CN107171602A - A kind of PWM control methods of brshless DC motor regenerative braking operation - Google Patents
A kind of PWM control methods of brshless DC motor regenerative braking operation Download PDFInfo
- Publication number
- CN107171602A CN107171602A CN201710353354.8A CN201710353354A CN107171602A CN 107171602 A CN107171602 A CN 107171602A CN 201710353354 A CN201710353354 A CN 201710353354A CN 107171602 A CN107171602 A CN 107171602A
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- China
- Prior art keywords
- pwm
- switching tube
- torque
- regenerative braking
- brshless
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- H02P6/24—Arrangements for stopping
-
- 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
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
Abstract
The present invention is a kind of PWM control methods of brshless DC motor regenerative braking operation.Brshless DC motor uses the phase winding conduction mode of six state of three-phase two, detects that rotor-position exports hall signal by Hall sensor；Torque closed-loop control is used under regenerative braking running status, torque feedback amount is compared with torque reference amount, obtains torque error and be input to PWM_OFF_PWM modules together with hall signal after torque controller；During the 120 ° of electrical angles turned on using PWM_OFF_PWM modulation systems, each switching tube, first 30 ° and latter 30 ° progress PWM, middle 60 ° are held off, the conducting of output pwm signal controlling switch pipe and shut-off, make correspondence phase winding conducting.The present invention can suppress Torque ripple and in the absence of critical speed, and any time only one of which switching tube carries out PWM, do not increase switching loss, and the heating of each switching tube is uniform, be conducive to improving system reliability.
Description
Technical field
The present invention relates to brshless DC motor control field, more specifically to a kind of brshless DC motor feedback system
The PWM control methods of dynamic operation.
Background technology
Brshless DC motor has simple in construction, and power density is big and the advantages of efficiency high, is widely used in electric automobile
Field.In electric automobile running, it is sometimes desirable to slowed down according to actual conditions or braked.Common mode of braking
There are mechanical braking and electric braking, wherein electric braking includes dynamic braking, reversing braking and regenerative braking.Mechanical braking is straight
Connect and mechanical energy is converted into heat energy, mode of braking is simple and reliable；The kinetic energy of system is converted into power consumption and existed by dynamic braking
In braking resistor；The polarity that machine winding connects with power supply is exchanged in reversing braking, and braking effect substantially, but needs power supply to carry
For stalling current；Regenerative braking need not change system hardware structure, and only feedback current need to be controlled, you can realize preferable
Braking effect.Therefore general braking mode selecting regenerative braking.
Pulse width modulation (PWM) is exactly the technology being modulated to the width of pulse.I.e. by a series of pulses
Width is modulated, equally to obtain required waveform.
Brshless DC motor is operated in the state of three-phase six two-by-two under conduction mode, when non-conduction phase voltage is female higher than direct current
Line voltage or during less than zero (ignoring N), can bias connected diode forward, in non-conduction phase winding
There are electric current generation, referred to as Torque ripple.
PWM mode during regenerative braking is divided into single armed copped wave and both arms copped wave.In single armed copped wave, any time
Only one of which switching tube has PWM switch motions；And in both arms copped wave, any time two switching tubes of upper and lower bridge arm have
PWM switch motions.There is Torque ripple phenomenon in traditional single armed copped wave, exacerbate torque pulsation, and both arms copped wave is not non-
Turn on phase afterflow；Two switching tubes of both arms copped wave have PWM switch motions simultaneously, and switching loss is larger；Single armed copped wave is whole
In PWM cycle, battery does not have energy output, and both arms copped wave has energy output in freewheeling period battery so that both arms are cut
There is critical speed in ripple, when motor speed is less than critical speed, and battery output energy is more than motor feedback energy, it is impossible to
Realize motor braking.
The content of the invention
Present invention aims at provide a kind of complete inhibition Torque ripple phenomenon and in the absence of critical speed, do not increase
Plus the PWM control methods of the brshless DC motor regenerative braking operation of devices switch loss.
The purpose of the present invention is realized by following technical proposal：
Step one：Brshless DC motor uses the phase winding conduction mode of six state of three-phase two, is detected by Hall sensor
Rotor-position exports hall signal, obtains the corresponding logical relationship of switching tube in three-phase hall signal HA, HB, HC and inverter；
Step 2：Torque closed-loop control is used under regenerative braking running status, torque feedback amount is carried out with torque reference amount
Compare, obtained torque error exports high and low level by torque controller, and PWM_ is input to together with three-phase hall signal
In OFF_PWM control modules；
Step 3：The lower PWM controls of regenerative braking operation use PWM_OFF_PWM modulation systems, to any switching tube, if
It acts on interval：+ 30 ° of θ~θ ,+90 ° of θ~+120 ° of θ, make the corresponding hall signals of+60 ° of θ~θ postpone 30 ° of electrical angles and obtain
To θ+90 ° of signals of+30 °~θ ,+120 ° of corresponding hall signals of+90 ° of signals of+30 °~θ of θ and θ~θ are subjected to distance behaviour
Make, then the high and low level exported with torque controller carries out with operation, the pwm signal of switching tube is obtained, in PWM_OFF_
Interior during 120 ° of electrical angles of any switching tube conducting under PWM mode, first 30 ° and latter 30 ° progress PWMs are middle
60 ° are held off, and the pwm signal of output leads correspondence phase winding by controlling the conducting and shut-off of switching tube in inverter
It is logical, driving brshless DC motor rotation.
Compared with prior art, beneficial effects of the present invention are：There is provided a kind of brshless DC motor regenerative braking operation
PWM control methods：PWM_OFF_PWM, the invention can completely inhibit Torque ripple phenomenon and in the absence of critical turn
Speed；It ensure that any time only one of which switching tube carries out PWM, do not increase the switching loss of device；Six switching tube wheels
Stream carries out PWM, and the heating of each switching tube is uniform, is conducive to the reliability of raising system.It is hard that PWM controls are not required to increase
Part circuit, control method is simple, it is easy to accomplish.
Brief description of the drawings
Fig. 1 is a kind of PWM control method control principle drawings of brshless DC motor regenerative braking operation of the invention.
Fig. 2 is the lower counter electromotive force oscillogram corresponding with phase current of regenerative braking operation.
Fig. 3 is the PWM control mode figures under invention PWM_OFF_PWM.
Fig. 4 is PWM_OFF_PWM control modules implementation block diagram in Fig. 1 schematic diagrams.
Electric current when Fig. 5 (a) regenerative braking running statuses AB is conducted preceding 30 ° of electrical angles switching tube VT4 PWM for high level
Flow graph.
Electric current when Fig. 5 (b) regenerative braking running statuses AB is conducted preceding 30 ° of electrical angles switching tube VT4 PWM for low level
Flow graph.
Electric current when 30 ° of electrical angle switching tube VT3 PWM are high level after Fig. 5 (c) regenerative braking running statuses AB is conducted
Flow graph.
Electric current when 30 ° of electrical angle switching tube VT3 PWM are low level after Fig. 5 (d) regenerative braking running statuses AB is conducted
Flow graph.
Fig. 6 is the A phase current simulation waveforms under PWM_OFF in single armed copped wave.
Fig. 7 is the A phase current simulation waveforms under both arms copped wave HPWM_LPWM.
Fig. 8 is the A phase current simulation waveforms under invention PWM_OFF_PWM.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is the control principle drawing of brshless DC motor regenerative braking operation, and motor speed is with turning under brake running state
Reversely, motor speed is specified rate to square, and torque is controlled quentity controlled variable, using torque closed-loop control.Torque feedback amount and torque reference amount
It is compared, obtained torque error exports high and low level after torque controller, is input to together with hall signal
Switching tube conducting and shut-off, realize brshless DC motor feedback system in PWM_OFF_PWM control modules, control three-phase inverter
Dynamic operation.
Fig. 2 is that the lower preferable counter electromotive force of the phase winding of brshless DC motor two conducting regenerative braking operation is corresponding with phase current
Reversely, wherein counter electromotive force is trapezoidal wave, and electric current is square wave for reaction potential and phase current under oscillogram, brake running state,
eA、eB、eC、iA、iB、iCRespectively three phase back-emfs and three-phase phase current, E are back-emf amplitude, and θ is electrical angle.
Fig. 3 is PWM_OFF_PWM modulation system figures under the invention, it can be seen that the 120 ° of electricity turned in each switching tube
During angle, first 30 ° and latter 30 ° progress PWM, middle 60 ° are held off, and any time only one of which switching tube has PWM to open
Pass is acted.
Conventional several single armed copped wave PWM controls are as follows：(1) HPWM_LOFF, i.e., upper bridge arm switching tube PWM, lower bridge arm
Switching tube is turned off；(2) HOFF_LPWM, i.e., upper bridge arm switching tube shut-off, lower bridge arm switching tube PWM；(3) PWM_OFF, that is, exist
During 120 ° of electrical angles of each switching tube conducting, preceding 60 ° of progress PWM, rear 60 ° of shut-offs；(4) OFF_PWM, i.e., each
During 120 ° of electrical angles of switching tube conducting, preceding 60 ° of shut-offs, rear 60 ° of progress PWM, single armed copped wave all only has at any time
One switching tube carries out PWM.Both arms copped wave is HPWM_LPWM modulation systems, i.e. upper and lower bridge arm two at any time
Switching tube carries out PWM simultaneously.
Three-phase hall signal and switching tube counterlogic under the regenerative braking running status of table one
Fig. 4 is the counterlogic pass that the PWM_OFF_PWM modulation systems implement block diagram, three-phase hall signal and switching tube
System is as shown in Table 1.Switch tube VTM (M represents 1~6), be if it acts on interval：+ 90 ° of+30 ° of θ~θ, θ~+120 ° of θ, order
The corresponding hall signals of+60 ° of θ~θ postpone 30 ° of electrical angles and obtain+30 ° of θ~+90 ° of θ signals, by+30 °~θ of postpones signal θ+
+ 120 ° of corresponding hall signals of 90 ° of signals and θ~θ carry out exclusive-OR operation, then the high and low electricity exported with torque controller
It is flat to carry out with operation, you can to obtain switching tube VTM pwm signal.By taking switching tube VT1 as an example, its act on it is interval for 180 °~
210 °, 270 °~300 °.A. by 180 °~240 ° corresponding hall signals 010 (i.e.) 30 ° of electrical angles of delay；b.
Postpones signal hall signal 01X corresponding with 180 °~300 ° is (i.e.Wherein X represents 0,1 signal) carry out it is " different
Or " operation；C. the high and low level exported again with torque controller carries out with operation, you can obtain switching tube VT1 PWM letters
Number.When torque controller exports high level, pwm signal is high level, correspondence switching tube conducting；When torque controller output
During low level, pwm signal is low level, correspondence switching tube shut-off.It similarly can obtain the pwm signal of other 5 switching tubes.
So that regenerative braking operation AB is conducted as an example, from Fig. 2 and Fig. 3, A phase currents is just, B phase currents are negative, are opened
Close shown in pipe VT4 and VT3 every 30 ° of electrical angles alternately PWM, current course such as Fig. 5 (a)-Fig. 5 (d).In preceding 30 ° of electrical angles
Interior, when PWM signals are high level, VT4 conductings, VT4 and VD6 turns on afterflow, and inductive energy storage is now in freewheeling state；
When pwm signal is low level, VT4 shut-offs, VD1 and VD6 is turned on to battery feedback energy, inductive discharge, is now in back
Feedback state.Afterwards in 30 ° of electrical angles, when pwm signal is high level, VT3 conductings, VT3 and VD1 conducting afterflows, inductive energy storage,
It is now in freewheeling state；When pwm signal is low level, VT3 shut-offs, VD1 and VD6 is turned on to battery feedback energy, electricity
Sense electric discharge, is now in regenerating condition.Battery does not have energy output during whole AB is conducted, in the absence of critical speed,
Other situations that are conducted can similarly be analyzed.
When non-conduction phase voltage is higher than DC bus-bar voltage UdOr during less than zero (ignoring N), can make
Electric current generation, referred to as Torque ripple will be had in connected diode forward biasing, non-conduction phase winding.Non-conduction phase
Phase voltage expression formula is：Uoff=Un+eo (Uoff、Un、eoIt is non-conduction phase voltage, neutral point voltage and non-conduction opposite respectively
Potential)
To brshless DC motor, Ud＞ 2E, terminal voltage equation is：Wherein, R, L points
Wei not phase resistance and equivalent phase inductance, x ∈ { A, B, C }.
Analyze Torque ripple phenomenon under invention PWM_OFF_PWM modulation systems, the value of neutral point voltage have with
Lower three kinds：
As shown in Figure 2, it is 1. interior during 0~360 ° of electrical angle ,-E ＜ eo＜ E, when PWM signals are low level, upper,
Lower two diode current flows of bridge arm are now in regenerating condition, neutral point voltage to battery feedback energy
2. in 0~30 °, 90 °~120 °, 120 °~150 °, 210 °~240 °, 240 °~270 °, 330 °~360 ° periods
It is interior, 0 ＜ eo＜ E, lower bridge arm switching tube PWM, when pwm signal is high level, lower bridge arm correspondence switching tube and diode current flow
Afterflow, is now in freewheeling state, neutral point voltage Un=0,0 ＜ Uoff＜ E ＜ Ud。
3. in 30 °~60 °, 60 °~90 °, 150 °~180 °, 180 °~210 °, 270 °~300 °, 300 °~330 ° phases
In ,-E ＜ eo＜ 0, upper bridge arm switching tube PWM, when pwm signal is high level, upper bridge arm correspondence switching tube and diode
Afterflow is turned on, freewheeling state, neutral point voltage U is now inn=Ud, 0 ＜ Ud- E ＜ Uoff＜ Ud。
Therefore the PWM mode has 0 ＜ U in 0~360 ° of electrical angleoff＜ Ud, will not produce it is non-conduction sequentially
Stream.
The embodiment of the present invention is used for explaining the present invention, rather than limits the invention, in the spirit and right of invention
It is required that protection domain in, to any modifications and changes for making of the present invention, both fall within protection scope of the present invention.
Embodiment
The present invention is as follows using each parameter value of brshless DC motor：Specified battery tension Ud=300V, rated motor turns
Fast n=1500r/min, magnetic pole logarithm p=4, equivalent inductance L=0.1884mH carry out simulating, verifying.Due to regenerative braking operation
Motor speed and torque reversal under state, give torque T=-17Nm.Switch tube VTM (M represents 1~6), if its active region
Between be：+ 90 ° of+30 ° of θ~θ, θ~+120 ° of θ, make the corresponding hall signals of+60 ° of θ~θ postpone 30 ° of electrical angles obtain+30 ° of θ~
+ 90 ° of signals of θ, exclusive-OR operation is carried out by the postpones signal and the corresponding hall signals of+120 ° of θ~θ, then with torque controller
The high and low level of output carries out with operation, you can obtain PWM letters of the switching tube VTM under PWM_OFF_PWM modulation systems
Number.Fig. 6~8 correspond to single armed copped wave PWM_OFF, both arms copped wave HPWM_LPWM and invention PWM_OFF_PWM modulation methods respectively
A phase currents simulation waveform under formula.As seen from Figure 6, exist under regenerative braking running status during single armed copped wave non-conduction
The place drawn a circle in phase afterflow, such as figure；Torque ripple is not present in Fig. 7 under both arms copped wave HPWM_LPWM modulation systems,
But due to two switching tube PWM of both arms copped wave, non-converting commutating current fluctuation is larger during its non-commutation；New PWM_OFF_ in Fig. 8
Also without Torque ripple under PWM mode.Simulation result meets theory analysis situation.
In summary, the PWM_OFF_PWM control methods run using a kind of brshless DC motor regenerative braking can press down
Torque ripple phenomenon processed and in the absence of critical speed；It ensure that any time only one of which switching tube carries out PWM tune
System, does not increase the switching loss of device；Six switching tubes carry out PWM in turn, and the heating of each switching tube is uniform, is conducive to
The reliability of raising system；Hardware complexity is not increased, control method is simple and is easily achieved.
Claims (1)
1. a kind of PWM control methods of brshless DC motor regenerative braking operation, comprise the following steps：
Step one：Brshless DC motor uses the phase winding conduction mode of six state of three-phase two, and rotor is detected by Hall sensor
Position exports hall signal, obtains the corresponding logical relationship of switching tube in three-phase hall signal HA, HB, HC and inverter；
Step 2：Torque closed-loop control is used under regenerative braking running status, torque feedback amount is compared with torque reference amount,
Obtained torque error exports high and low level by torque controller, and PWM_OFF_PWM is input to together with three-phase hall signal
In control module；
Step 3：The lower PWM controls of regenerative braking operation use PWM_OFF_PWM modulation systems, to any switching tube, if it is acted on
Interval is：+ 30 ° of θ~θ ,+90 ° of θ~+120 ° of θ, make the corresponding hall signals of+60 ° of θ~θ postpone 30 ° of electrical angles and obtain+30 ° of θ
+ 120 ° of corresponding hall signals of+90 ° of signals of+30 °~θ of θ and θ~θ are carried out exclusive-OR operation by+90 ° of signals of~θ, then with turning
The high and low level of square controller output carries out with operation, the pwm signal of switching tube is obtained, in PWM_OFF_PWM modulation systems
Under, interior during 120 ° of electrical angles of any switching tube conducting, first 30 ° and latter 30 ° progress PWMs, middle 60 ° are held off,
The pwm signal of output makes correspondence phase winding conducting, drives brushless direct-current by controlling the conducting and shut-off of switching tube in inverter
Motor rotates.
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| CN201710353354.8A CN107171602B (en) | 2017-05-18 | 2017-05-18 | A kind of PWM control method of brshless DC motor regenerative braking operation |
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| CN201710353354.8A CN107171602B (en) | 2017-05-18 | 2017-05-18 | A kind of PWM control method of brshless DC motor regenerative braking operation |
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| CN107171602B CN107171602B (en) | 2019-05-21 |
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| CN109088567A (en) * | 2018-08-02 | 2018-12-25 | 哈尔滨工程大学 | A kind of brushless DC motor without position sensor afterflow interference compensation method |
| CN109167539A (en) * | 2018-10-08 | 2019-01-08 | 哈尔滨工程大学 | Brushless DC motor without position sensor commutation error compensating method and control system under a kind of heavy load condition |
| CN111030519A (en) * | 2019-12-20 | 2020-04-17 | 江苏科技大学 | Brushless direct current motor rapid braking method and device |
| TWI764498B (en) * | 2021-01-08 | 2022-05-11 | 朋程科技股份有限公司 | Electric actuator device and control method thereof |
| CN115589177A (en) * | 2022-11-22 | 2023-01-10 | 深圳市锦锐科技股份有限公司 | Intelligent braking control method of direct current brushless motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109088567A (en) * | 2018-08-02 | 2018-12-25 | 哈尔滨工程大学 | A kind of brushless DC motor without position sensor afterflow interference compensation method |
| CN109088567B (en) * | 2018-08-02 | 2021-05-28 | 哈尔滨工程大学 | Follow current interference compensation method for brushless direct current motor without position sensor |
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| CN111030519A (en) * | 2019-12-20 | 2020-04-17 | 江苏科技大学 | Brushless direct current motor rapid braking method and device |
| CN111030519B (en) * | 2019-12-20 | 2023-11-21 | 深圳市德达兴驱动科技有限公司 | Rapid braking method and device for brushless direct current motor |
| TWI764498B (en) * | 2021-01-08 | 2022-05-11 | 朋程科技股份有限公司 | Electric actuator device and control method thereof |
| CN115589177A (en) * | 2022-11-22 | 2023-01-10 | 深圳市锦锐科技股份有限公司 | Intelligent braking control method of direct current brushless motor |
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