CN106655914B - Inhibit torque pulsation of brushless DC motor control system and method for suppressing torque ripple - Google Patents
Inhibit torque pulsation of brushless DC motor control system and method for suppressing torque ripple Download PDFInfo
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- CN106655914B CN106655914B CN201710023785.8A CN201710023785A CN106655914B CN 106655914 B CN106655914 B CN 106655914B CN 201710023785 A CN201710023785 A CN 201710023785A CN 106655914 B CN106655914 B CN 106655914B
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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
Inhibit torque pulsation of brushless DC motor control system and method for suppressing torque ripple, belongs to motor control technology field.Solve the problems, such as that existing is the generally existing torque pulsation of brushless direct current motor.Sepic converter, for by the DC power supply U of constant amplitudesVoltage is converted to the variable DC voltage of amplitude, and voltage source inverter, the DC voltage that the amplitude for exporting Sepic converter can be changed is converted into alternating current, and drives to controlled brushless direct current motor.DC voltage sampling module is used to acquire the DC voltage of Sepic converter output, and the d. c. voltage signal of acquisition is sent to electric machine controller；It acquires the hall signal of controlled brushless direct current motor and is sent to electric machine controller, electric machine controller controls the working condition of Sepic converter and voltage source inverter according to the voltage signal and hall signal of acquisition.It is mainly used for controlling the pulsation of motor torque.
Description
Technical field
The invention belongs to motor control technology fields.
Background technique
The output torque of brshless DC motor is big, dynamic response is fast, inertia is small, high reliablity, controls simply, therefore it is answered
With more and more extensive.But the generally existing torque pulsation problem of brushless direct current motor, which but limits always it in high-precision, is
Application in system.For High Definition Systems, torque pulsation is to measure an important indicator of brushless direct current motor performance.Cause
This, studies the method for suppressing or eliminating torque pulsation and has a very important significance.
Summary of the invention
The present invention is to solve the problems, such as that existing is the generally existing torque pulsation of brushless direct current motor, and the present invention provides
A kind of inhibition torque pulsation of brushless DC motor control system and method for suppressing torque ripple.
A kind of inhibition torque pulsation of brushless DC motor control system, including DC power supply Us, Sepic converter, voltage
Type inverter, DC voltage sampling module and electric machine controller；
DC power supply UsAnode connection Sepic converter electrode input end, DC power supply UsCathode connect Sepic
The negative input of converter；
The input terminal of the output end connection voltage source inverter of Sepic converter, 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 acquire the DC voltage of Sepic converter output, and will acquisition DC voltage letter
It number send to electric machine controller；
It acquires the hall signal of controlled brushless direct current motor and is sent to electric machine controller, electric machine controller is according to acquisition
Voltage signal and hall signal the working condition of Sepic converter and voltage source inverter is controlled.
The Sepic converter includes inductance L1, inductance L2, capacitor C1, capacitor C2, diode D1With MOSFET pipe VT0；
Inductance L1One end and DC power supply UsAnode connection,
Inductance L1The other end simultaneously with capacitor C1One end and MOSFET pipe VT0Source electrode connection,
Capacitor C1The other end simultaneously with inductance L2One end and diode D1Anode connection,
Diode D1Cathode and capacitor C2One end connection, diode D1Cathode it is defeated as one of Sepic converter
Outlet；
DC power supply UsCathode simultaneously with MOSFET pipe VT0Drain electrode, inductance L2The other end and capacitor C2The other end
Connection, capacitor C2Another output of the other end as Sepic converter.
The 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 VT6It is MOSFET pipe,
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 and source electrode of each MOSFET pipe,
Switching tube VT1To VT6Grid be used to receive electric machine controller output control signal.
The electric machine controller includes feedforward control module, pid control module, subtracter and adder；
Feedforward control module, for direct current according to the current duty cycle α ' of the multiple groups of Sepic converter and its output
Press UdcHistorical data fit current duty cycle α ' and DC voltage UdcBetween relationship α '=f (Udc), enable Udc=4Em, from
And obtain α '=f (4Em), Sepic converter is 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 received reference voltage 4E of the minuend input terminal of subtractermWith the received DC voltage U of its subtracting inputdcMake
Difference, and the input by the deviation E (k) of acquisition as pid control module；
Pid control module obtains duty ratio increment α " using following formula one and two for deviation E (k) based on the received,
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 kth -1 time sampling；K is sampling sequence number,
K is the integer more than or equal to 1, and j is variable,
Adder uses superimposed value α as control for being overlapped to current duty cycle α ' and duty ratio increment α "
The control instruction of Sepic converter processed duty ratio next time, and α=α '+α ".
Described
It, should using a kind of motor torque ripple suppressing method that inhibition torque pulsation of brushless DC motor control system is realized
Method includes the following steps:
Step 1: what the hall signal and Sepic converter of the controlled brushless direct current motor of electric machine controller acquisition exported
DC voltage Udc；
Step 2: electric machine controller identify according to the hall signal of controlled brushless direct current motor be controlled it is brushless straight
When galvanic electricity motivation is in commutation state, it is controlled brushless direct current motor and generates pulsating torque Δ Te；
Wherein,
Em=Ceφ n (formula four),
L is the inductance of equal value of every phase of motor, and Ω is the angular speed of motor, EmFor the counter electromotive force of motor, when t is indicated
Between,
CeFor the power coefficient of motor, φ is the rotor flux for motor, and n is the revolving speed for motor；
Step 3: being calculated using feedforward control when controlled brushless direct current motor is in commutation state electric machine controller
Method and pid control algorithm control Sepic converter, and by the output valve obtained by feed-forward control algorithm with pass through
The output valve that pid control algorithm obtains is overlapped, and as the control instruction of control Sepic converter, makes Udc=4Em, finally
Make pulsating torque Δ Te=0, the inhibition of the torque pulsation generated when to realizing to motor commutation.
The feed-forward control algorithm uses relational expression α '=f (4Em) realize,
Pid control module is realized using formula one and formula two, wherein
Wherein, α ' is the current duty cycle obtained by feed-forward control algorithm, 4EmIt is that PID control is calculated for reference voltage, α "
The duty ratio increment that method obtains, 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 kth -1 time sampling；k
For sampling sequence number, k is the integer more than or equal to 1, and j is variable.
The relational expression α '=f (4Em) acquisition process are as follows:
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 ', when using current duty cycle α ' control, the DC voltage U of acquisition circuit of reversed excitation outputdc,
Execute step A1 repeatedly to obtain multiple groups current duty cycle α ' and DC voltage UdcBetween relationship historical data, so
Step A2 is executed afterwards；
Step A2, the multiple groups current duty cycle α ' of acquisition and DC voltage U are utilizeddcBetween the historical data of relationship intended
It closes, obtains relational expression α '=f (Udc)；
Step A3, in order to torque pulsation inhibited, U is enableddc=4Em, and then obtain relational expression α '=f (4Em) as feedforward control
The algorithm model of algorithm processed.
The invention has the beneficial effects that due in brshless DC motor operation, counter electromotive force EmIt can be with rotation speed change
And change, steady-state error can be eliminated using PID control, response speed can be accelerated using feedforward control, in conjunction with both the above
Control mode, the torque pulsation that can effectively inhibit brshless DC motor to generate in commutation.
Detailed description of the invention
Fig. 1 is a kind of schematic illustration for inhibiting torque pulsation of brushless DC motor control system of the present invention；
Fig. 2 is the control principle drawing that control Sepic converter instruction is generated in electric machine controller.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of inhibition brushless direct-current described in present embodiment referring to Fig. 1
Motor torque ripple control system, including DC power supply Us, Sepic converter 1, voltage source inverter 2, DC voltage sample mould
Block 3 and electric machine controller 4；
DC power supply UsAnode connection Sepic converter 1 electrode input end, DC power supply UsCathode connect Sepic
The negative input of converter 1；
The input terminal of the output end connection voltage source inverter 2 of Sepic converter 1, the output end of voltage source inverter 2 connect
Connect the three-phase windings of controlled brushless direct current motor 5；
DC voltage sampling module 3 is used to acquire the DC voltage of the output of Sepic converter 1, and will acquire DC voltage
Signal is sent to electric machine controller 4；
It acquires the hall signal of controlled brushless direct current motor 5 and is sent to electric machine controller 4,4 basis of electric machine controller
The voltage signal and hall signal of acquisition control the working condition of Sepic converter 1 and voltage source inverter 2.
In present embodiment, Sepic converter 1 is used for DC power supply UsThe voltage of output is converted to what amplitude can be changed
DC voltage, voltage source inverter 2, the DC voltage that the amplitude for exporting Sepic converter 1 can be changed are converted into exchange
Electricity, and controlled brushless direct current motor 5 is driven.Hall sensor realization can be used in the acquisition of hall signal.
Specific embodiment 2: illustrating present embodiment referring to Fig. 1, described in present embodiment and specific embodiment one
It is a kind of inhibit torque pulsation of brushless DC motor control system difference be, the Sepic converter 1 include inductance L1、
Inductance L2, capacitor C1, capacitor C2, diode D1With MOSFET pipe VT0；
Inductance L1One end and DC power supply UsAnode connection,
Inductance L1The other end simultaneously with capacitor C1One end and MOSFET pipe VT0Source electrode connection,
Capacitor C1The other end simultaneously with inductance L2One end and diode D1Anode connection,
Diode D1Cathode and capacitor C2One end connection, diode D1One as Sepic converter 1 of cathode
Output end；
DC power supply UsCathode simultaneously with MOSFET pipe VT0Drain electrode, inductance L2The other end and capacitor C2The other end
Connection, capacitor C2Another output of the other end as Sepic converter 1.
Specific embodiment 3: illustrating present embodiment, present embodiment and specific embodiment one or two institutes referring to Fig. 1
A kind of difference for the inhibition torque pulsation of brushless DC motor control system stated is that the voltage source inverter 2 is three-phase
Voltage-type bridge-type inverter, three-phase voltage type bridge-type inverter include 6 switching tube VT1To VT6, and 6 switching tube VT1Extremely
VT6It is MOSFET pipe,
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 and source electrode of each MOSFET pipe,
Switching tube VT1To VT6Grid be used to receive electric machine controller 4 export control signal.
Specific embodiment 4: illustrate present embodiment referring to Fig. 1 and 2, present embodiment and specific embodiment one or
A kind of difference of inhibition torque pulsation of brushless DC motor control system described in two is that the 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 according to the straight of the current duty cycle α ' of the multiple groups of Sepic converter 1 and its output
Galvanic electricity presses UdcHistorical data fit current duty cycle α ' and DC voltage UdcBetween relationship α '=f (Udc), enable Udc=
4Em, to obtain α '=f (4Em), Sepic converter 1 is according to relational expression α '=f (4Em) and input reference voltage 4EmIt is defeated
Current duty cycle α ' out；
Wherein, EmFor the counter electromotive force of motor；
The received reference voltage 4E of the minuend input terminal of subtracter 4-3mWith the received DC voltage of its subtracting input
UdcIt is poor to make, and the input by the deviation E (k) of acquisition as pid control module 4-2；
Pid control module 4-2 obtains duty ratio increment using following formula one and two for deviation E (k) based on the received
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 kth -1 time sampling；K is sampling sequence number,
K is integer more than or equal to 1, and j is variable, E (0)=0,
Adder 4-4 for being overlapped to current duty cycle α ' and duty ratio increment α ", use superimposed value α as
Control the control instruction of the duty ratio next time of Sepic converter 1, and α=α '+α ".
In present embodiment, according to the operating status of brshless DC motor, especially commutation moment, motor control can be passed through
Device 4 processed controls turn-off time of the MOSFET of Sepic converter 1, to reach torque pulsation inhibited function.
Specific embodiment 5: illustrating present embodiment, present embodiment and four institute of specific embodiment referring to Fig. 1 and 2
A kind of difference for the inhibition torque pulsation of brushless DC motor control system stated is, described
Specific embodiment 6: illustrating present embodiment referring to Fig. 1 and Fig. 2, using one described in specific embodiment one
Kind inhibits the difference of the motor torque ripple suppressing method of torque pulsation of brushless DC motor control system realization to be, this method
Include the following steps:
Step 1: electric machine controller 4 acquires the hall signal of controlled brushless direct current motor 5 and Sepic converter 1 exports
DC voltage Udc；
Step 2: electric machine controller 4 identify according to the hall signal of controlled brushless direct current motor 5 be controlled it is brushless
When dc motor 5 is in commutation state, it is controlled brushless direct current motor 5 and generates pulsating torque Δ Te；
Wherein,
Em=Ceφ n (formula four),
L is the inductance of equal value of every phase of motor, and Ω is the angular speed of motor, EmFor the counter electromotive force of motor, when t is indicated
Between,
CeFor the power coefficient of motor, φ is the rotor flux for motor, and n is the revolving speed for motor；
Step 3: using feedforward control to electric machine controller 4 when controlled brushless direct current motor 5 is in commutation state
Algorithm and pid control algorithm control Sepic converter 1, and by the output valve obtained by feed-forward control algorithm and lead to
The output valve for crossing pid control algorithm acquisition is overlapped, and as the control instruction of control Sepic converter 1, makes Udc=4Em, most
Make pulsating torque Δ T eventuallye=0, the inhibition of the torque pulsation generated when to realizing to motor commutation.
In present embodiment, the E during a certain commutationm, L, Ω be constant, pulsating torque Δ TeOnly with (Udc-4Em) have
It closes；Andα is duty ratio, UsIt is DC voltage source, because of UsBe it is invariable, so UdcOnly with duty ratio
α is related, that is, during a certain commutation, pulsating torque Δ TeOnly related in duty cycle alpha, wherein α is feed-forward control algorithm acquisition
Output valve and the output valve that is obtained by pid control algorithm be superimposed, it may be assumed that α=α '+α ".
To sum up, the present invention can pass through motor control according to the operating status of brshless DC motor, especially commutation moment
Module controls turn-off time of the MOSFET of Sepic converter 1, to reach torque pulsation inhibited function.
Specific embodiment 7: illustrate present embodiment referring to Fig. 1 and Fig. 2, present embodiment and specific embodiment six
The area using a kind of motor torque ripple suppressing method that inhibition torque pulsation of brushless DC motor control system is realized
It is not, the feed-forward control algorithm uses relational expression α '=f (4Em) realize,
Pid control module 4-2 is realized using formula one and formula two, wherein
Wherein, α ' is the current duty cycle obtained by feed-forward control algorithm, 4EmIt is that PID control is calculated for reference voltage, α "
The duty ratio increment that method obtains, 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 kth -1 time sampling；k
For sampling sequence number, k is the integer more than or equal to 1, and j is variable.
Specific embodiment 8: illustrate present embodiment referring to Fig. 1 and Fig. 2, present embodiment and specific embodiment seven
The area using a kind of motor torque ripple suppressing method that inhibition torque pulsation of brushless DC motor control system is realized
It is not, the relational expression α '=f (4Em) acquisition process are as follows:
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 ', when using current duty cycle α ' control, the DC voltage U of acquisition circuit of reversed excitation outputdc,
Execute step A1 repeatedly to obtain multiple groups current duty cycle α ' and DC voltage UdcBetween relationship historical data, so
Step A2 is executed afterwards；
Step A2, the multiple groups current duty cycle α ' of acquisition and DC voltage U are utilizeddcBetween the historical data of relationship intended
It closes, obtains relational expression α '=f (Udc)；
Step A3, in order to torque pulsation inhibited, U is enableddc=4Em, and then obtain relational expression α '=f (4Em) as feedforward control
The algorithm model of algorithm processed.
Present embodiment, feedover calculation formula α '=f (4Em) it is to obtain duty cycle alpha ' and Sepic transformation under stable state
Relationship between 1 output voltage of device, to fit duty cycle alpha ' and reference voltage value 4EmBetween relationship, with reference voltage
Value 4EmFor independent variable, duty cycle alpha ' it is dependent variable.
To sum up, the present invention provides a kind of inhibition torque pulsation of brushless DC motor control system and Torque Ripple Reduction sides
Method can control Sepic change according to the operating status of brshless DC motor, especially commutation moment by electric machine controller 4
The turn-off time of the MOSFET pipe of parallel operation 1, to reach torque pulsation inhibited function.
Claims (7)
1. a kind of inhibition torque pulsation of brushless DC motor control system, including DC power supply Us, Sepic converter (1), voltage
Type inverter (2), DC voltage sampling module (3) and electric machine controller (4)；
DC power supply UsAnode connection Sepic converter (1) electrode input end, DC power supply UsCathode connection Sepic become
The negative input of parallel operation (1)；
The input terminal of output end connection voltage source inverter (2) of Sepic converter (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) is used to acquire the DC voltage of Sepic converter (1) output, and will acquire DC voltage
Signal is sent to electric machine controller (4)；
It acquires the hall signal of controlled brushless direct current motor (5) and is sent to electric machine controller (4), electric machine controller (4) root
The working condition of Sepic converter (1) and voltage source inverter (2) is controlled according to the voltage signal and hall signal of acquisition
System；
It is characterized in that,
The electric machine controller (4) includes feedforward control module (4-1), pid control module (4-2), subtracter (4-3) and adds
Musical instruments used in a Buddhist or Taoist mass (4-4)；
Feedforward control module (4-1) is used to be exported according to the current duty cycle α ' of the multiple groups of Sepic converter (1) with it straight
Galvanic electricity presses UdcHistorical data fit current duty cycle α ' and DC voltage UdcBetween relationship α '=f (Udc), enable Udc=
4Em, to obtain α '=f (4Em), Sepic converter (1) is according to relational expression α '=f (4Em) and input reference voltage 4Em
Export current duty cycle α '；
Wherein, EmFor the counter electromotive force of motor；
The received reference voltage 4E of the minuend input terminal of subtracter (4-3)mWith the received DC voltage U of its subtracting inputdc
It is poor to make, and the input by the deviation E (k) of acquisition as pid control module (4-2)；
Pid control module (4-2) obtains duty ratio increment using following formula one and two for deviation E (k) based on the received
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 kth -1 time sampling；K is sampling sequence number, and k is
Integer more than or equal to 1, j are variable,
Adder (4-4) uses superimposed value α as control for being overlapped to current duty cycle α ' and duty ratio increment α "
The control instruction of Sepic converter (1) processed duty ratio next time, and α=α '+α ".
2. a kind of inhibition torque pulsation of brushless DC motor control system according to claim 1, which is characterized in that described
Sepic converter (1) include inductance L1, inductance L2, capacitor C1, capacitor C2, diode D1With MOSFET pipe VT0；
Inductance L1One end and DC power supply UsAnode connection,
Inductance L1The other end simultaneously with capacitor C1One end and MOSFET pipe VT0Source electrode connection,
Capacitor C1The other end simultaneously with inductance L2One end and diode D1Anode connection,
Diode D1Cathode and capacitor C2One end connection, diode D1Cathode it is defeated as one of Sepic converter (1)
Outlet；
DC power supply UsCathode simultaneously with MOSFET pipe VT0Drain electrode, inductance L2The other end and capacitor C2The other end connection,
Capacitor C2Another output of the other end as Sepic converter (1).
3. a kind of inhibition torque pulsation of brushless DC motor control system according to claim 1 or 2, which is characterized in that
The 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 VT6It is MOSFET pipe,
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 and source electrode of each MOSFET pipe,
Switching tube VT1To VT6Grid be used to receive electric machine controller (4) output control signal.
4. a kind of inhibition torque pulsation of brushless DC motor control system according to claim 1, which is characterized in that described
's
5. a kind of motor torque ripple suppressing method, which uses a kind of inhibition brushless direct-current described in claim 1
What motor torque ripple control system was realized, which is characterized in that the suppressing method includes the following steps:
Step 1: electric machine controller (4) acquires the hall signal for being controlled brushless direct current motor (5) and Sepic converter (1) is defeated
DC voltage U outdc；
Step 2: electric machine controller (4) according to be controlled brushless direct current motor (5) hall signal identify be controlled it is brushless
When dc motor (5) is in commutation state, it is controlled brushless direct current motor (5) and generates pulsating torque Δ Te；
Wherein,
Em=Ceφ n (formula four),
L is the inductance of equal value of every phase of motor, and Ω is the angular speed of motor, EmFor the counter electromotive force of motor, t indicates the time,
CeFor the power coefficient of motor, φ is the rotor flux for motor, and n is the revolving speed for motor；
Step 3: using feedforward control to electric machine controller (4) when controlled brushless direct current motor (5) is in commutation state
Algorithm and pid control algorithm control Sepic converter (1), and by the output valve obtained by feed-forward control algorithm with
It is overlapped by the output valve that pid control algorithm obtains, as the control instruction of control Sepic converter (1), makes Udc=
4Em, finally make pulsating torque Δ Te=0, the inhibition of the torque pulsation generated when to realizing to motor commutation.
6. a kind of motor torque ripple suppressing method according to claim 5, which is characterized in that the feedforward control is calculated
Method uses relational expression α '=f (4Em) realize,
Pid control module (4-2) is realized using formula one and formula two, wherein
Wherein, α ' is the current duty cycle obtained by feed-forward control algorithm, 4EmFor reference voltage, α " obtains for pid control algorithm
The duty ratio increment arrived, 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 kth -1 time sampling；K is to adopt
Sample serial number, k are the integer more than or equal to 1, and j is variable.
7. a kind of motor torque ripple suppressing method according to claim 6, the relational expression α '=f (4Em) acquisition
Process are as follows:
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 ', when using current duty cycle α ' control, the DC voltage U of acquisition circuit of reversed excitation (1) outputdc,
Execute step A1 repeatedly to obtain multiple groups current duty cycle α ' and DC voltage UdcBetween relationship historical data, then hold
Row step A2；
Step A2, the multiple groups current duty cycle α ' of acquisition and DC voltage U are utilizeddcBetween the historical data of relationship be fitted,
Obtain relational expression α '=f (Udc)；
Step A3, in order to torque pulsation inhibited, U is enableddc=4Em, and then obtain relational expression α '=f (4Em) it is used as feed-forward control algorithm
Algorithm model.
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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 |
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