CN106655911B - A kind of PWM method inhibiting brshless DC motor commutation torque ripple - Google Patents
A kind of PWM method inhibiting brshless DC motor commutation torque ripple Download PDFInfo
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- CN106655911B CN106655911B CN201610866984.0A CN201610866984A CN106655911B CN 106655911 B CN106655911 B CN 106655911B CN 201610866984 A CN201610866984 A CN 201610866984A CN 106655911 B CN106655911 B CN 106655911B
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- commutation
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- brshless
- pwm modulation
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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
-
- 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
Abstract
The invention discloses a kind of PWM methods for inhibiting brshless DC motor commutation torque ripple, it is related to DC power supply, brshless DC motor, three phase inverter bridge and controller, corresponding PWM modulation measure is taken by the range of speeds commutation stage of judgement brshless DC motor to inhibit commutation torque ripple, while realizing the shortening to the brshless DC motor commutation time；Since the commutation time is greatly improved to brushless direct current motor sensorless control back-emf zero-crossing examination method, while the smoothness run performance of brshless DC motor can be improved.The present invention, by selecting optimal PWM modulation mode in the commutation stage, effectively inhibits the commutation torque ripple of brshless DC motor full speed range on the basis of PWM modulation mode, shorten the commutation time simultaneously, control is simple, realizes and is easy, improves the smoothness run performance of brshless DC motor.The method proposed is without changing topological structure, it is only necessary to which slightly changing to software section can be used, without increasing hardware system cost.
Description
Technical field
The invention belongs to Motor Control Fields, in particular to a kind of shortening commutation time inhibits brushless dc
The PWM method of machine commutation torque ripple is suitable for brshless DC motor high-precision servo drive control.
Background technique
The advantages that brshless DC motor is small in size with its, power density is high, stable and reliable operation, and it is widely used in army
The fields such as thing, aerospace, office automation.But since motor stator winding is there are inductance, generated in commutation process larger
Commutation torque ripple, and the problems such as bring vibration, noise, limit its application in high accuracy servo system.
Commutation torque ripple can achieve the 50% of average torque, open phase and shutdown phase current change rate phase by control
Etc. maintaining Non-commutation phase current steady, brshless DC motor commutation torque ripple minimization may be implemented.(pulse is wide for PWM modulation
Degree modulation) method be realize brshless DC motor commutation torque ripple minimization one of common method, existing PWM method packet
Include as follows: (1) PWM modulation is acted on non-commutation phase by low speed section, and PWM modulation is acted on shutdown phase by high speed section.(2) low
PWM modulation is acted on non-commutation phase and PWM modulation is acted on shutdown phase with phase, high speed section is opened by fast section.(3) full speed model
PWM modulation is acted on shutdown phase by the commutation stage in enclosing.(4) the commutation stage in full speed range will with identical duty ratio
PWM modulation acts on shutdown Xiang Yufei commutation phase.(5) (4) are different from, although the commutation stage of (5) in full speed range is by PWM
Modulating action is in non-commutation phase and shutdown phase, but the duty ratio for acting on non-commutation phase is greater than the duty for acting on shutdown phase
Than.
Although PWM method steadily can realize commutation torque ripple minimization by maintenance Non-commutation phase current,
However for its commutation time of different PWM methods difference.The longer commutation time not only makes brshless DC motor without position
The back-emf zero-crossing examination method for setting sensor control fails, the range of speeds of limiting motor, while to the smooth fortune of motor
Row performance is unfavorable, for the smoothness run performance for improving brshless DC motor, should shorten the commutation time as far as possible.
In addition to PWM method, commutation rank is adjusted by addition preceding stage DC-DC converter (DC-DC convertor circuit)
Section three phase inverter bridge input voltage is another relatively conventional commutation torque ripple minimization method, passes through normally stage tune
The output voltage of DC-DC converter is saved, the commutation stage accesses DC-DC converter to inhibit commutation torque ripple.But the method is changed
Phase torque ripple minimization effect is limited to the dynamic characteristic of DC-DC converter, while introducing more capacitor, inductance and power device
Part increases the cost of hardware system and the complexity of control system.
Existing commutation torque ripple minimization method, which does not make the commutation time, to be clearly articulated, and does not also point out specifically to contract
The strategy of short commutation time.
Summary of the invention
Purpose of the invention is to overcome the shortcomings in the prior art, provides a kind of inhibition brshless DC motor commutation turn
The PWM method of square fluctuation, since the commutation time is to brushless direct current motor sensorless control back-emf zero crossing inspection
Survey method is greatly improved, while the smoothness run performance of brshless DC motor can be improved.Base of the present invention in PWM modulation mode
On plinth, by selecting optimal PWM modulation mode in the commutation stage, the commutation of brshless DC motor full speed range is effectively inhibited to turn
Square fluctuation, while shortening the commutation time, control is simple, realizes and is easy, improves the smoothness run performance of brshless DC motor.Institute
The method of proposition is without changing topological structure, it is only necessary to software section slightly change it is i.e. usable, without increase hardware system at
This.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of PWM method inhibiting brshless DC motor commutation torque ripple, is related to DC power supply, brushless dc
Machine, three phase inverter bridge and controller, by determining that the range of speeds commutation stage of brshless DC motor takes corresponding PWM modulation
Measure inhibits commutation torque ripple, while realizing the shortening to the brshless DC motor commutation time, comprising the following steps:
(1) each of brshless DC motor electric period is divided into six Hall periods, each Hall period is divided into commutation
Stage and non-commutation stage determine that the brshless DC motor operates in the commutation stage also by hall sensor signal and phase current
It is the non-commutation stage；
(2) since stator is there are winding inductance, the commutation stage threephase stator winding of three-phase brushless dc motor exists
Electric current, threephase stator winding are respectively to open phase, shutdown Xiang Yufei commutation phase；
(3) nothing is determined according to the size relation of the sum and supply voltage of four times of opposite potentials and three times phase resistance pressure drop
The range of speeds of brushless motor determines that brshless DC motor operates in high speed section or low speed section；
(4) when the brshless DC motor operates in low speed section, to obtain the shortest commutation time, the commutation stage passes through
Shutdown mutually turns off, and opens phase Heng Tong, PWM modulation acts on the stabilization that non-commutation mutually maintains Non-commutation phase current；
(5) when the brshless DC motor operates in high speed section, to obtain the shortest commutation time, the commutation stage passes through
PWM modulation acts on shutdown phase, opens Xiang Yufei commutation phase Heng Tong to maintain the stabilization of Non-commutation phase current
The brshless DC motor uses the two six step driving methods of three-phase being conducted, in the driving of each step, only two
Phase winding conducting, third phase winding are in vacant state.
The duty ratio calculating that threephase stator winding is respectively acting in step (4) is as follows:
When the brshless DC motor operates in low speed section, to obtain most short commutation time, the stage PWM of commutation at this time
Modulation system is that shutdown mutually turns off, and shutdown phase current opens phase Heng Tong, PWM modulation acts on non-by freewheeling diode afterflow
Commutation phase；Ignore freewheeling diode pressure drop, the duty ratio of each phase metal-oxide-semiconductor is respectively as follows:
It takes under above-mentioned PWM modulation mode, the low speed section most short commutation time is
U in formuladcFor supply voltage, I is Non-commutation phase current, and E is trapezoidal wave back-emf amplitude, and R is motor phase resistance, L
For motor phase inductance, d1,d2,d3Respectively PWM modulation acts on shutdown phase, opens phase, the duty ratio of non-commutation phase metal-oxide-semiconductor；
tlow_minFor the most short commutation time in low speed section.
The duty ratio calculating that threephase stator winding is respectively acting in step (5) is as follows:
When the brshless DC motor runs on high speed section, to obtain most short commutation time, the stage PWM of commutation at this time
Modulation system is that PWM modulation acts on shutdown phase, opens Xiang Yufei commutation phase Heng Tong；Ignore freewheeling diode pressure drop, each phase MOS
The duty ratio of pipe is respectively
It takes under above-mentioned PWM modulation mode, the high speed section most short commutation time is
U in formuladcFor supply voltage, I is Non-commutation phase current, and E is trapezoidal wave back-emf amplitude, and R is motor phase resistance, L
For motor phase inductance, d1,d2,d3Respectively PWM modulation acts on shutdown phase, opens phase, the duty ratio of non-commutation phase metal-oxide-semiconductor；
Thigh_minFor the most short commutation time in low speed section.
Compared with prior art, the beneficial effects brought by the technical solution of the present invention are as follows:
(1) commutation torque ripple minimization is realized on the basis of the three phase inverter bridge generally used, while shortening the commutation time,
Improve the smoothness run performance of brshless DC motor.
(2) the method for the present invention full speed range can inhibit commutation torque ripple, and control is simple, realizes and is easy.
(3) the method for the present invention is without changing topological structure, it is only necessary to which slightly changing to software section can be used, without increasing
Hardware cost.
Detailed description of the invention
Fig. 1 is the control principle drawing of the method for the present invention specific embodiment.
Fig. 2 (a) and Fig. 2 (b) is the end voltage equation restriction range in low speed section and high speed section respectively.
Fig. 3 (a) and Fig. 3 (b) is the method for the present invention respectively in the modulation schematic diagram and anti-electricity in low speed section and high speed section
Gesture waveform.
Specific embodiment
The invention will be further described with reference to the accompanying drawing:
The control principle drawing of entire brshless DC motor is as shown in Figure 1 in the present invention.The system is by DC power supply, brushless straight
This four part of galvanic electricity machine, three phase inverter bridge, controller composition.Wherein DC power supply, brshless DC motor and three phase inverter bridge with
Module used in common BLDCM Drive System is identical.Controller includes controlling in normally stage and commutation stage
System strategy, wherein commutation stage control strategy is divided into the high speed section control mode different from low speed section again.
Brshless DC motor threephase stator winding is symmetrical, and every phase winding can be equivalent to resistance, inductance and counter electromotive force string
Connection.Brushless dc generator terminal voltage equation is represented by
In formula, uao、ubo、ucoRespectively three-phase windings end voltage；ia、ib、icRespectively three-phase windings phase current；ea、eb、
ecRespectively three-phase windings opposite potential；R, L is respectively winding phase resistance and phase inductance；uNoFor generator neutral point.
Three formulas in formula (1) are added it is found that commutation stage generator neutral point average voltage is
In formula, Uao、Ubo、UcoRespectively three-phase windings end average voltage；E is trapezoidal wave back-emf amplitude；UNoFor motor
Neutral point voltage average value.
From formula (1) third formula and formula (2)
Enabling formula (3) is zero, maintains Non-commutation phase current icSteady, i.e. ic=-I, I are non-commutation stage steady-state current, can
?
Uao+Ubo-2Uco=4E+3IR (4)
Therefore, to maintain the steady of Non-commutation phase current, end voltage equation need to meet equation (4).
Formula (4) are substituted into first formula of formula (1), and known primary condition ia(0)=I, shutdown phase phase current are
It is zero that commutation finish time, which turns off phase current, therefore the commutation time can be zero moment calculating by shutdown phase current,
That is ia(tcCommutation time t is known by formula (5) in)=0cFor
To maintain the steady of Non-commutation phase current and then inhibiting commutation torque ripple, end voltage equation need to meet formula (4).By
In a, b, c phase terminal voltage value can be acted on corresponding metal-oxide-semiconductor by PWM modulation and be changed, i.e.,
Known by formula (7), meets the end combinations of voltages (U of formula (4)ao、Ubo、UcoDifferent values) there are many situation, and for
Different formulas (4) holds combinations of voltages, commutation time tcAlso not identical, for when obtaining most short commutation on the basis of meeting formula (4)
Between.Formula (4) are substituted into formula (6) and eliminate UcoObtain the commutation time
To realize commutation time tcIt is most short, known by formula (8), only needs Ubo-Uao- IR obtains maximum value.Since the commutation time is
It is calculated under the premise of guaranteeing that Non-commutation phase current is stablized, it is therefore necessary to meet constraint condition as follows
Existing method is in the case where ignoring machine winding resistance by Udc>=4E is defined as the low speed section of motor, and Udc<
4E is defined as the high speed section of motor.Machine winding resistance is considered herein, it is fixed with the following high low speed section of motor
U in formuladcFor supply voltage, the 4th formula of formula (9) is substituted into the third formula of formula (9), then low speed section end voltage side
Journey restriction range is as shown in Fig. 2 (a) dash area.Known according to linear programming for solution when end voltage equation meets
When being located at the A point of Fig. 2 (a), Ubo-Uao- IR obtains maximum value, and (11) are substituted into formula (8) it is found that low speed section
Under the most short commutation time be
When low speed section obtains the most short commutation time of formula (12), the stage PWM modulation of commutation at this time known to formula (11)
Mode is that shutdown mutually turns off, and shutdown phase current opens phase Heng Tong, PWM modulation acts on non-commutation by freewheeling diode afterflow
Phase, ignores freewheeling diode pressure drop, and the duty ratio of each phase metal-oxide-semiconductor is respectively
D in formula1,d2,d3Respectively PWM modulation acts on shutdown phase, opens phase, the duty ratio of non-commutation phase metal-oxide-semiconductor.Institute
It is modulated shown in schematic diagram such as Fig. 3 (a) between proposition method low regime.
However the premise that formula (11) is set up is motor operation in low speed section, i.e. supply voltage Udc>=4E+3IR (four times of phases
Back-emf and the sum of three times phase resistance pressure drop).When motor operation is in high speed section (Udc< 4E+3IR) when above-mentioned condition be cannot be real
Existing.When motor operation is at high speed section, the 4th formula of formula (9) is substituted into the third formula of formula (9), then high speed section end voltage
Equation restriction range is as shown in Fig. 2 (b) dash area.
Known according to linear programming for solution when end voltage equation meets
When being located at the B point of Fig. 2 (b), Ubo-Uao- IR obtains maximum value, and formula (14) are substituted into formula (8) it is found that high at this time
The fast section most short commutation time is
When high speed section obtains the most short commutation time of formula (15), the stage PWM modulation of commutation at this time known to formula (14)
Mode is that PWM modulation acts on shutdown phase, opens Xiang Yufei commutation phase Heng Tong.Ignore freewheeling diode pressure drop, each phase metal-oxide-semiconductor
Duty ratio is respectively
It modulates shown in schematic diagram such as Fig. 3 (b) in proposed method high speed section.
In conclusion motor operation need to will open phase Heng Tong in low speed section, shutdown is mutually turned off, and PWM modulation acts on non-
Commutation phase, motor operation need to will open Xiang Yufei commutation phase Heng Tong in high speed section, and PWM modulation acts on shutdown phase.It is proposed
Method control strategy it is as shown in table 1, table 1 is to calculate the method for the present invention PWM modulation mode and commutation time.
Table 1
Specific control method is as follows: the given n* of PI speed ring is given by host computer, and revolving speed is calculated by hall sensor signal,
Feedback as speed ring.The output of PI speed ring samples Non-commutation phase current i as the given of PI electric current loopnAs electric current
The feedback of ring.PI electric current loop exports effective duty cycle dcThe corresponding metal-oxide-semiconductor of three phase inverter bridge is acted on, the revolving speed control for motor
System.
In order to inhibit commutation torque ripple, when sampling hall signal and jumping, commutation commencing signal is generated, is passed through
Compare UdcThe revolving speed height that motor is determined with the size of 4E+3IR, after taking corresponding commutation control strategy, commutation time to reach
Again normally mode is accessed, circuit enters the non-commutation stage.The commutation of brshless DC motor is realized through the above steps
Torque ripple minimization, while shortening the brshless DC motor commutation time.
The present invention is not limited to embodiments described above.Above the description of specific embodiment is intended to describe and say
Bright technical solution of the present invention, the above mentioned embodiment is only schematical, is not restrictive.This is not being departed from
In the case of invention objective and scope of the claimed protection, those skilled in the art may be used also under the inspiration of the present invention
The specific transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (2)
1. a kind of PWM method for inhibiting brshless DC motor commutation torque ripple, is related to DC power supply, brushless dc
Machine, three phase inverter bridge and controller, which is characterized in that by determining that the range of speeds commutation stage of brshless DC motor takes phase
The PWM modulation measure answered inhibits commutation torque ripple, while realizing the shortening to the brshless DC motor commutation time, including with
Lower step:
(1) each of brshless DC motor electric period is divided into six Hall periods, each Hall period is divided into the commutation stage
With the non-commutation stage, determine that the brshless DC motor operates in commutation stage also right and wrong by hall sensor signal and phase current
The commutation stage；
(2) since stator is there are winding inductance, there is electric current in the commutation stage threephase stator winding of three-phase brushless dc motor,
Threephase stator winding is respectively to open phase, shutdown Xiang Yufei commutation phase；
(3) it is determined according to the size relation of the sum and supply voltage of four times of opposite potentials and three times phase resistance pressure drop described brushless straight
The range of speeds of galvanic electricity machine determines that brshless DC motor operates in high speed section or low speed section；
(4) when the brshless DC motor operates in low speed section, to obtain the shortest commutation time, the commutation stage passes through shutdown
It mutually turns off, opens phase Heng Tong, PWM modulation acts on the stabilization that non-commutation mutually maintains Non-commutation phase current；It is respectively acting on three
The duty ratio of phase stator winding calculates as follows:
When the brshless DC motor operates in low speed section, to obtain most short commutation time, the stage PWM modulation of commutation at this time
Mode is that shutdown mutually turns off, and shutdown phase current opens phase Heng Tong, PWM modulation acts on non-commutation by freewheeling diode afterflow
Phase；Ignore freewheeling diode pressure drop, the duty ratio of each phase metal-oxide-semiconductor is respectively as follows:
It takes under above-mentioned PWM modulation mode, the low speed section most short commutation time is
U in formuladcFor supply voltage, I is Non-commutation phase current, and E is trapezoidal wave back-emf amplitude, and R is motor phase resistance, and L is electricity
Machine phase inductance, d1,d2,d3Respectively PWM modulation acts on shutdown phase, opens phase, the duty ratio of non-commutation phase metal-oxide-semiconductor；tlow_min
For the most short commutation time in low speed section；
(5) when the brshless DC motor operates in high speed section, to obtain the shortest commutation time, the commutation stage passes through PWM
Modulating action opens Xiang Yufei commutation phase Heng Tong to maintain the stabilization of Non-commutation phase current, is respectively acting on three-phase in shutdown phase
The duty ratio of stator winding calculates as follows:
When the brshless DC motor runs on high speed section, to obtain most short commutation time, the stage PWM modulation of commutation at this time
Mode is that PWM modulation acts on shutdown phase, opens Xiang Yufei commutation phase Heng Tong；Ignore freewheeling diode pressure drop, each phase metal-oxide-semiconductor
Duty ratio is respectively
It takes under above-mentioned PWM modulation mode, the high speed section most short commutation time is
U in formuladcFor supply voltage, I is Non-commutation phase current, and E is trapezoidal wave back-emf amplitude, and R is motor phase resistance, and L is electricity
Machine phase inductance, d1,d2,d3Respectively PWM modulation acts on shutdown phase, opens phase, the duty ratio of non-commutation phase metal-oxide-semiconductor；thigh_min
For the most short commutation time in high speed section.
2. a kind of PWM method for inhibiting brshless DC motor commutation torque ripple, feature exist according to claim 1
In, the brshless DC motor uses the two six step driving methods of three-phase being conducted, in the driving of each step, only two phase windings
Conducting, third phase winding are in vacant state.
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| CN107437906B (en) * | 2017-07-12 | 2019-12-06 | 哈尔滨工程大学 | Brushless motor phase change method controlled by direct-current bus voltage |
| CN108512465B (en) * | 2018-04-27 | 2021-04-06 | 南京航空航天大学 | Control method for fast phase change of switch reluctance motor common-upper-tube power converter |
| CN108880349A (en) * | 2018-08-13 | 2018-11-23 | 张懿 | A kind of novel brshless DC motor PWM setting method |
| CN108988705A (en) * | 2018-08-13 | 2018-12-11 | 张懿 | Brshless DC motor postpones turn-on angle control method |
| CN109067266A (en) * | 2018-08-13 | 2018-12-21 | 张菊香 | Brshless DC motor low speed opens phase PWM setting method |
| CN109713949B (en) * | 2018-12-28 | 2020-05-22 | 武汉工程大学 | Method and system for suppressing torque ripple of brushless direct current motor |
| CN112311268B (en) * | 2020-10-28 | 2021-10-08 | 燕山大学 | Multilevel inverter topology and brushless direct current motor direct torque control method |
| CN114362610B (en) * | 2022-03-18 | 2022-06-21 | 浙江大学 | Commutation control method for high-speed brushless direct current motor |
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| CN103078570A (en) * | 2013-02-04 | 2013-05-01 | 上海理工大学 | Torque pulsation restraining system and method of permanent magnet brushless direct current motor |
| CN105356813A (en) * | 2015-10-27 | 2016-02-24 | 南京信息工程大学 | Sensorless wide speed range heavy-load starting method for switched reluctance motor |
| CN105529962A (en) * | 2014-09-30 | 2016-04-27 | 广东美的制冷设备有限公司 | Torque ripple suppression method and control system of brushless DC motor |
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| JP4746667B2 (en) * | 2008-11-26 | 2011-08-10 | 本田技研工業株式会社 | Motor phase current estimation device and motor magnetic pole position estimation device |
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| CN103078570A (en) * | 2013-02-04 | 2013-05-01 | 上海理工大学 | Torque pulsation restraining system and method of permanent magnet brushless direct current motor |
| CN105529962A (en) * | 2014-09-30 | 2016-04-27 | 广东美的制冷设备有限公司 | Torque ripple suppression method and control system of brushless DC motor |
| CN105356813A (en) * | 2015-10-27 | 2016-02-24 | 南京信息工程大学 | Sensorless wide speed range heavy-load starting method for switched reluctance motor |
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