conversion is read respectively, and according to back-emf
Crossover point signal obtains the assembled state of three road commutation signals that circuit (6) extracts and is calculated；Digitial controller (8) basis
The error of its internal program resolves equation and calculates commutation error by voltage difference and carry out compensation adjustment；System uses winding inductance
It is worth minimum stator without iron core brshless DC motor (5) to reduce stator iron loss, for the big spy of such motor pwm modulation pulsation
Point realizes motor control using the driving structure based on Buck converters (2), and Buck converters (2) are directly adjusted by pwm signal
The DC voltage that section 28V D.C. regulated power supplies (1) provide is to realize speed governing, and three phase full bridge circuit (3) is only according to commutation signal
Control commutation；In order to eliminate the harmonic wave interference of switching frequency, increase between three phase full bridge circuit (3) and brshless DC motor (5)
The parallel LC trap (4) without phase delay, high impedance is added.
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| CN114400929B (en) * | 2022-01-20 | 2024-02-13 | 北京航空航天大学 | Sensorless commutation control method and sensorless commutation control system for brushless direct current motor |
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