CN107147337A - High-power brushless direct current generator torque ripple control device and control method - Google Patents
High-power brushless direct current generator torque ripple control device and control method Download PDFInfo
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- CN107147337A CN107147337A CN201710583165.XA CN201710583165A CN107147337A CN 107147337 A CN107147337 A CN 107147337A CN 201710583165 A CN201710583165 A CN 201710583165A CN 107147337 A CN107147337 A CN 107147337A
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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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Abstract
The invention discloses a kind of high-power brushless direct current generator torque ripple control device, including energy-storage module, inversion module, bus current detection module, busbar voltage detection module, phase current sensing module and single-chip microcomputer.Invention additionally discloses a kind of control method of high-power brushless direct current generator torque ripple control device, consider in terms of voltage control and current control two, it is non-to control torque ripple during commutation and using different methods during commutation, control method is flexible, both it can effectively prevent power network fluctuation from causing drive system over-and under-voltage, the fluctuation of brshless DC motor output torque is in turn resulted in, while commutation torque-ripple minimization caused by brshless DC motor commutation process can be ensured.
Description
Technical field
The present invention relates to brshless DC motor control technology field, it is more particularly related to a kind of high-power nothing
Brushless motor torque ripple control device and control method.
Background technology
Brshless DC motor is as a kind of new electromechanical integrated product, because its efficiency high, power density are big, speed governing
Energy is good, control the series of advantages such as simple, is widely used to Industry Control, Aero-Space, Digit Control Machine Tool, micro- special processing etc. and leads
Domain.Because perception is presented in machine winding, winding current can not change in moment during commutation, but have the mistake of a change
Journey, thus current waveform is not preferable square waveform, and it is approximately trapezoidal wave, so that the current fluctuation in motor is caused,
Cause commutation torque ripple.For the good brushless electric machine of a workmanship, the pulsation harmonic torque of its cogging torque
Pulsation is smaller, and commutation torque ripple is as it the problem of be just primarily present, therefore improves brshless DC motor commutation torque
Fluctuation and control performance turn into the focus and difficult point of research.At present, industrial circle passes through to phase current from the angle of control mostly
Control suppress torque ripple, still, for high-power brushless direct current generator, its phase current magnitude is excessive, by power network
The big voltage pulsation of bus is also larger caused by fluctuation, controls it the presence of certain difficulty in itself, adds in produce reality operation
Influenceed by factors such as motor speeds, torque ripple is control effectively and seems increasingly difficult.
In summary, propose that a kind of high-power brushless direct current generator torque ripple control device is particularly important.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantage that at least will be described later.
It is a still further object of the present invention to provide a kind of high-power brushless direct current generator torque ripple control device, for big
The problem of power brushless direct current generator torque ripple is obvious, this case is set about having jointly in terms of current control and voltage control two
The torque ripple of effect control high-power brushless direct current generator, the influence that voltage ripple of power network is fluctuated to motor torque is considered at it
In, by the control to the timely adjustment of busbar voltage and to line current and phase current, it both can effectively prevent brshless DC motor
Due to torque ripple caused by voltage ripple of power network during non-commutation, while can prevent that phase current rate of change differs during commutation
Commutation torque ripple caused by causing.
Turned to realize according to object of the present invention and further advantage there is provided a kind of high-power brushless direct current generator
Square undulated control device, including:
Inversion module, its input is connected with power supply, and the electric current of the output end connection direct current generator of the inversion module is defeated
Enter end；
Energy-storage module, it includes battery energy storage unit, tie point and the second branch road, the battery energy storage unit output
Positive pole connects the tie point and the second branch road respectively, the tie point by be sequentially connected the first normally opened relay,
One normally closed relay and buck circuit composition, described second route the second normally opened relay being sequentially connected, second
Normally closed relay and boost chopper composition, export after two-way is in parallel and are connected in the DC terminal of the inversion module, institute
The input for stating the first normally opened relay and the second normally opened relay is connected to the battery energy storage unit output cathode end
On, between the energy-storage module and inversion module on one end in parallel electric capacity, the direct-flow positive pole between the energy-storage module and inversion module
Connect a switching tube；
Bus current detection module, it is connected in the DC terminal of the inversion module；
Busbar voltage detection module, it is connected to the end electric capacity both sides；
Phase current sensing module, it is connected on the power input of the direct current generator；And
Single-chip microcomputer, its input connects the bus current detection module, busbar voltage detection module and phase electricity respectively
The output end of detection module is flowed, the output end of the single-chip microcomputer connects the inversion module, energy-storage module and switching tube respectively
Control end；
Wherein, it is provided with the direct current generator for determining that the Hall sensor of phase is opened mutually and turned off to direct current generator,
The hall sensor output is connected with the single-chip microcomputer input, first normally opened relay, the first normally closed relay,
Second normally opened relay, the second normally closed relay constitute interlock.
It is preferred that, the buck circuit includes the first IGBT and the first inductance being sequentially connected and cathode terminal connection
The first diode between the first IGBT and the first inductance, the anode tap of first diode is connected to the end electricity
Hold negative pole end, the first IGBT connections first normally closed relay, end capacitance cathode end described in first inductance connection.
It is preferred that, the boost chopper includes the second inductance and the second diode being sequentially connected and first end connects
The 2nd IGBT between second inductance and the second diode is connected on, second ends of the 2nd IGBT connect the end electric capacity and born
Extremely, the second normally closed relay described in second inductance connection, second diode cathode connects the end capacitance cathode
End.
It is preferred that, three pairs of IGBT bridge arms connection that the inversion module is made up of the 3rd IGBT to the 8th IGBT successively and
Into the end electric capacity both sides connect power network by a rectification unit；The switching tube is the 9th IGBT, and it connects the end electric capacity
Positive terminal and the inversion module direct-flow input end, the single-chip microcomputer output connects each IGBT drive end.
It is preferred that, the end electric capacity two ends are also associated with a mu balanced circuit, it include being sequentially connected the 3rd it is normally opened after
Electrical equipment, controllable impedance, the 3rd diode, the double bridge being made up of four triodes and it is connected between the double bridge
Slow charging is held, and the 3rd normally opened relay is connected with the positive terminal of the end electric capacity, the first end connection of the double bridge
The cathode terminal of 3rd diode, the second end of the double bridge connects the negative pole end of the end electric capacity, and each described three
Pole pipe control end is connected with the single-chip microcomputer.
A kind of control method of high-power brushless direct current generator torque ripple control device, comprises the following steps：
Step 1: during system boot, brshless DC motor is not actuated, busbar voltage detection module is within each algorithm cycle
The busbar voltage between electric capacity is once held in detection, after 100 cycle detections, and single-chip microcomputer calculates average busbar voltage Udcavg；
Step 2: starting brshless DC motor, during the non-commutation of brshless DC motor, busbar voltage detection module is every
The real-time busbar voltage U' between electric capacity is once held in detection in the individual algorithm cycledc, bus current detection module is equally in each algorithm
Bus current of detection in cycle, after 50 cycle detections, single-chip microcomputer calculates average bus current I0avg, while every
In the individual algorithm cycle, real-time busbar voltage U' is judged by single-chip microcomputerdcWith the average busbar voltage U calculated in step onedcavgGreatly
It is small, real-time busbar voltage U' during adjusting non-commutation by corresponding relay in energy-storage module and IGBTdcSize, reach non-
Real-time busbar voltage U' during commutationdcWith average busbar voltage UdcavgBetween dynamic equilibrium, with steadily during non-commutation it is brushless
The output torque of direct current generator；
Step 3: during brshless DC motor commutation, the first normally opened relay is made in energy-storage module first and second normal
Open relay is in normally open, and bus current detection module detects a bus current within each algorithm cycle, by 5
After cycle detection, single-chip microcomputer calculates average bus current I'0avg, the average bus current during commutation is judged by single-chip microcomputer
I'0avgAverage bus current I during the non-commutation calculated with step 20avgSize, so as to judge brshless DC motor institute
The speed stage at place, and then corresponding IGBT break-makes are controlled come control bus electric current by corresponding PWM ripples in different speed stages
And the size of phase current, with steady bus current, and minimize the torque ripple of brshless DC motor.
It is preferred that, in step 2, adjust real-time by the corresponding relay of energy-storage module and IGBT during non-commutation
Busbar voltage U'dcWith average busbar voltage UdcavgBetween the control method of dynamic equilibrium be：When single-chip microcomputer detects U'dc＜ Udcavg
When, the second normally opened relay closure for the second branch road that energy-storage module has, the second normally closed relay is still in closure state, risen
Chopper circuit conducting is pressed, buck circuit shut-off controls the IGBT break-makes in boost chopper defeated to be lifted by PWM ripples
Go out the energy storage value of end electric capacity, by real-time busbar voltage U'dcIt is promoted to and reaches average busbar voltage UdcavgValue；Work as single-chip microcomputer
Detect U'dc＞ UdcavgWhen, the first normally opened relay closure for the tie point that energy-storage module has, the first normally closed relay
Closure state is still in, buck circuit conducting, boost chopper shut-off is controlled in buck circuit by PWM ripples
IGBT break-makes reduce the energy storage value of output end end electric capacity, by real-time busbar voltage U'dcDrop to average busbar voltage Udcavg
Value, wherein, the PWM ripples are from the output of closed loop：In each algorithm cycle, by real-time busbar voltage U'dcWith average mother
Line voltage UdcavgMake difference one PI controller of feeding, PI controllers are output as controlling IGBT PWM ripples.
It is preferred that, in step 3, the determination methods of speed stage are specially residing for brshless DC motor during the commutation：When
Single-chip microcomputer is detected | I'0avg| ＞ | I0avg| when, then judge that brshless DC motor is in slow-speed of revolution section, when single-chip microcomputer is detected |
I'0avg| ＜ | I0avg| when, then judge that brshless DC motor is in high speed stage.
It is preferred that, in step 3, controlled accordingly by corresponding PWM ripples in different speed stages during the commutation
IGBT break-makes carry out control bus electric current and the specific control method of phase current size is：When single-chip microcomputer judges brshless DC motor
During in low speed segment, within each algorithm cycle, bus current detection module detects once real-time bus current I'0, by commutation
Real-time bus current absolute value in period | I'0| with the average bus current absolute value during non-commutation | I0avg| make difference feeding
PI controllers, the break-make of the 9th IGBT described in output step 3 between PWM ripples control energy-storage module and inversion module, to reach
Real-time bus current absolute value in during commutation | I'0| with the average bus current absolute value during non-commutation | I0avg|
Dynamic equilibrium, Simultaneous Stabilization during commutation in real-time bus current absolute value | I'0|；When single-chip microcomputer judges brushless straight
When flowing motor in high regime, single-chip microcomputer determines to open phase during brshless DC motor commutation by Hall sensor signal first
The electric current I in phase X commutation processes is opened in X and shut-off phase Y, phase current sensing module detection in real timeXWith shut-off phase Y electric current IY, and
And single-chip microcomputer record current IXTo electric current I since the commutation momentXAbsolute value | IX| average bus current during being equal to non-commutation
I0avgAbsolute value | I0avg| when time topen, phase X phase current rates of change k is opened during single-chip microcomputer calculating commutationopen=| I0avg|/
topen；Single-chip microcomputer record current IYTo electric current I since the commutation momentYAbsolute value | IY| time t when being equal to zeroclose, monolithic
Machine turns off phase Y phase current rates of change k during calculating commutationclose=| I0avg|/tclose, at next commutation moment, phase X will be opened
Phase current rate of change kopenWith shut-off phase Y phase current rates of change kcloseMake difference feeding PI controllers, export corresponding PWM ripples control
The break-make of the corresponding IGBT bridge arms of phase Y is turned off, slows down shut-off phase Y phase currents IYThe speed of reduction so that open phase X phase currents
IXRate of change and shut-off phase Y phase currents IYDynamic equilibrium between rate of change, it is ensured that the stationarity of Non-commutation phase current.
It is preferred that, step one is into step 3, and the 9th IGBT connected between the energy-storage module and inversion module is removed
Outer by the control of corresponding PWM ripples when brshless DC motor is in the low speed segment in the above-mentioned commutation period, remaining moment is located
In all-pass state.
The present invention at least includes following beneficial effect：
1st, the high-power brushless direct current generator torque ripple control device that the present invention is used, simple in construction, cost is low, practical
Property it is strong, easy to control, buck circuit and boost chopper are used cooperatively so that battery energy storage unit, which is in, reasonably to be filled
Discharge condition, can both maximally utilise the power network resources with fluctuation, can prevent under-voltage, over-pressed etc. to brushless again
The destruction of DC motor control system；
2nd, the control method of high-power brushless direct current generator torque ripple control device of the invention, it is considered to high-power brushless
The particularity of direct current generator, it is non-to control torque ripple, integrated use voltage during commutation and using different methods during commutation
Control and current control, control method are more flexible.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the structural representation of apparatus of the present invention；
Fig. 2 is the structural representation of described mu balanced circuit.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or many
The presence or addition of individual other elements or its combination.
Embodiment one
Electricity of the invention provides a kind of high-power brushless direct current generator torque ripple control device, as shown in figure 1, including storage
Can module 1, inversion module 2, bus current detection module 3, busbar voltage detection module 4, phase current sensing module 5 and monolithic
Machine 6.
The input of inversion module 2 is connected with power supply, the electric current input of the output end connection direct current generator of the inversion module 2
End.
Energy-storage module 1, it includes battery energy storage unit, tie point and the second branch road, and the battery energy storage unit is defeated
Go out positive pole and connect the tie point and the second branch road respectively, the tie point is by the first normally opened relay for being sequentially connected
KM11, the first normally closed relay KM12 and buck circuit composition, described second route be sequentially connected second normally opened
Relay KM21, the second normally closed relay KM22 and boost chopper composition, output is connected to described inverse after two-way is in parallel
In the DC terminal for becoming module 2, the first normally opened relay KM11 and the second normally opened relay KM21 input are connected respectively
On the battery energy storage unit output cathode end, parallel connection one end electric capacity C1, described between the energy-storage module 1 and inversion module 2
Connected on direct-flow positive pole between energy-storage module 1 and inversion module 2 switching tube.
The buck circuit includes the first IGBT1 and the first inductance Lf1 being sequentially connected and cathode terminal is connected to
The first diode D1 between first IGBT1 and the first inductance Lf1, the anode tap of the first diode D1 is connected to institute
State end electric capacity C1 negative pole ends, the first IGBT1 connections the first normally closed relay KM12, the first inductance Lf1 connections
The end electric capacity C1 positive terminals；The boost chopper include the second inductance Lf2 for being sequentially connected and the second diode and
First end is connected to the 2nd IGBT2 between the second inductance Lf2 and the second diode D2, second ends of the 2nd IGBT2
Connect the end electric capacity C1 negative pole ends, the second inductance Lf2 connections the second normally closed relay KM22, the two or two pole
Pipe D2 negative electrodes connect the end electric capacity C1 positive terminals.
Bus current detection module 3 is connected in the DC terminal of the inversion module 2；Busbar voltage detection module 4 is connected
In the end electric capacity C1 both sides；Phase current sensing module 5 is connected on the power input of the direct current generator.
The input of single-chip microcomputer 6 connects the bus current detection module, busbar voltage detection module and phase electricity respectively
The output end of detection module is flowed, the output end of the single-chip microcomputer 6 connects the inversion module 2, energy-storage module 1 and switching tube respectively
Control end.
Wherein, it is provided with the direct current generator for determining that the Hall sensor of phase is opened mutually and turned off to direct current generator,
The hall sensor output is connected with the input of single-chip microcomputer 6.
The buck circuit is used to reduce end capacitance voltage value, reduces busbar voltage；The boost chopper is used
In lifting end capacitance voltage value, busbar voltage is lifted.The single-chip microcomputer is used for the bus current detection module, busbar voltage
Detection module and phase current sensing module input data carry out algorithm process, produce corresponding PWM ripples and control corresponding IGBT
Break-make.
The inversion module 2 is formed by connecting by the 3rd IGBT3 to the 8th IGBT8 three pairs of IGBT bridge arms constituted successively, institute
State end electric capacity C1 both sides and power network is connected by a rectification unit；The switching tube is the 9th IGBT9, and it connects the end electric capacity C1
Positive terminal and the inversion module 2 direct-flow input end, the output end of single-chip microcomputer 6 connects each IGBT driving
End.
The battery energy storage unit output cathode is divided into the transmission of two branch roads, and tie point is successively by the first normally opened relay
KM11, the first normally closed relay KM12 and buck chopper composition；It is second the second normally opened relay KM21 of route, second normal
Relay KM22 and boost chopper composition are closed, output connection inversion module 2, energy-storage module 1 and inversion mould after two-way is in parallel
Large Copacity energy storage end electric capacity C1 in parallel between block 2, and be connected with each other by one the 9th IGBT9 that connects.The rectification list of power network connection simultaneously
First input, rectification unit output end connection end electric capacity C1.First normally opened relay KM11, the first normally closed relay KM12,
Two normally opened relay KM21 and the second normally closed relay KM22 constitute two-way interlock.
The high-power brushless direct current generator torque ripple control device of the present embodiment, simple in construction, cost is low, practicality
By force, easy to control, buck circuit and boost chopper are used cooperatively so that battery energy storage unit is in rational charge and discharge
Electricity condition, can both maximally utilise the power network resources with fluctuation, can prevent under-voltage, over-pressed etc. to brushless straight again
Flow the destruction of electric machine control system.
Embodiment two
On the basis of embodiment one, the end electric capacity C1 two ends are also associated with a mu balanced circuit, as shown in Fig. 2 should
Secondary mu balanced circuit include be sequentially connected the 3rd normally opened relay KM3, controllable impedance L3, the 3rd diode D3, by four three poles
C2, the 3rd normally opened relay are held in the double bridge of pipe Q1-Q4 compositions and the slow charging being connected between the double bridge
The KM3 other ends are connected with the positive terminal of the end electric capacity C1, and the first end of the double bridge connects the 3rd diode D3
Cathode terminal, the second end of the double bridge connects the negative pole end of the end electric capacity C1, each described triode control end with
The single-chip microcomputer 6 is connected.
Secondary mu balanced circuit in the present embodiment, simple in construction, cost is low, when the voltage pulsation on dc bus is smaller,
Control slow charging to hold C2 charge and discharge process by controlling the break-make of the 3rd normally opened relay and each triode, can effectively control
The stabilization of direct current bus bar pressure processed, so as to effectively inhibit motor torque to fluctuate.When the voltage pulsation on dc bus exceedes
During certain limit, by energy-storage module come stable DC busbar voltage, so that forming 2 kinds targetedly suppresses direct current generator torque
The pattern of fluctuation.
Embodiment three
A kind of control method of high-power brushless direct current generator torque ripple control device, comprises the following steps：
Step 1: during system boot, brshless DC motor is not actuated, busbar voltage detection module 4 is in each algorithm cycle
The busbar voltage between electric capacity C1 is once held in interior detection, and after 100 cycle detections, single-chip microcomputer 6 calculates average busbar voltage
Udcavg；
Step 2: starting brshless DC motor, during the non-commutation of brshless DC motor, busbar voltage detection module 4 exists
The real-time busbar voltage U' between electric capacity C1 is once held in detection in each algorithm cycledc, bus current detection module is equally each
Bus current of detection in the algorithm cycle, after 50 cycle detections, single-chip microcomputer 6 calculates average bus current I0avg,
Simultaneously within each algorithm cycle, real-time busbar voltage U' is judged by single-chip microcomputer 6dcWith the average bus electricity calculated in step one
Press UdcavgSize, real-time busbar voltage U' during adjusting non-commutation by corresponding relay in energy-storage module 1 and IGBTdc's
Size, real-time busbar voltage U' during reaching non-commutationdcWith average busbar voltage UdcavgBetween dynamic equilibrium, with steadily non-
The output torque of brshless DC motor during commutation；
Step 3: during brshless DC motor commutation, the first normally opened relay KM11 and in energy-storage module 1 is made first
Two normally opened relay KM21 are in normally open, and bus current detection module detects a bus electricity within each algorithm cycle
Stream, after 5 cycle detections, single-chip microcomputer 6 calculates average bus current I'0avg, it is flat during commutation is judged by single-chip microcomputer 6
Equal bus current I'0avgAverage bus current I during the non-commutation calculated with step 20avgSize, so as to judge brushless
Speed stage residing for direct current generator, and then control corresponding IGBT break-makes to control by corresponding PWM ripples in different speed stages
The size of bus current and phase current processed, with steady bus current, and minimizes the torque ripple of brshless DC motor.
In above-mentioned technical proposal, in step 2, pass through the corresponding relay of energy-storage module 1 and IGBT during non-commutation
Adjust real-time busbar voltage U'dcWith average busbar voltage UdcavgBetween the purpose of dynamic equilibrium be intended to prevent non-commutation area power network ripple
The fluctuation for causing busbar voltage is moved, so as to cause brshless DC motor torque ripple occur, its specific control method is：Work as monolithic
Machine 6 detects U'dc＜ UdcavgWhen, the second normally opened relay KM21 closures for the second branch road that energy-storage module 1 has, second is normal
Close relay KM22 and be still in closure state, boost chopper conducting, buck circuit shut-off controls to rise by PWM ripples
The IGBT break-makes in chopper circuit are pressed to lift output end end electric capacity C1 energy storage value, by real-time busbar voltage U'dcIt is promoted to and reaches
To average busbar voltage UdcavgValue, real-time busbar voltage U'dcWith average busbar voltage UdcavgBetween dynamic equilibrium.Work as monolithic
Machine 6 detects U'dc＞ UdcavgWhen, the first normally opened relay KM11 closures for the tie point that energy-storage module 1 has, first is normal
Close relay KM12 and be still in closure state, buck circuit conducting, boost chopper shut-off controls to drop by PWM ripples
The IGBT break-makes in chopper circuit are pressed to reduce output end end electric capacity C1 energy storage value, by real-time busbar voltage U'dcDrop to flat
Equal busbar voltage UdcavgValue, real-time busbar voltage U'dcWith average busbar voltage UdcavgBetween dynamic equilibrium.Wherein, it is described
PWM ripples are from a closed loop output：In each algorithm cycle, by real-time busbar voltage U'dcWith average busbar voltage UdcavgIt is poor to make
A PI controller is sent into, PI controllers are output as controlling IGBT1 and IGBT2 PWM ripples.
In above-mentioned technical proposal, in step 3, the determination methods of speed stage residing for brshless DC motor during the commutation
Specially：When single-chip microcomputer 6 is detected | I'0avg| ＞ | I0avg| when, then judge that brshless DC motor is in slow-speed of revolution section, work as monolithic
Machine 6 is detected | I'0avg| ＜ | I0avg| when, then judge that brshless DC motor is in high speed stage.
Further, in step 3, controlled accordingly by corresponding PWM ripples in different speed stages during the commutation
IGBT break-makes carry out control bus electric current and the specific control method of phase current size is：When single-chip microcomputer 6 judges brushless dc
When machine is in low speed segment, within each algorithm cycle, bus current detection module detects once real-time bus current I'0, will change
Real-time bus current absolute value in during phase | I'0| with the average bus current absolute value during non-commutation | I0avg| sent as difference
Enter PI controllers, the 9th IGBT9's of the series connection described in output step 3 between PWM ripples control energy-storage module 1 and inversion module 2
Break-make, to reach the real-time bus current absolute value in during commutation | I'0| it is exhausted with average bus current during non-commutation
To value | I0avg| dynamic equilibrium, Simultaneous Stabilization during commutation in real-time bus current absolute value | I'0|；Work as monolithic
When machine 6 judges that brshless DC motor is in high regime, single-chip microcomputer 6 determines brshless DC motor by Hall sensor signal first
Phase X and shut-off phase Y are opened during commutation, the electric current I in phase X commutation processes is opened in the detection in real time of phase current sensing moduleXAnd pass
Disconnected phase Y electric current IY, and the record current I of single-chip microcomputer 6XTo electric current I since the commutation momentXAbsolute value | IX| it is equal to non-change
Average bus current I during phase0avgAbsolute value | I0avg| when time topen, single-chip microcomputer 6 opens phase X phases during calculating commutation electric
Rheology rate kopen=| I0avg|/topen；The record current I of single-chip microcomputer 6YTo electric current I since the commutation momentYAbsolute value | IY| it is equal
Time t when zeroclose, phase Y phase current rates of change k is turned off during the calculating commutation of single-chip microcomputer 6close=| I0avg|/tclose,
At next commutation moment, phase X phase current rates of change k will be openedopenWith shut-off phase Y phase current rates of change kcloseMake difference feeding PI controls
Device processed, exports the break-make of the corresponding IGBT bridge arms of corresponding PWM ripples control shut-off phase Y, slows down shut-off phase Y phase currents IYReduction
Speed so that open phase X phase currents IXRate of change and shut-off phase Y phase currents IYDynamic equilibrium between rate of change, it is ensured that non-commutation phase
The stationarity of electric current.
This method considers the particularity of high-power brushless direct current generator, non-that different sides is used during commutation and during commutation
Method controls torque ripple, the control of integrated use voltage and current control, and control method is more flexible.
Further, step one is into step 3, the described 9th connected between the energy-storage module 1 and inversion module 2
IGBT9 except brshless DC motor be in the above-mentioned commutation period in low speed segment when by corresponding PWM ripples control in addition to, remaining when
It is in all-pass state quarter.
Example IV
On the basis of embodiment three, to the further Subdividing Processing of fluctuation of line voltage, when single-chip microcomputer 6 is detected
0.95Udcavg＜ U'dc＜ UdcavgWhen, the 3rd normally opened relay KM3 closures disconnect first and open wide relay and the second unlimited relay
Device, control triode Q2 and Q4 closure, delays charging discharge capacitor, bus DC voltage is raised, by real-time busbar voltage U'dcIt is promoted to
Reach average busbar voltage UdcavgValue, real-time busbar voltage U'dcWith average busbar voltage UdcavgBetween dynamic equilibrium.Work as U'dc
＜ 0.95UdcavgWhen, the 3rd normally opened relay KM3 is disconnected, it is using the boost chopper in energy-storage module 1 that real-time bus is electric
Press U'dcIt is promoted to and reaches average busbar voltage UdcavgValue, real-time busbar voltage U'dcWith average busbar voltage UdcavgBetween it is dynamic
State is balanced.When single-chip microcomputer 6 detects 1.05Udcavg＞ U'dc＞ UdcavgWhen, the 3rd normally opened relay KM3 closures disconnect first and opened
Open relay and second opens wide relay, and control triode Q1 and Q3 closure delays charging capacity charge, reduces bus DC voltage,
By real-time busbar voltage U'dcDrop to average busbar voltage UdcavgValue, real-time busbar voltage U'dcWith average busbar voltage
UdcavgBetween dynamic equilibrium.When single-chip microcomputer 6 detects U'dc＞ 1.05UdcavgWhen, the 3rd normally opened relay KM3 is disconnected, using storage
Buck circuit that can be in module 1 is by real-time busbar voltage U'dcDrop to average busbar voltage UdcavgValue, real-time bus
Voltage U'dcWith average busbar voltage UdcavgBetween dynamic equilibrium.
From the above mentioned, the high-power brushless direct current generator torque ripple control device that the present invention is used, simple in construction, cost
Low, practical, easy to control, buck circuit and boost chopper are used cooperatively so that battery energy storage unit is in
Rational charging and discharging state, can both maximally utilise the power network resources with fluctuation, under-voltage, overvoltage can be prevented again
Deng the destruction to brushless DC motor control system；Meanwhile, high-power brushless direct current generator torque ripple control dress of the invention
The control method put, it is considered to the particularity of high-power brushless direct current generator, it is non-that different sides is used during commutation and during commutation
Method controls torque ripple, the control of integrated use voltage and current control, and control method is more flexible.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (10)
1. a kind of high-power brushless direct current generator torque ripple control device, it is characterised in that including：
Inversion module, its input is connected with power supply, and the output end of the inversion module connects the current input terminal of direct current generator；
Energy-storage module, it includes battery energy storage unit, tie point and the second branch road, the battery energy storage unit output cathode
Connect the tie point and the second branch road respectively, the tie point is by the first normally opened relay, first normal for being sequentially connected
Close relay and buck circuit composition, described second route the second normally opened relay, second normally closed being sequentially connected
Relay and boost chopper composition, export after two-way is in parallel and are connected in the DC terminal of the inversion module, and described the
The input of one normally opened relay and the second normally opened relay is connected on the battery energy storage unit output cathode end, institute
State between energy-storage module and inversion module and to connect one on one end in parallel electric capacity, the direct-flow positive pole between the energy-storage module and inversion module
Switching tube；
Bus current detection module, it is connected in the DC terminal of the inversion module；
Busbar voltage detection module, it is connected to the end electric capacity both sides；
Phase current sensing module, it is connected on the power input of the direct current generator；And
Single-chip microcomputer, its input connects the bus current detection module, busbar voltage detection module and phase current inspection respectively
The output end of module is surveyed, the output end of the single-chip microcomputer connects the control of the inversion module, energy-storage module and switching tube respectively
End；
Wherein, it is provided with the direct current generator for determining that the Hall sensor of phase is opened mutually and turned off to direct current generator, it is described
Hall sensor output is connected with the single-chip microcomputer input, first normally opened relay, the first normally closed relay, second
Normally opened relay, the second normally closed relay constitute interlock.
2. high-power brushless direct current generator torque ripple control device as claimed in claim 1, it is characterised in that the decompression
Chopper circuit includes the first IGBT and the first inductance being sequentially connected and cathode terminal is connected to the electricity of the first IGBT and first
The first diode between sense, the anode tap of first diode is connected to the end electric capacity negative pole end, the first IGBT
First normally closed relay is connected, end capacitance cathode end described in first inductance connection.
3. high-power brushless direct current generator torque ripple control device as claimed in claim 2, it is characterised in that the boosting
Chopper circuit includes the second inductance and the second diode being sequentially connected and first end is connected to second inductance and second
The 2nd IGBT between diode, second ends of the 2nd IGBT connect the end electric capacity negative pole end, second inductance connection
Second normally closed relay, second diode cathode connects the end capacitance cathode end.
4. high-power brushless direct current generator torque ripple control device as claimed in claim 3, it is characterised in that the inversion
Module is formed by connecting by the 3rd IGBT to the 8th IGBT three pairs of IGBT bridge arms constituted successively, and the end electric capacity both sides are whole by one
Flow unit connection power network；The switching tube is the 9th IGBT, and it connects the positive terminal and the inversion module of the end electric capacity
Direct-flow input end, the single-chip microcomputer output connects each IGBT drive end.
5. high-power brushless direct current generator torque ripple control device as claimed in claim 4, it is characterised in that the end electricity
Hold two ends and be also associated with a mu balanced circuit, it includes the 3rd normally opened relay, controllable impedance, the three or two pole being sequentially connected
Pipe, the double bridge being made up of four triodes and the slow charging being connected between the double bridge are held, and the described 3rd is normally opened
Relay is connected with the positive terminal of the end electric capacity, and the first end of the double bridge connects the negative electrode of the 3rd diode
End, the second end of the double bridge connects the negative pole end of the end electric capacity, each described triode control end and the monolithic
Machine is connected.
6. a kind of control method of high-power brushless direct current generator torque ripple control device as claimed in claim 5, it is special
Levy and be, comprise the following steps：
Step 1: during system boot, brshless DC motor is not actuated, busbar voltage detection module is detected within each algorithm cycle
The busbar voltage between electric capacity is once held, after 100 cycle detections, single-chip microcomputer calculates average busbar voltage Udcavg；
Step 2: starting brshless DC motor, during the non-commutation of brshless DC motor, busbar voltage detection module is calculated each
The real-time busbar voltage U' between electric capacity is once held in detection in the method cycledc, bus current detection module is equally in each algorithm cycle
Bus current of interior detection, after 50 cycle detections, single-chip microcomputer calculates average bus current I0avg, while being calculated each
In the method cycle, real-time busbar voltage U' is judged by single-chip microcomputerdcWith the average busbar voltage U calculated in step onedcavgSize,
Real-time busbar voltage U' during adjusting non-commutation by corresponding relay in energy-storage module and IGBTdcSize, reach non-change
Real-time busbar voltage U' during phasedcWith average busbar voltage UdcavgBetween dynamic equilibrium, with steadily during non-commutation it is brushless straight
Flow the output torque of motor；
Step 3: during brshless DC motor commutation, make first in energy-storage module the first normally opened relay and second it is normally opened after
Electrical equipment is in normally open, and bus current detection module detects a bus current within each algorithm cycle, by 5 cycles
After detection, single-chip microcomputer calculates average bus current I'0avg, the average bus current I' during commutation is judged by single-chip microcomputer0avgWith
Average bus current I during the non-commutation that step 2 is calculated0avgSize so that judge residing for brshless DC motor turn
Fast section, and then corresponding IGBT break-makes are controlled come control bus electric current and phase by corresponding PWM ripples in different speed stages
The size of electric current, with steady bus current, and minimizes the torque ripple of brshless DC motor.
7. the control method of high-power brushless direct current generator torque ripple control device as claimed in claim 6, its feature exists
In in step 2, during non-commutation passing through the corresponding relay of energy-storage module and IGBT adjusts real-time busbar voltage U'dcWith
Average busbar voltage UdcavgBetween the control method of dynamic equilibrium be：When single-chip microcomputer detects U'dc＜ UdcavgWhen, energy-storage module tool
The the second normally opened relay closure for the second branch road having, the second normally closed relay is still in closure state, and boost chopper is led
Logical, buck circuit shut-off controls the IGBT break-makes in boost chopper to lift output end end electric capacity by PWM ripples
Energy storage value, by real-time busbar voltage U'dcIt is promoted to and reaches average busbar voltage UdcavgValue；When single-chip microcomputer detects U'dc＞
UdcavgWhen, the first normally opened relay closure for the tie point that energy-storage module has, the first normally closed relay is still in closed form
State, buck circuit conducting, boost chopper shut-off, by PWM ripples control buck circuit in IGBT break-makes come
The energy storage value of output end end electric capacity is reduced, by real-time busbar voltage U'dcDrop to average busbar voltage UdcavgValue, wherein, institute
PWM ripples are stated from a closed loop output：In each algorithm cycle, by real-time busbar voltage U'dcWith average busbar voltage UdcavgMake
Difference one PI controller of feeding, PI controllers are output as controlling IGBT PWM ripples.
8. the control method of high-power brushless direct current generator torque ripple control device as claimed in claim 7, its feature exists
In in step 3, the determination methods of speed stage are specially residing for brshless DC motor during the commutation：When single-chip microcomputer is detected
|I'0avg| ＞ | I0avg| when, then judge that brshless DC motor is in slow-speed of revolution section, when single-chip microcomputer is detected | I'0avg| ＜ | I0avg|
When, then judge that brshless DC motor is in high speed stage.
9. the control method of high-power brushless direct current generator torque ripple control device as claimed in claim 8, its feature exists
In in step 3, controlling corresponding IGBT break-makes to control by corresponding PWM ripples in different speed stages during the commutation
The specific control method of bus current and phase current size is：When single-chip microcomputer judges that brshless DC motor is in low speed segment,
Within each algorithm cycle, bus current detection module detects once real-time bus current I'0, by real-time mother interior during commutation
Line current absolute value | I'0| with the average bus current absolute value during non-commutation | I0avg| make difference feeding PI controllers, output step
PWM ripples described in rapid three control the break-make of the 9th IGBT between energy-storage module and inversion module, to reach in during commutation
Real-time bus current absolute value | I'0| with the average bus current absolute value during non-commutation | I0avg| dynamic equilibrium, simultaneously
The absolute value of stable interior real-time bus current during commutation | I'0|；When single-chip microcomputer judges that brshless DC motor is at a high speed
Duan Shi, first single-chip microcomputer determine to open phase X and shut-off phase Y, phase during brshless DC motor commutation by Hall sensor signal
The electric current I in phase X commutation processes is opened in current detection module detection in real timeXWith shut-off phase Y electric current IY, and single-chip microcomputer record
Electric current IXTo electric current I since the commutation momentXAbsolute value | IX| average bus current I during being equal to non-commutation0avgAbsolute value |
I0avg| when time topen, phase X phase current rates of change k is opened during single-chip microcomputer calculating commutationopen=| I0avg|/topen；Single-chip microcomputer
Record current IYTo electric current I since the commutation momentYAbsolute value | IY| time t when being equal to zeroclose, single-chip microcomputer calculating commutation
Period shut-off phase Y phase current rates of change kclose=| I0avg|/tclose, at next commutation moment, the change of phase X phase currents will be opened
Rate kopenWith shut-off phase Y phase current rates of change kcloseMake difference feeding PI controllers, export corresponding PWM ripples control shut-off phase Y phases
The break-make of corresponding IGBT bridge arms, slows down shut-off phase Y phase currents IYThe speed of reduction so that open phase X phase currents IXRate of change with
Turn off phase Y phase currents IYDynamic equilibrium between rate of change, it is ensured that the stationarity of Non-commutation phase current.
10. the control method of high-power brushless direct current generator torque ripple control device as claimed in claim 9, its feature exists
In step one is into step 3, and the 9th IGBT connected between the energy-storage module and inversion module is removed in brushless dc
Machine is controlled outside when being in the low speed segment in the above-mentioned commutation period by corresponding PWM ripples, and remaining moment is in all-pass state.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107395026A (en) * | 2017-09-11 | 2017-11-24 | 镇江市产品质量监督检验中心 | A kind of AC constant-current source system |
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