CN106208834A - A kind of permanent magnetic brushless control method - Google Patents
A kind of permanent magnetic brushless control method Download PDFInfo
- Publication number
- CN106208834A CN106208834A CN201610542908.4A CN201610542908A CN106208834A CN 106208834 A CN106208834 A CN 106208834A CN 201610542908 A CN201610542908 A CN 201610542908A CN 106208834 A CN106208834 A CN 106208834A
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- China
- Prior art keywords
- phase
- permanent magnetic
- current
- magnetic brushless
- rotor
- Prior art date
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- Pending
Links
- 230000005291 magnetic effect Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000004907 flux Effects 0.000 claims abstract description 15
- 230000010354 integration Effects 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 230000033228 biological regulation Effects 0.000 claims description 12
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims 1
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 230000003111 delayed effect Effects 0.000 abstract description 2
- 230000001629 suppression Effects 0.000 abstract description 2
- 230000010349 pulsation Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010587 phase diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of permanent magnetic brushless control method, phase voltage and phase current by detection motor are calculated rotor flux, phase current does Integral Processing simultaneously and obtains current integration signal；The phase contrast that phase contrast between this current integration signal and rotor flux is between phase current and back-emf；Then, by detecting and compensate the phase contrast between rotor flux and current integration signal, forming the closed loop control to this phase contrast, the output valve of this closed loop is commutation corrected value, makes motor operate in optimal reversal point.The bright correction that can realize motor commutation point of we, effectively suppression current phase is delayed, improves voltage utilization, increases speed adjustable range and reduces torque pulsation, and its Parameter sensitivity is low, and control accuracy is high, applied widely and control simple.
Description
Technical field
The present invention relates to Electric Drive technical field, particularly relate to a kind of permanent magnetic brushless control method.
Background technology
Permanent magnetic brushless controls simple, power density advantages of higher because of it, applies quite varied, but commutation problem one
It it is directly the big factor affecting its control performance.In motor actual moving process, due to the effect of winding reactance, electricity during commutation
Stream can not suddenly change, and adds the impact such as armature-reaction and position sensor deviation, and motor is actually carried out at non-ideal reversal point
Commutation, the phase place of phase current is the most consistent with the phase place of counter electromotive force and phase current often lags behind back-emf.Current phase
Delayed motor performance is brought many adverse effects, mainly have following some:
1. motor torque/current ratio reduces, reduction of exerting oneself, and carrying load ability weakens, and voltage utilization reduces；
2. containing bigger idle component in winding current, constant of the machine becomes big, and speed adjustable range reduces, and electric current produces ripple
Aggravation torque ripple；
3. causing increasing magnetic effect, iron loss increase is the most saturated, and copper loss increases, and temperature rise is serious.
When high speed operation of motor, phase current phase lag problem is more prominent, on the impact of motor performance the most not
Hold and ignore, thus limit the permanent magnetic brushless application in broader fields such as high rotating speed high accuracy.And existing suppression should
It is the most relatively low all to there is bigger defect, especially control accuracy in the method for problem.
Summary of the invention
The technical problem to be solved is the defect for background technology, it is provided that a kind of permanent magnetic brushless controls
Method, Parameter sensitivity is low, and control accuracy is high, applied widely and control simple.
The present invention solves above-mentioned technical problem by the following technical solutions:
A kind of permanent magnetic brushless control method, comprises step in detail below:
Step 1), rotor-position sensor is installed in permanent magnetic brushless, to obtain the rotor position of permanent magnetic brushless
Confidence number；
Step 2), detection obtains phase voltage and the phase current of permanent magnetic brushless；
Step 3), phase voltage and phase current according to permanent magnetic brushless are calculated rotor flux signal and current integration
Signal；
Step 4), carry out the phase place of the phase place of rotor flux Yu current integration signal making difference process, obtain being equivalent to forever
The phase error signal of phase contrast between magnetic brushless electric machine back-emf and phase current；
Step 5), phase contrast is carried out regulating error, obtains the offset of the electric current lagging phase angle of permanent magnetic brushless,
I.e. early commutation compensates angle；
Step 6), receive rotor-position signal by rotor-position sensor, and according to rotor-position signal structure commutation
Logic；
Step 7), according to step 5) early commutation that obtains compensates angle and is adjusted commutation logic, after being adjusted
Commutation logic；
Step 8), control permanent magnetic brushless according to the commutation logic after adjusting and commutate；
Step 9), repeated execution of steps 1) to step 8), form the closed loop control to back-emf Yu phase current phase contrast, make
Even if the consistent motor stabilizing of both phase places operates in optimal reversal point.
As the one further prioritization scheme of permanent magnetic brushless control method of the present invention, step 5) described in error
Regulation uses any one in P regulation, PI regulation, PD regulation, PID regulation.
The present invention uses above technical scheme compared with prior art, has following technical effect that
1, motor can remain in full speed full power range that torque capacity/current ratio output and maximum active power are defeated
Go out；
2, directly detecting and compensate phase contrast, Parameter sensitivity is low, and regulating error device forms the closed loop control to phase contrast
System, is not suddenlyd change by motor operating conditions and is affected, and control accuracy is high；
3, by the Mathematical treatment of tested measurement and regulating error being can be achieved with the correction to motor commutation point, control
Simply, reliability is high.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the present invention；
Fig. 2 is the phase diagram of rotor flux of the present invention and back-emf；
Fig. 3 is the phase diagram of current integration signal of the present invention and electric current；
Fig. 4 is the phase diagram of rotor flux of the present invention, back-emf, current integration and electric current；
Fig. 5 is the phase contrast figure of our bright rotor flux and current integration.
Fig. 6 is the variation diagram of our bright reversal point.
Detailed description of the invention
Below in conjunction with the accompanying drawings technical scheme is described in further detail:
As it is shown in figure 1, the invention discloses a kind of permanent magnetic brushless control method, comprise step in detail below:
Step 1), rotor-position sensor is installed in permanent magnetic brushless, to obtain the rotor position of permanent magnetic brushless
Confidence number；
Step 2), detection obtains phase voltage u and the phase current i of permanent magnetic brushless；
Step 3), phase voltage u and phase current i according to permanent magnetic brushless are calculated rotor flux signal ψ and electric current
Integrated signal fidt；
Step 4), it is poor to be carried out by rotor flux signal ψ and current integration signal fidt by phase error detection module
Process, obtain being equivalent to the phase error signal α of phase contrast between permanent magnetic brushless back-emf and phase current；
Step 5), utilize regulating error device that phase signal α is carried out regulating error, obtain the electric current of permanent magnetic brushless
The offset of lagging phase angle, i.e. early commutation compensate angle beta；
Step 6), receive rotor-position signal θ by rotor-position sensor, and according to rotor-position signal structure commutation
Logic；
Step 7), according to step 5) early commutation that obtains compensates angle and is adjusted commutation logic, after being adjusted
Commutation logic；
Step 8), control permanent magnetic brushless according to the commutation logic after adjusting and commutate；
Step 9), repeated execution of steps 1) to step 8), form the closed loop control to back-emf Yu phase current phase contrast, make
Even if the consistent motor stabilizing of both phase places operates in optimal reversal point.
Step 5) described in regulating error PI can be used to regulate, it would however also be possible to employ P regulation, PD regulation, PID regulation in
Any one.
Fig. 2 shows the phase relation between rotor flux ψ and back-emf e.
Fig. 3 shows the phase relation between current integration signal fidt and phase current i.
Fig. 4 shows the phase relation of rotor flux ψ, back-emf e, current integration fidt and phase current i: rotor flux ψ
And the phase contrast α between current integration signal fidt is the phase contrast between back-emf e and electric current i.
Fig. 5 and Fig. 6 shows the corresponding relation that phase contrast adjusts with reversal point: when phase current i lags behind back-emf e,
The phase difference value α that phase detecting module detects on the occasion of, output valve β of regulating error device can increase therewith, and phase contrast α is the most not
Disconnected reduction is until being zero, and reversal point moves forward to optimal reversal point B point from current some A point；Otherwise move after reversal point.
Following table shows that power tube conducting basis for estimation: θ is rotor-position signal, at each turn of consideration early commutation angle beta
In interval, sub-position, the situation of opening of corresponding each power tube, constitute the switching logic under reversal point correction.
More than simply the preferred embodiment of the present invention is described.Those skilled in the art are come
Say, other advantage and deformation can be associated according to embodiment of above easily.Therefore, the invention is not limited in
Stating embodiment, it carries out explanation detailed, exemplary as just example to a kind of form of the present invention.Without departing substantially from this
In the range of bright objective, what those of ordinary skill in the art were carried out in the aspects of the technology of the present invention generally changes and replaces
Change, within all should being included in protection scope of the present invention.
Claims (2)
1. a permanent magnetic brushless control method, it is characterised in that comprise step in detail below:
Step 1), installs rotor-position sensor in permanent magnetic brushless, to obtain the rotor-position letter of permanent magnetic brushless
Number；
Step 2), detection obtains phase voltage and the phase current of permanent magnetic brushless；
Step 3), phase voltage and phase current according to permanent magnetic brushless are calculated rotor flux signal and current integration letter
Number；
Step 4), carries out making difference process by the phase place of the phase place of rotor flux Yu current integration signal, obtain being equivalent to permanent magnetism without
The phase error signal of phase contrast between brush motor back-emf and phase current；
Step 5), carries out regulating error to phase contrast, obtains the offset of the electric current lagging phase angle of permanent magnetic brushless, super
Front switch compensation angle；
Step 6), receives rotor-position signal by rotor-position sensor, and constructs commutation logic according to rotor-position signal；
Step 7), the early commutation obtained according to step 5) compensates angle and is adjusted commutation logic, the commutation after being adjusted
Logic；
Step 8), controls permanent magnetic brushless according to the commutation logic after adjusting and commutates；
Step 9), repeated execution of steps 1) to step 8), form the closed loop control to back-emf Yu phase current phase contrast, make both
Even if the consistent motor stabilizing of phase place operates in optimal reversal point.
Permanent magnetic brushless control method the most according to claim 1, it is characterised in that the error described in step 5) is adjusted
Joint uses any one in P regulation, PI regulation, PD regulation, PID regulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610542908.4A CN106208834A (en) | 2016-07-11 | 2016-07-11 | A kind of permanent magnetic brushless control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610542908.4A CN106208834A (en) | 2016-07-11 | 2016-07-11 | A kind of permanent magnetic brushless control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106208834A true CN106208834A (en) | 2016-12-07 |
Family
ID=57476635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610542908.4A Pending CN106208834A (en) | 2016-07-11 | 2016-07-11 | A kind of permanent magnetic brushless control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106208834A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113865472A (en) * | 2021-09-27 | 2021-12-31 | 中信科移动通信技术股份有限公司 | Electrically tunable antenna return error calculation method and system |
-
2016
- 2016-07-11 CN CN201610542908.4A patent/CN106208834A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113865472A (en) * | 2021-09-27 | 2021-12-31 | 中信科移动通信技术股份有限公司 | Electrically tunable antenna return error calculation method and system |
| CN113865472B (en) * | 2021-09-27 | 2023-10-27 | 中信科移动通信技术股份有限公司 | Method and system for calculating return error of electrically-tunable antenna |
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Application publication date: 20161207 |