CN106452229A - PWM control method for four-quadrant operation of brushless direct current motor - Google Patents
PWM control method for four-quadrant operation of brushless direct current motor Download PDFInfo
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- CN106452229A CN106452229A CN201610940746.XA CN201610940746A CN106452229A CN 106452229 A CN106452229 A CN 106452229A CN 201610940746 A CN201610940746 A CN 201610940746A CN 106452229 A CN106452229 A CN 106452229A
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- pwm control
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Abstract
The invention relates to a PWM control method for four-quadrant operation of a brushless direct current motor. The PWM control method for four-quadrant operation of a brushless direct current motor includes the steps: 1, using a three-phase six-state two-phase-winding conduction mode by a brushless direct current motor to obtain the corresponding logical relationship between a Hall position signal and phase winding conduction after forwarding and reversing; 2, taking no account of the dead zone time of a switch tube, in any state, enabling one phase winding among the two-phase winding to conduct corresponding to the switch tube, and enabling the other phase winding to conduct corresponding to upper and lower bridge arm switch tubes in an complementary manner so that electric and feedback brake operation of the brushless direct current motor can be realized in the same operating direction; and 3, according to the input motor rotating speed, determining the operating direction at the moment, and selecting the PWM control mode in the operating direction to drive the motor to rotate so that four-quadrant operation can be realized. The new PWM control method for four-quadrant operation of a brushless direct current motor can realize electric and feedback brake operation in the same operating direction, and can break the routine of a traditional single chop and double chop PWM control mode.
Description
Technical field
The present invention relates to a kind of PWM control method of brshless DC motor four quadrant running.
Background technology
Brshless DC motor has simple structure, the advantages of power density big and efficiency high, becomes at present most before having and developing
One of motor of scape.In electric automobile field, brshless DC motor has become first-selected motor.Electric automobile is in the process of moving
Travel direction and acceleration and deceleration determine that driving brshless DC motor forward direction is electronic, reversely electronic, positive regenerative braking and reversely return
Four kinds of running statuses of feedback braking.Under electric operation, with electromagnetic torque in the same direction, the lower rotating speed of regenerative braking operation is turned rotating speed with electromagnetism
Square is reverse.Electronic due to brshless DC motor identical with main circuit under regenerative braking, therefore only need to be in concrete control method
Difference.
Pulse width modulation (PWM) is exactly the technology that the width to pulse is modulated.I.e. by a series of pulses
Width is modulated, come the waveform required for equally obtaining.
The present invention proposes a kind of new PWM control method of brshless DC motor four quadrant running.It is not required to using the method
Any extra electric elements, under same rotation direction, only need to produce correspondence according to electronic or regenerative braking state now
Conducting or continuous current circuit, you can realize four quadrant running.
Content of the invention
Present invention aim at providing one kind do not increase other external detection equipment, the four quadrant running of motor is realized, knot
Structure is simple, brshless DC motor four quadrant running type PWM control method easy to control,.
The object of the present invention is achieved like this：
Step one：Brshless DC motor adopts six state of three-phase, two phase winding conduction mode, obtains Hall position under forward and backward
The corresponding logical relationship that confidence number is turned on phase winding；
Step 2：The Dead Time of switching tube is not considered, in any state, an order wherein phase winding corresponds to switching tube and leads
Logical, the in addition complementary conducting of the upper and lower brachium pontis switching tube of a phase winding, while realize electronic and regenerative braking under same rotation direction
Operation；
Step 3：Now rotation direction is judged according to input motor speed, selects the PWM controlling party under the rotation direction
Formula, motor rotates, and realizes four quadrant running.
The beneficial effects of the present invention is：The invention provides a kind of new PWM of brshless DC motor four quadrant running
Control method, can realize electronic and regenerative braking operation under same rotation direction simultaneously, and has broken tradition and singly cut and double cut
The routine of PWM control mode.The method is not required to other external circuits, need to only rotate and reverse the lower two sets of PWM control modes of operation,
The PWM control mode under the direction is selected by detecting rotary speed direction, you can realize the four quadrant running of motor.Method is simple,
It is easily achieved.
Description of the drawings
Fig. 1 is a kind of new PWM control method control principle drawing of brshless DC motor four quadrant running of the present invention.
Fig. 2 rotates forward the PWM control mode figure of lower each switching tube for the present invention.
Fig. 3 is the PWM control mode figure of each switching tube under present invention reverse rotation.
Fig. 4 be rotate forward AB be conducted electric operation when current flow diagrams.
Fig. 5 be rotate forward AB be conducted regenerative braking operation when current flow diagrams.
Rotating speed and electromagnetic torque simulation waveform when Fig. 6 is for rotating forward electric operation.
Rotating speed and electromagnetic torque simulation waveform when Fig. 7 is for rotating forward regenerative braking operation.
Fig. 8 is rotating speed during reversion electric operation and electromagnetic torque simulation waveform.
Fig. 9 is rotating speed during reversion regenerative braking operation and electromagnetic torque simulation waveform.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
The invention discloses a kind of new PWM control method of brshless DC motor four quadrant running, the technology of the present invention
Programme element is：Based on six state of brshless DC motor three-phase, two phase winding conduction mode, switching tube Dead Time is not being considered
On the premise of, in any state, an order wherein phase winding corresponds to switching tube conducting, in addition a phase winding upper and lower bridge arm switching tube
Complementary conducting：As when AB is conducted under Positive work, make VT6 turn on, the complementary conducting of VT1, VT4, can realize simultaneously electronic and
Regenerative braking runs；Now rotation direction is judged according to input motor speed, the PWM control mode under the rotation direction is selected,
Motor rotates, and realizes four quadrant running.The method is not required to other external circuits, only needs forward and reverse rotation lower two sets
PWM control mode can achieve four quadrant running.Control method is simple, it is easy to accomplish.
Traditional PWM control mode is divided into singly mode of cutting and cuts mode with double, only one of which switching tube during a state
Carry out PWM referred to as singly cuts mode, and two switching tubes cut mode while carrying out the referred to as double of PWM.Under Traditional control
Electronic PWM control mode when running with regenerative braking is different, and therefore realizing four quadrant running needs four sets of PWM control modes to divide
Dui Ying not four kinds of running statuses.
Fig. 1 is the control principle drawing of brshless DC motor four quadrant running, using electric current, rotating speed double closed-loop control system,
System is total to rotate and reverse the lower two sets of PWM control mode modules of operation, selects the PWM under the direction by detecting rotary speed direction
Control mode, drives the conducting of three phase inverter bridge breaker in middle pipe, is selected according to now electronic or regenerative braking running status corresponding
Conducting or continuous current circuit, realize the four quadrant running of brshless DC motor.
Fig. 2,3 respectively illustrate forward direction, reversely rotate under each switching tube PWM control mode figure, wherein HA, HB, HC divide
Other corresponding A, B, C three-phase hall sensor signal, transverse axis correspond to electrical angle, it can be seen that under different rotary direction phase winding conducting with
The counterlogic difference of hall sensor signal.As a example by rotating forward lower AB and be conducted, switching tube VT6 is made to turn on, switching tube VT1
With the complementary conducting of VT4, wherein VT1 signal correspondence PWM high level signal.PWM is for being modulation turn on process during high level, and PWM is
It is modulation turn off process during low level.Under motor-operated running state, switching tube VT1 and VT6 conducting during PWM conducting, electric current from
DC source flows into A phase winding by switching tube VT1, flows through B phase winding and flows back to power cathode by switching tube VT6；PWM is turned off
When, switching tube VT4, VT6 have Continuity signal, but as inductive current can not be mutated, now by diode VD4 and switching tube VT6
Conducting afterflow, as shown in Figure 4.Under regenerative braking running status, during PWM conducting, switching tube VT1 and VT6 still has conducting letter
Number, but as now electric current is reverse, positive source being flowed into by A phase winding, power cathode flows out to B phase winding, actual passes through two
Pole pipe VD1 is turned on to power supply feedback energy with VD6；When PWM is turned off, remaining switching tube VT4, VT6 has Continuity signal, but
As inductive current can not be mutated, turned on by switching tube VT4 and diode VD6, back-emf as power supply to induction charging, quite
In boost boost chopper, as shown in Figure 5.
Positive regenerative braking running is analyzed in detail below, and a pulse period T for taking PWM is analyzed, if duty
Than for D, then it is (1-D) T DT, the turn-off time that ON time is, if average current be.
Within the 0-DT time, PWM is turned on, and VD1, VD6 are turned on, from back-emf and inductance together to power supply feedback energy
Amount, the energy W that inductance discharges during this period1It is expressed as：
W1=[UO-(eA-eB)]IDT
Within the DT-T time, PWM turn off, VT4, VD6 turn on, back-emf as power supply to induction charging, in this phase
Between inductance savings energy W2It is expressed as：
W2=(eA-eB)I(1-D)T
During stable state, the energy of a PWM cycle internal inductance savings is equal with the energy of release, i.e. W1=W2, thus can obtain
Formula：[UO-(eA-eB)] IDT=(eA-eB) I (1-D) T, abbreviation obtains：
As can be seen that by the size for controlling PWM duty cycle D, the generating voltage of motor can be made more than DC source electricity
Pressure UO＞ U, adopts double circle controling mode generating voltage can be made to meet the requirement of feedback net with adjust automatically PWM duty cycle D.
The embodiment of the present invention is used for explaining the present invention, rather than limits the invention, in spirit and the right of invention
In the protection domain of requirement, any modifications and changes that the present invention is made, both fall within protection scope of the present invention.
Embodiment
The present invention is as follows using each parameter value of brshless DC motor：Rated direct voltage U=300V, rated motor rotating speed n
=1500r/min, magnetic pole logarithm p=4, rated power P=3.7kW, equivalent inductance L=0.1884mH, carry out simulating, verifying.Figure
6-9 corresponds to positive electronic, positive regenerative braking, reversely four kinds of running statuses of electronic, reverse regenerative braking respectively, and in figure electromagnetism turns
The spike of square be as in commutation process, phase current can not be mutated the commutation torque ripple for causing.
Fig. 6 is to give motor speed n=1500r/min, electromagnetic torque TeSimulation waveform under=26Nm, now for just
To motor-operated running state.
Fig. 7 is to give motor speed n=1500r/min, electromagnetic torque TeSimulation waveform under=- 26Nm, now for
Positive regenerative braking running status.
Fig. 8 is to give motor speed n=-1500r/min, electromagnetic torque TeSimulation waveform under=- 26Nm, now for
Reverse motor-operated running state.
Fig. 9 is to give motor speed n=-1500r/min, electromagnetic torque TeSimulation waveform under=26Nm, now for
Reverse regenerative braking running status.
Can be seen that under this new PWM control mode, when given motor speed and electromagnetic torque by above-mentioned Fig. 6-9
When, there is certain static difference in error allowed band, given, the given running status of realization can be tracked.
In summary, effectively can be realized using a kind of new PWM control method of brshless DC motor four quadrant running
The four quadrant running of motor, control method is simple and is easily achieved.
Claims (1)
1. a kind of PWM control method of brshless DC motor four quadrant running, it is characterised in that comprise the following steps：
Step one：Brshless DC motor adopts six state of three-phase, two phase winding conduction mode, obtains hall position letter under forward and backward
Number with phase winding conducting corresponding logical relationship；
Step 2：Do not consider the Dead Time of switching tube, in any state, an order wherein phase winding corresponds to switching tube conducting,
The complementary conducting of the upper and lower brachium pontis switching tube of an other phase winding, while realize electronic and regenerative braking fortune under same rotation direction
OK；
Step 3：Now rotation direction is judged according to input motor speed, the PWM control mode under the rotation direction is selected, drive
Galvanic electricity machine rotates, and realizes four quadrant running.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610940746.XA CN106452229A (en) | 2016-11-01 | 2016-11-01 | PWM control method for four-quadrant operation of brushless direct current motor |
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|---|---|---|---|
| CN201610940746.XA CN106452229A (en) | 2016-11-01 | 2016-11-01 | PWM control method for four-quadrant operation of brushless direct current motor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108448960A (en) * | 2018-04-02 | 2018-08-24 | 北京工业大学 | A kind of four quadrant running magneto power stage real time simulation method |
| CN109379009A (en) * | 2018-11-26 | 2019-02-22 | 清华大学 | The PWM control system and method for double BLDC motor four quadrant runnings |
| CN111030519A (en) * | 2019-12-20 | 2020-04-17 | 江苏科技大学 | Brushless direct current motor rapid braking method and device |
| CN111654210A (en) * | 2020-06-19 | 2020-09-11 | 内蒙古科技大学 | Brushless direct current motor electric power generation integrated smooth control method and system |
| CN112532120A (en) * | 2020-11-26 | 2021-03-19 | 内蒙古科技大学 | Brushless direct current motor electric and regenerative braking integrated control method |
| CN116455269A (en) * | 2023-06-14 | 2023-07-18 | 上海泰矽微电子有限公司 | Brushless DC motor control method |
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| DE2725753A1 (en) * | 1977-06-07 | 1978-12-21 | Siemens Ag | Miniature brushless DC motor - has pre-stage transistors controlled by Hall generators detecting air-gap flux |
| US4292573A (en) * | 1977-09-28 | 1981-09-29 | Siemens Aktiengesellschaft | Reversible direct current motor with a permanent magnet rotor and electronic commutating device |
| CN105391355A (en) * | 2015-12-27 | 2016-03-09 | 哈尔滨米米米业科技有限公司 | MCS-51 brushless direct current torque motor controller |
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| DE2725753A1 (en) * | 1977-06-07 | 1978-12-21 | Siemens Ag | Miniature brushless DC motor - has pre-stage transistors controlled by Hall generators detecting air-gap flux |
| US4292573A (en) * | 1977-09-28 | 1981-09-29 | Siemens Aktiengesellschaft | Reversible direct current motor with a permanent magnet rotor and electronic commutating device |
| CN105391355A (en) * | 2015-12-27 | 2016-03-09 | 哈尔滨米米米业科技有限公司 | MCS-51 brushless direct current torque motor controller |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108448960A (en) * | 2018-04-02 | 2018-08-24 | 北京工业大学 | A kind of four quadrant running magneto power stage real time simulation method |
| CN109379009A (en) * | 2018-11-26 | 2019-02-22 | 清华大学 | The PWM control system and method for double BLDC motor four quadrant runnings |
| CN111030519A (en) * | 2019-12-20 | 2020-04-17 | 江苏科技大学 | Brushless direct current motor rapid braking method and device |
| CN111030519B (en) * | 2019-12-20 | 2023-11-21 | 深圳市德达兴驱动科技有限公司 | Rapid braking method and device for brushless direct current motor |
| CN111654210A (en) * | 2020-06-19 | 2020-09-11 | 内蒙古科技大学 | Brushless direct current motor electric power generation integrated smooth control method and system |
| CN112532120A (en) * | 2020-11-26 | 2021-03-19 | 内蒙古科技大学 | Brushless direct current motor electric and regenerative braking integrated control method |
| CN116455269A (en) * | 2023-06-14 | 2023-07-18 | 上海泰矽微电子有限公司 | Brushless DC motor control method |
| CN116455269B (en) * | 2023-06-14 | 2023-09-01 | 上海泰矽微电子有限公司 | Brushless DC Motor Control Method |
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Application publication date: 20170222 |