CN106655914A - Control system for suppressing torque ripples of brushless direct current motor and torque ripple suppression method for control system - Google Patents
Control system for suppressing torque ripples of brushless direct current motor and torque ripple suppression method for control system Download PDFInfo
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- CN106655914A CN106655914A CN201710023785.8A CN201710023785A CN106655914A CN 106655914 A CN106655914 A CN 106655914A CN 201710023785 A CN201710023785 A CN 201710023785A CN 106655914 A CN106655914 A CN 106655914A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- 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 control system for suppressing torque ripples of a brushless direct current motor and a torque ripple suppression method for the control system and belongs to the filed of motor control technology. The problem that existing brushless direct current motors generally have torque ripples is solved. The control system comprises a Sepic converter, a voltage inverter and a direct current voltage sampling module; the Sepic converter is used for converting a direct current source Us voltage with a constant amplitude into a direct current voltage with a variable amplitude; the voltage inverter is used for converting the direct current voltage with the variable amplitude output by the Sepic converter into an alternating current and driving the controlled brushless direct current motor; the direct current voltage sampling module is used for collecting the direct current voltage output by the Sepic converter and sending a collected direct current voltage signal to a motor controller; a Hall signal of the controlled brushless direct current motor is collected and sent to the motor controller, and the motor controller controls the work state of the Sepic converter and the voltage inverter according to the collected voltage signal and Hall signal. The control system and the method are mainly used for controlling motor torque ripples.
Description
Technical field
The invention belongs to motor control technology field.
Background technology
The output torque of brshless DC motor is big, dynamic response is fast, inertia is little, reliability is high, control is simple, therefore it should
With more and more extensive.But the torque pulsation problem of brushless direct current motor generally existing but limits always it
Application in system.For High Definition Systems, torque pulsation is an important indicator for weighing brushless direct current motor performance.Cause
This, research suppresses or eliminates the method tool of torque pulsation to be of great significance.
The content of the invention
The present invention is that, in order to solve the problems, such as that existing is the torque pulsation of brushless direct current motor generally existing, the present invention is provided
A kind of suppression torque pulsation of brushless DC motor control system and its method for suppressing torque ripple.
One kind suppresses torque pulsation of brushless DC motor control system, including dc source Us, Sepic converters, voltage
Type inverter, DC voltage sampling module and electric machine controller；
Dc source UsPositive pole connect Sepic converters electrode input end, dc source UsNegative pole connection Sepic
The negative input of converter；
The output end of Sepic converters connects the input of voltage source inverter, the output end connection of voltage source inverter
The three-phase windings of controlled brushless direct current motor；
DC voltage sampling module is used to gather the DC voltage of Sepic converters output, and will collection DC voltage letter
Number deliver to electric machine controller；
Gather the hall signal of controlled brushless direct current motor and be sent to electric machine controller, electric machine controller is according to collection
Voltage signal and hall signal the working condition of Sepic converters and voltage source inverter is controlled.
Described Sepic converters include inductance L1, inductance L2, electric capacity C1, electric capacity C2, diode D1With MOSFET pipe VT0；
Inductance L1One end and dc source UsPositive pole connection,
Inductance L1The other end simultaneously with electric capacity C1One end and MOSFET pipe VT0Source electrode connection,
Electric capacity C1The other end simultaneously with inductance L2One end and diode D1Anode connection,
Diode D1Negative electrode and electric capacity C2One end connection, diode D1Negative electrode it is defeated as one of Sepic converters
Go out end；
Dc source UsNegative pole simultaneously with MOSFET pipe VT0Drain electrode, inductance L2The other end and electric capacity C2The other end
Connection, electric capacity C2The other end as Sepic converters another output end.
Described voltage source inverter is three-phase voltage type bridge-type inverter, and three-phase voltage type bridge-type inverter includes 6
Switching tube VT1To VT6, and 6 switching tube VT1To VT6MOSFET pipes are,
Wherein, the upper bridge arm of three-phase voltage type bridge-type inverter is switching tube VT1、VT3、VT5, lower bridge arm is switching tube
VT4、VT6、VT2；
One diode of reverse parallel connection between the drain electrode of each MOSFET pipe and source electrode,
Switching tube VT1To VT6Grid be used to receive electric machine controller output control signal.
Described electric machine controller includes feedforward control module, pid control module, subtracter and adder；
Feedforward control module, for according to the direct current of multigroup current duty cycle α ' of Sepic converters and its output
Pressure UdcHistorical data fit current duty cycle α ' and DC voltage UdcBetween relation α '=f (Udc), make Udc=4Em, from
And obtain α '=f (4Em), Sepic converters are according to relational expression α '=f (4Em) and input reference voltage 4EmOutput is current
Duty cycle alpha '；
Wherein, EmFor the counter electromotive force of motor；
The reference voltage 4E that the minuend input of subtracter is receivedmThe DC voltage U received with its subtracting inputdcMake
Difference, and using obtain deviation E (k) as pid control module input；
Pid control module, for obtaining dutycycle increment α using following formula one and two according to deviation E (k) for receiving ",
Wherein,
Wherein, U (k) is kth time sampled voltage output valve, kpTo adjust proportionality coefficient；kITo adjust integral coefficient；kDFor
Adjust differential coefficient；Deviation when E (k) is kth time sampling；Deviation when E (k-1) is -1 sampling of kth；K is sampling sequence number,
K is the integer more than or equal to 1, and j is variable,
Adder is used for current duty cycle α ' and dutycycle increment α " it is overlapped, using value α after superposition as control
The control instruction of Sepic converters processed dutycycle next time, and α=α '+α ".
Described
The motor torque ripple suppressing method realized using a kind of suppression torque pulsation of brushless DC motor control system, should
Method comprises the steps：
Step one, electric machine controller gather the hall signal and Sepic converters output of controlled brushless direct current motor
DC voltage Udc；
Step 2, electric machine controller are identified out controlled brushless straight according to the hall signal of controlled brushless direct current motor
When stream motor is in commutation state, controlled brushless direct current motor produces pulsating torque △ Te；
Wherein,
Em=Ceφ n (formula four),
L for motor every phase inductance of equal value, Ω be motor angular speed, EmFor the counter electromotive force of motor, when t is represented
Between,
CeFor the power coefficient of motor, φ is the rotor flux for motor, and n is the rotating speed for motor；
Step 3, when controlled brushless direct current motor is in commutation state, to electric machine controller using feedforward control calculate
Method and pid control algorithm are controlled to Sepic converters, and by the output valve obtained by feed-forward control algorithm with pass through
The output valve that pid control algorithm is obtained is overlapped, and as the control instruction of control Sepic converters, makes Udc=4Em, finally
Make pulsating torque △ Te=0, so as to the suppression of torque pulsation produced when realizing to motor commutation.
Described feed-forward control algorithm adopts relational expression α '=f (4Em) realize,
Pid control module adopts formula one and formula two to realize, wherein,
Wherein, α ' is the current duty cycle obtained by feed-forward control algorithm, 4EmFor reference voltage, α " for PID control calculation
The dutycycle increment that method is obtained, wherein, U (k) is kth time sampled voltage output valve, kpTo adjust proportionality coefficient；kITo adjust product
Divide coefficient；kDTo adjust differential coefficient；Deviation when E (k) is kth time sampling；Deviation when E (k-1) is -1 sampling of kth；k
For sampling sequence number, k is the integer more than or equal to 1, and j is variable.
Described relational expression α '=f (4Em) acquisition process be：
Step A1, changed using electric machine controller and give MOSFET pipe VT0Control instruction, i.e., control instruction be current duty
Given numerical value than α ', using during current duty cycle α ' controls, gathers the DC voltage U of circuit of reversed excitation outputdc,
Repeatedly execution step A1 is obtaining multigroup current duty cycle α ' and DC voltage UdcBetween relation historical data, so
Execution step A2 afterwards；
Step A2, the multigroup current duty cycle α ' and DC voltage U that utilize acquisitiondcBetween the historical data of relation intended
Close, obtain relational expression α '=f (Udc)；
Step A3, in order to torque pulsation inhibited, make Udc=4Em, and then obtain relational expression α '=f (4Em) as feedforward control
The algorithm model of algorithm processed.
The beneficial effect that the present invention brings is, in being run due to brshless DC motor, counter electromotive force EmCan be with rotation speed change
And change, steady-state error can be eliminated using PID control, response speed can be accelerated using feedforward control, with reference to both the above
Control mode, the torque pulsation that can effectively suppress brshless DC motor to produce in commutation.
Description of the drawings
Fig. 1 is a kind of principle schematic of suppression torque pulsation of brushless DC motor control system of the present invention；
Fig. 2 is the control principle drawing that control Sepic converter instructions are generated in electric machine controller.
Specific embodiment
Specific embodiment one：Present embodiment, a kind of suppression brushless direct-current described in present embodiment are illustrated referring to Fig. 1
Motor torque ripple control system, including dc source Us, Sepic converters 1, voltage source inverter 2, DC voltage sampling mould
Block 3 and electric machine controller 4；
Dc source UsPositive pole connection Sepic converters 1 electrode input end, dc source UsNegative pole connection Sepic
The negative input of converter 1；
The output end of Sepic converters 1 connects the input of voltage source inverter 2, and the output end of voltage source inverter 2 connects
Connect the three-phase windings of controlled brushless direct current motor 5；
DC voltage sampling module 3 is used to gather the DC voltage of the output of Sepic converters 1, and will gather DC voltage
Signal delivers to electric machine controller 4；
Gather the hall signal of controlled brushless direct current motor 5 and be sent to electric machine controller 4, the basis of electric machine controller 4
The voltage signal and hall signal of collection is controlled to the working condition of Sepic converters 1 and voltage source inverter 2.
In present embodiment, Sepic converters 1, for by dc source UsThe voltage conversion of output is that amplitude is variable
DC voltage, voltage source inverter 2, the variable DC voltage of the amplitude for Sepic converters 1 to be exported is converted into exchange
Electricity, and controlled brushless direct current motor 5 is driven.The collection of hall signal can be realized using Hall element.
Specific embodiment two：Present embodiment is illustrated referring to Fig. 1, described in present embodiment and specific embodiment one
A kind of difference of suppression torque pulsation of brushless DC motor control system is that described Sepic converters 1 include inductance L1、
Inductance L2, electric capacity C1, electric capacity C2, diode D1With MOSFET pipe VT0；
Inductance L1One end and dc source UsPositive pole connection,
Inductance L1The other end simultaneously with electric capacity C1One end and MOSFET pipe VT0Source electrode connection,
Electric capacity C1The other end simultaneously with inductance L2One end and diode D1Anode connection,
Diode D1Negative electrode and electric capacity C2One end connection, diode D1Negative electrode as one of Sepic converters 1
Output end；
Dc source UsNegative pole simultaneously with MOSFET pipe VT0Drain electrode, inductance L2The other end and electric capacity C2The other end
Connection, electric capacity C2The other end as Sepic converters 1 another output end.
Specific embodiment three：Present embodiment, present embodiment and the institute of specific embodiment one or two are illustrated referring to Fig. 1
A kind of difference of the suppression torque pulsation of brushless DC motor control system stated is that described voltage source inverter 2 is three-phase
Voltage-type bridge-type inverter, three-phase voltage type bridge-type inverter includes 6 switching tube VT1To VT6, and 6 switching tube VT1Extremely
VT6MOSFET pipes are,
Wherein, the upper bridge arm of three-phase voltage type bridge-type inverter is switching tube VT1、VT3、VT5, lower bridge arm is switching tube
VT4、VT6、VT2；
One diode of reverse parallel connection between the drain electrode of each MOSFET pipe and source electrode,
Switching tube VT1To VT6Grid be used to receive electric machine controller 4 output control signal.
Specific embodiment four：Illustrate present embodiment referring to Fig. 1 and 2, present embodiment and specific embodiment one or
A kind of difference of the suppression torque pulsation of brushless DC motor control system described in two is that described electric machine controller 4 includes
Feedforward control module 4-1, pid control module 4-2, subtracter 4-3 and adder 4-4；
Feedforward control module 4-1, for straight with its output according to multigroup current duty cycle α ' of Sepic converters 1
Stream voltage UdcHistorical data fit current duty cycle α ' and DC voltage UdcBetween relation α '=f (Udc), make Udc=
4Em, so as to obtain α '=f (4Em), Sepic converters 1 are according to relational expression α '=f (4Em) and input reference voltage 4EmIt is defeated
Go out current duty cycle α '；
Wherein, EmFor the counter electromotive force of motor；
The reference voltage 4E that the minuend input of subtracter 4-3 is receivedmThe DC voltage received with its subtracting input
UdcDiffer from, and using obtain deviation E (k) as pid control module 4-2 input；
Pid control module 4-2, for obtaining dutycycle increment using following formula one and two according to deviation E (k) for receiving
α ", wherein,
Wherein, U (k) is kth time sampled voltage output valve, kpTo adjust proportionality coefficient；kITo adjust integral coefficient；kDFor
Adjust differential coefficient；Deviation when E (k) is kth time sampling；Deviation when E (k-1) is -1 sampling of kth；K is sampling sequence number,
K is the integer more than or equal to 1, and j is variable, E (0)=0,
Adder 4-4 be used for current duty cycle α ' and dutycycle increment α " be overlapped, using value α after superposition as
The control instruction of the dutycycle next time of control Sepic converters 1, and α=α '+α ".
In present embodiment, according to the running status of brshless DC motor, particularly commutation moment, motor control can be passed through
Device processed 4 come control Sepic converters 1 MOSFET turn-off time reaching torque pulsation inhibited function.
Specific embodiment five：Present embodiment, present embodiment and the institute of specific embodiment four are illustrated referring to Fig. 1 and 2
A kind of difference of the suppression torque pulsation of brushless DC motor control system stated is, described
Specific embodiment six：Referring to Fig. 1 and Fig. 2 explanation present embodiments, using described in specific embodiment one
The difference for kind suppressing the motor torque ripple suppressing method that torque pulsation of brushless DC motor control system realizes is, the method
Comprise the steps：
Step one, electric machine controller 4 gather the hall signal and Sepic converters 1 of controlled brushless direct current motor 5 and export
DC voltage Udc；
Step 2, electric machine controller 4 are identified out controlled brushless according to the hall signal of controlled brushless direct current motor 5
When dc motor 5 is in commutation state, controlled brushless direct current motor 5 produces pulsating torque △ Te；
Wherein,
Em=Ceφ n (formula four),
L for motor every phase inductance of equal value, Ω be motor angular speed, EmFor the counter electromotive force of motor, when t is represented
Between,
CeFor the power coefficient of motor, φ is the rotor flux for motor, and n is the rotating speed for motor；
Step 3, when controlled brushless direct current motor 5 is in commutation state, feedforward control is adopted to electric machine controller 4
Algorithm and pid control algorithm are controlled to Sepic converters 1, and by the output valve obtained by feed-forward control algorithm with it is logical
The output valve for crossing pid control algorithm acquisition is overlapped, and as the control instruction of control Sepic converters 1, makes Udc=4Em, most
Pulsating torque △ T is made eventuallye=0, so as to the suppression of torque pulsation produced when realizing to motor commutation.
In present embodiment, the E during a certain commutationm, L, Ω be constant, pulsating torque △ TeOnly with (Udc-4Em) have
Close；Andα is dutycycle, UsIt is direct voltage source, because UsIt is invariable, so UdcOnly with dutycycle
α is relevant, that is, during a certain commutation, pulsating torque △ TeOnly relevant in duty cycle alpha, wherein α is feed-forward control algorithm acquisition
Output valve and the output valve obtained by pid control algorithm be superimposed, i.e.,：α=α '+α ".
To sum up, the present invention particularly the commutation moment, can pass through motor control according to the running status of brshless DC motor
Module come control Sepic converters 1 MOSFET turn-off time reaching torque pulsation inhibited function.
Specific embodiment seven：Referring to Fig. 1 and Fig. 2 explanation present embodiments, present embodiment and specific embodiment six
A kind of area of the motor torque ripple suppressing method for suppressing torque pulsation of brushless DC motor control system to realize of described employing
It is not that described feed-forward control algorithm adopts relational expression α '=f (4Em) realize,
Pid control module 4-2 adopts formula one and formula two to realize, wherein,
Wherein, α ' is the current duty cycle obtained by feed-forward control algorithm, 4EmFor reference voltage, α " for PID control calculation
The dutycycle increment that method is obtained, wherein, U (k) is kth time sampled voltage output valve, kpTo adjust proportionality coefficient；kITo adjust product
Divide coefficient；kDTo adjust differential coefficient；Deviation when E (k) is kth time sampling；Deviation when E (k-1) is -1 sampling of kth；k
For sampling sequence number, k is the integer more than or equal to 1, and j is variable.
Specific embodiment eight：Referring to Fig. 1 and Fig. 2 explanation present embodiments, present embodiment and specific embodiment seven
A kind of area of the motor torque ripple suppressing method for suppressing torque pulsation of brushless DC motor control system to realize of described employing
It is not, described relational expression α '=f (4Em) acquisition process be：
Step A1, changed using electric machine controller and give MOSFET pipe VT0Control instruction, i.e., control instruction be current duty
Given numerical value than α ', using during current duty cycle α ' controls, gathers the DC voltage U of circuit of reversed excitation outputdc,
Repeatedly execution step A1 is obtaining multigroup current duty cycle α ' and DC voltage UdcBetween relation historical data, so
Execution step A2 afterwards；
Step A2, the multigroup current duty cycle α ' and DC voltage U that utilize acquisitiondcBetween the historical data of relation intended
Close, obtain relational expression α '=f (Udc)；
Step A3, in order to torque pulsation inhibited, make Udc=4Em, and then obtain relational expression α '=f (4Em) as feedforward control
The algorithm model of algorithm processed.
Present embodiment, feedover computing formula α '=f (4Em) be stable state under, obtain duty cycle alpha ' and Sepic and convert
Relation between the output voltage of device 1, so as to fit duty cycle alpha ' and reference voltage level 4EmBetween relation, with reference voltage
Value 4EmFor independent variable, duty cycle alpha ' is dependent variable.
To sum up, the invention provides a kind of suppress torque pulsation of brushless DC motor control system and its Torque Ripple Reduction
Method, according to the running status of brshless DC motor, particularly commutation moment, can control Sepic by electric machine controller 4
The turn-off time of the MOSFET pipes of converter 1 reaches torque pulsation inhibited function.
Claims (8)
1. it is a kind of to suppress torque pulsation of brushless DC motor control system, it is characterised in that including dc source Us, Sepic conversion
Device (1), voltage source inverter (2), DC voltage sampling module (3) and electric machine controller (4)；
Dc source UsPositive pole connection Sepic converters (1) electrode input end, dc source UsNegative pole connection Sepic become
The negative input of parallel operation (1)；
The input of output end connection voltage source inverter (2) of Sepic converters (1), the output end of voltage source inverter (2)
Connect the three-phase windings of controlled brushless direct current motor (5)；
DC voltage sampling module (3) will gather DC voltage for gathering the DC voltage of Sepic converters (1) output
Signal delivers to electric machine controller (4)；
Gather the hall signal of controlled brushless direct current motor (5) and be sent to electric machine controller (4), electric machine controller (4) root
The working condition of Sepic converters (1) and voltage source inverter (2) is controlled according to the voltage signal and hall signal of collection
System.
2. one kind according to claim 1 suppresses torque pulsation of brushless DC motor control system, it is characterised in that described
Sepic converters (1) including inductance L1, inductance L2, electric capacity C1, electric capacity C2, diode D1With MOSFET pipe VT0；
Inductance L1One end and dc source UsPositive pole connection,
Inductance L1The other end simultaneously with electric capacity C1One end and MOSFET pipe VT0Source electrode connection,
Electric capacity C1The other end simultaneously with inductance L2One end and diode D1Anode connection,
Diode D1Negative electrode and electric capacity C2One end connection, diode D1Negative electrode it is defeated as one of Sepic converters (1)
Go out end；
Dc source UsNegative pole simultaneously with MOSFET pipe VT0Drain electrode, inductance L2The other end and electric capacity C2The other end connection,
Electric capacity C2The other end as Sepic converters (1) another output end.
3. one kind according to claim 1 and 2 suppresses torque pulsation of brushless DC motor control system, it is characterised in that
Described voltage source inverter (2) is three-phase voltage type bridge-type inverter, and three-phase voltage type bridge-type inverter includes 6 switching tubes
VT1To VT6, and 6 switching tube VT1To VT6MOSFET pipes are,
Wherein, the upper bridge arm of three-phase voltage type bridge-type inverter is switching tube VT1、VT3、VT5, lower bridge arm is switching tube VT4、VT6、
VT2；
One diode of reverse parallel connection between the drain electrode of each MOSFET pipe and source electrode,
Switching tube VT1To VT6Grid be used to receive electric machine controller (4) output control signal.
4. one kind according to claim 1 and 2 suppresses torque pulsation of brushless DC motor control system, it is characterised in that
Described electric machine controller (4) includes feedforward control module (4-1), pid control module (4-2), subtracter (4-3) and adder
(4-4)；
Feedforward control module (4-1), for straight with its output according to multigroup current duty cycle α ' of Sepic converters (1)
Stream voltage UdcHistorical data fit current duty cycle α ' and DC voltage UdcBetween relation α '=f (Udc), make Udc=
4Em, so as to obtain α '=f (4Em), Sepic converters (1) are according to relational expression α '=f (4Em) and input reference voltage 4Em
Output current duty cycle α '；
Wherein, EmFor the counter electromotive force of motor；
The reference voltage 4E that the minuend input of subtracter (4-3) is receivedmThe DC voltage U received with its subtracting inputdc
Differ from, and using obtain deviation E (k) as pid control module (4-2) input；
Pid control module (4-2), for obtaining dutycycle increment using following formula one and two according to deviation E (k) for receiving
α ", wherein,
Wherein, U (k) is kth time sampled voltage output valve, kpTo adjust proportionality coefficient；kITo adjust integral coefficient；kDTo adjust
Differential coefficient；Deviation when E (k) is kth time sampling；Deviation when E (k-1) is -1 sampling of kth；K is sampling sequence number, and k is
Integer more than or equal to 1, j is variable,
Adder (4-4) is used for current duty cycle α ' and dutycycle increment α " it is overlapped, using value α after superposition as control
The control instruction of Sepic converters (1) processed dutycycle next time, and α=α '+α ".
5. one kind according to claim 4 suppresses torque pulsation of brushless DC motor control system, it is characterised in that described
's
6. the motor torque ripple suppressing method realized using a kind of suppression torque pulsation of brushless DC motor control system, it is special
Levy and be, the method comprises the steps：
The hall signal and Sepic converters (1) that step one, electric machine controller (4) gather controlled brushless direct current motor (5) is defeated
The DC voltage U for going outdc；
Step 2, electric machine controller (4) are identified out controlled brushless according to the hall signal of controlled brushless direct current motor (5)
When dc motor (5) is in commutation state, controlled brushless direct current motor (5) produces pulsating torque △ Te；
Wherein,
Em=Ceφ n (formula four),
L for motor every phase inductance of equal value, Ω be motor angular speed, EmFor the counter electromotive force of motor, t represents the time,
CeFor the power coefficient of motor, φ is the rotor flux for motor, and n is the rotating speed for motor；
Step 3, when controlled brushless direct current motor (5) is in commutation state, feedforward control is adopted to electric machine controller (4)
Algorithm and pid control algorithm are controlled to Sepic converters (1), and by the output valve obtained by feed-forward control algorithm with
The output valve obtained by pid control algorithm is overlapped, and as the control instruction of control Sepic converters (1), makes Udc=
4Em, finally make pulsating torque △ Te=0, so as to the suppression of torque pulsation produced when realizing to motor commutation.
7. the motor realized using a kind of suppression torque pulsation of brushless DC motor control system according to claim 6 is turned
Square pulsation suppressing method, it is characterised in that described feed-forward control algorithm adopts relational expression α '=f (4Em) realize,
Pid control module (4-2) adopts formula one and formula two to realize, wherein,
Wherein, α ' is the current duty cycle obtained by feed-forward control algorithm, 4EmFor reference voltage, α " is obtained for pid control algorithm
The dutycycle increment for arriving, wherein, U (k) is kth time sampled voltage output valve, kpTo adjust proportionality coefficient；kITo adjust integration system
Number；kDTo adjust differential coefficient；Deviation when E (k) is kth time sampling；Deviation when E (k-1) is -1 sampling of kth；K is to adopt
Sample sequence number, k is the integer more than or equal to 1, and j is variable.
8. the motor realized using a kind of suppression torque pulsation of brushless DC motor control system according to claim 7 is turned
Square pulsation suppressing method, described relational expression α '=f (4Em) acquisition process be：
Step A1, changed using electric machine controller (4) and give MOSFET pipe VT0Control instruction, i.e., control instruction be current duty cycle
The given numerical value of α ', using during current duty cycle α ' controls, gathers the DC voltage U of circuit of reversed excitation (1) outputdc,
Repeatedly execution step A1 is obtaining multigroup current duty cycle α ' and DC voltage UdcBetween relation historical data, then hold
Row step A2；
Step A2, the multigroup current duty cycle α ' and DC voltage U that utilize acquisitiondcBetween the historical data of relation be fitted,
Obtain relational expression α '=f (Udc)；
Step A3, in order to torque pulsation inhibited, make Udc=4Em, and then obtain relational expression α '=f (4Em) as feed-forward control algorithm
Algorithm model.
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| CN107222133A (en) * | 2017-05-18 | 2017-09-29 | 哈尔滨工程大学 | A kind of method for the suppression brshless DC motor commutation torque ripple that can compensate Hall deviation automatically |
| CN108282118A (en) * | 2018-01-18 | 2018-07-13 | 厦门芯阳科技股份有限公司 | A kind of control method of hair scissors motor rotary speed |
| CN108768222A (en) * | 2018-05-07 | 2018-11-06 | 哈尔滨工程大学 | Inhibit the circuit and control method of brushless DC motor without position sensor commutation torque ripple |
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| CN107222133B (en) * | 2017-05-18 | 2019-08-06 | 哈尔滨工程大学 | A method of inhibiting brshless DC motor commutation torque ripple |
| CN108282118A (en) * | 2018-01-18 | 2018-07-13 | 厦门芯阳科技股份有限公司 | A kind of control method of hair scissors motor rotary speed |
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| CN108768222A (en) * | 2018-05-07 | 2018-11-06 | 哈尔滨工程大学 | Inhibit the circuit and control method of brushless DC motor without position sensor commutation torque ripple |
| CN109143064A (en) * | 2018-08-01 | 2019-01-04 | 浙江东方机电有限公司 | Counter electromotive force test device and method in permanent magnet synchronous motor commutation process |
| CN109143064B (en) * | 2018-08-01 | 2020-11-24 | 浙江东方机电有限公司 | Counter electromotive force testing device and method in reversing process of permanent magnet synchronous motor |
| CN109600078A (en) * | 2018-11-21 | 2019-04-09 | 东华大学 | Permanent-magnet brushless DC electric machine torque fluctuations suppressing method based on tandem type converter |
| CN109600078B (en) * | 2018-11-21 | 2022-01-11 | 东华大学 | Permanent magnet brushless direct current motor torque fluctuation suppression method based on cascade converter |
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