CN107171602B - A kind of PWM control method of brshless DC motor regenerative braking operation - Google Patents
A kind of PWM control method of brshless DC motor regenerative braking operation Download PDFInfo
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- CN107171602B CN107171602B CN201710353354.8A CN201710353354A CN107171602B CN 107171602 B CN107171602 B CN 107171602B CN 201710353354 A CN201710353354 A CN 201710353354A CN 107171602 B CN107171602 B CN 107171602B
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- pwm
- torque
- switching tube
- brshless
- regenerative braking
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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 method of brshless DC motor regenerative braking operation.Brshless DC motor uses six state of three-phase, two phase winding conduction mode, detects rotor-position by Hall sensor and exports hall signal；Torque closed-loop control is used under regenerative braking operating status, torque feedback amount is compared with torque reference amount, obtains torque error and be input to PWM_OFF_PWM module together with hall signal after torque controller；Using PWM_OFF_PWM modulation system, during 120 ° of electrical angles of each switching tube conducting, first 30 ° and rear 30 ° of progress PWM, intermediate 60 ° are held off, the conducting of output pwm signal control switch pipe and shutdown, make corresponding phase winding conducting.The present invention is able to suppress Torque ripple and there is no critical speed, only one switching tube of any time carries out PWM modulation, does not increase switching loss, and each switching tube fever uniformly, is conducive to improve system reliability.
Description
Technical field
The present invention relates to brshless DC motor control fields, more specifically to a kind of brshless DC motor feedback system
The PWM control method of dynamic operation.
Background technique
Brshless DC motor has many advantages, such as that structure is simple, and power density is greatly and high-efficient, is widely used in electric car
Field.In electric car operational process, it is sometimes desirable to be slowed down according to the actual situation or be 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
It connects and converts thermal energy for mechanical energy, mode of braking is simple and reliable；Dynamic braking converts power consumption for the kinetic energy of system and exists
In braking resistor；The polarity that machine winding connects with power supply is exchanged in reversing braking, and braking effect is obvious, but power supply is needed to mention
For stalling current；Regenerative braking need to only control feedback current without changing system hardware structure, can be realized preferably
Braking effect.Therefore general braking mode selecting regenerative braking.
It is exactly the technology being modulated to the width of pulse that pulse width, which modulates (PWM),.I.e. by a series of pulses
Width is modulated, equally to obtain required waveform.
Brshless DC motor works under six state of three-phase two-by-two conduction mode, when non-conduction phase voltage is higher than direct current mother
Line voltage or be lower than zero (ignoring diode conduction voltage drop) when, connected diode forward can be made to bias, in non-conduction phase winding
There are electric current generation, referred to as Torque ripple.
PWM modulation mode when regenerative braking is divided into single armed copped wave and both arms copped wave.In single armed copped wave, any time
Only one switching tube has PWM switch motion；And in both arms copped wave, any time two switching tubes of upper and lower bridge arm have
PWM switch motion.There are Torque ripple phenomenons for traditional single armed copped wave, exacerbate torque pulsation, and both arms copped wave is not non-
Phase afterflow is connected；Two switching tubes of both arms copped wave have PWM switch motion simultaneously, and switching loss is larger；Single armed copped wave is entire
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 are critical speeds for wave, and when motor speed is lower than critical speed, battery exports energy and is greater than motor feedback energy, can not
Realize motor braking.
Summary of the invention
It is an object of that present invention to provide a kind of complete inhibition Torque ripple phenomenon and critical speed is not present, does not increase
The PWM control method for the brshless DC motor regenerative braking operation for adding devices switch to be lost.
The purpose of the present invention is be realized by following technical proposal:
Step 1: brshless DC motor uses six state of three-phase, two phase winding conduction mode, 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: using torque closed-loop control under regenerative braking operating status, torque feedback amount and torque reference amount carry out
Compare, obtained torque error exports high and low level by torque controller, is input to PWM_ together with three-phase hall signal
In OFF_PWM control module；
Step 3: regenerative braking runs lower PWM control and uses PWM_OFF_PWM modulation system, to any switching tube, if
It acts on section are as follows:+30 ° of θ~θ ,+90 ° of θ~+120 ° of θ enable+60 ° of θ~θ corresponding hall signals postpone 30 ° of electrical angles and obtains
To θ+90 ° of signals of+30 °~θ, θ+90 ° of signals of+30 °~θ hall signal corresponding with+120 ° of θ~θ is subjected to distance behaviour
Make, then carry out with operation with the high and low level of torque controller output, the pwm signal of switching tube is obtained, in PWM_OFF_
Under PWM modulation mode, during 120 ° of electrical angles of any switching tube conducting, first 30 ° and rear 30 ° of progress PWM modulation are intermediate
60 ° are held off, and the pwm signal of output leads corresponding phase winding by the conducting and shutdown of switching tube in control inverter
It is logical, driving brshless DC motor rotation.
Compared with prior art, the invention has the benefit that providing a kind of brshless DC motor regenerative braking operation
PWM control method: PWM_OFF_PWM, the invention can completely inhibit Torque ripple phenomenon and there is no critical turns
Speed；It ensure that only one switching tube of any time carries out PWM modulation, do not increase the switching loss of device；Six switching tube wheels
Stream carries out PWM modulation, and each switching tube fever uniformly, is conducive to the reliability of raising system.PWM control is not required to increase hard
Part circuit, control method are simple, it is easy to accomplish.
Detailed description of the invention
Fig. 1 is a kind of PWM control method control principle drawing of brshless DC motor regenerative braking operation of the present invention.
Fig. 2 is that regenerative braking runs lower counter electromotive force and phase current corresponds to waveform diagram.
Fig. 3 is the PWM control mode figure under invention PWM_OFF_PWM.
Fig. 4 is that PWM_OFF_PWM control module implements block diagram in Fig. 1 schematic diagram.
Fig. 5 (a) regenerative braking operating status AB be conducted preceding 30 ° of electrical angles switching tube VT4 PWM be high level when electric current
Flow graph.
Fig. 5 (b) regenerative braking operating status AB be conducted preceding 30 ° of electrical angles switching tube VT4 PWM be low level when electric current
Flow graph.
Electric current when 30 ° of electrical angle switching tube VT3 PWM are high level after Fig. 5 (c) regenerative braking operating status 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 operating status AB is conducted
Flow graph.
Fig. 6 is the A phase current simulation waveform in single armed copped wave under PWM_OFF.
Fig. 7 is the A phase current simulation waveform under both arms copped wave HPWM_LPWM.
Fig. 8 is the A phase current simulation waveform under invention PWM_OFF_PWM.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
Fig. 1 is the control principle drawing of brshless DC motor regenerative braking operation, under brake running state motor speed with turn
Square is reversed, and motor speed is specified rate, and torque is control amount, 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
PWM_OFF_PWM control module controls switching tube conducting and shutdown in three-phase inverter, realizes brshless DC motor feedback system
Dynamic operation.
Fig. 2 is that the lower ideal counter electromotive force of regenerative braking operation is connected in two phase winding of brshless DC motor and phase current is corresponding
Waveform diagram, reaction potential and phase current are reversed under brake running state, and wherein counter electromotive force is trapezoidal wave, and electric current is rectangular wave,
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 figure under the invention, it can be seen that in 120 ° of electricity of each switching tube conducting
During angle, first 30 ° and rear 30 ° of progress PWM, intermediate 60 ° are held off, and any time, only one switching tube had PWM to open
Pass movement.
Common 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 shutdown；(2) HOFF_LPWM, i.e., upper bridge arm switching tube shutdown, lower bridge arm switching tube PWM；(3) PWM_OFF exists
During 120 ° of electrical angles of each switching tube conducting, preceding 60 ° of progress PWM, rear 60 ° of shutdowns；(4) OFF_PWM, i.e., each
During 120 ° of electrical angles of switching tube conducting, preceding 60 ° of shutdowns, rear 60 ° of progress PWM, single armed copped wave all only has at any time
One switching tube carries out PWM modulation.Both arms copped wave is HPWM_LPWM modulation system, i.e. upper and lower bridge arm two at any time
Switching tube carries out PWM modulation simultaneously.
Three-phase hall signal and switching tube counterlogic under one regenerative braking operating status of table
Fig. 4 is that the PWM_OFF_PWM modulation system implements block diagram, the counterlogic pass of three-phase hall signal and switching tube
System is as shown in Table 1.Switch tube VTM (M indicates 1~6), if it acts on section are as follows:+30 ° of θ~θ ,+90 ° of θ~+120 ° of θ, enable
+ 60 ° of θ~θ corresponding hall signals postpone 30 ° of electrical angles and obtain+30 ° of θ~+90 ° of θ signal, by+30 °~θ of postpones signal θ+
90 ° of signals hall signal corresponding with+120 ° of θ~θ carries out exclusive-OR operation, then the high and low electricity with torque controller output
It is flat to carry out with operation, the pwm signal of switching tube VTM can be obtained.By taking switching tube VT1 as an example, effect section be 180 °~
210 °, 270 °~300 °.A. (i.e. by 180 °~240 ° corresponding hall signals 010) 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 again with torque controller output carries out with operation, and the PWM letter of switching tube VT1 can be obtained
Number.When torque controller exports high level, pwm signal is high level, corresponding switching tube conducting；When torque controller exports
When low level, pwm signal is low level, corresponding switching tube shutdown.The pwm signal of other 5 switching tubes similarly can be obtained.
By taking regenerative braking operation AB is conducted as an example, by Fig. 2 and Fig. 3 it is found that A phase current is positive, B phase current is negative, and opens
The every 30 ° of electrical angles alternately PWM of pipe VT4 and VT3 is closed, shown in current course such as Fig. 5 (a)-Fig. 5 (d).In preceding 30 ° of electrical angles
Interior, when PWM signal is high level, afterflow is connected with VD6 by VT4 conducting, VT4, and inductive energy storage is now in freewheeling state；
When pwm signal is low level, VT4 shutdown, VD1 is connected with VD6 to battery feedback energy, and inductive discharge is now in back
Feedback state.Afterwards in 30 ° of electrical angles, when pwm signal is high level, VT3 conducting, VT3 is connected afterflow with VD1, inductive energy storage,
It is now in freewheeling state；When pwm signal is low level, VT3 shutdown, VD1 is connected with VD6 to battery feedback energy, electricity
Sense electric discharge, is now in regenerating condition.Battery does not have energy output during entire AB is conducted, and critical speed is not present,
Other situations that are conducted can similarly be analyzed.
When non-conduction phase voltage is higher than DC bus-bar voltage UdOr when being lower than zero (ignoring diode conduction voltage drop), it can make
Connected diode forward biases, and electric current generation, referred to as Torque ripple will be had in non-conduction phase winding.Non-conduction phase
Phase voltage expression formula are as follows: 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 holds voltage equation are as follows:Wherein, R, L points
Not Wei phase resistance and equivalent phase inductance, x ∈ { A, B, C }.
Analyze Torque ripple phenomenon under invention PWM_OFF_PWM modulation system, the value of neutral point voltage have with
Lower three kinds:
As shown in Figure 2,1. during 0~360 ° of electrical angle ,-E < eo< E, when PWM signal is low level, upper,
Two diode current flows of lower bridge arm are now in regenerating condition, neutral point voltage to battery feedback energy
2. during 0~30 °, 90 °~120 °, 120 °~150 °, 210 °~240 °, 240 °~270 °, 330 °~360 °
It is interior, 0 < eo< E, lower bridge arm switching tube PWM, when pwm signal is high level, lower bridge arm corresponds to 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 corresponds to switching tube and diode
Afterflow is connected, is now in freewheeling state, neutral point voltage Un=Ud, 0 < Ud- E < Uoff< Ud。
Therefore the PWM modulation mode has 0 < U in 0~360 ° of electrical angleoff< Ud, will not generate it is non-conduction sequentially
Stream.
The embodiment of the present invention is used to explain the present invention, rather than limits the invention, in the spirit and right of invention
It is required that protection scope 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 voltage Ud=300V, rated motor turn
Fast n=1500r/min, number of magnetic pole pairs p=4, equivalent inductance L=0.1884mH carry out simulating, verifying.Since regenerative braking is run
Motor speed and torque reversal under state give torque T=-17Nm.Switch tube VTM (M indicates 1~6), if its active region
Between are as follows:+30 ° of θ~θ ,+90 ° of θ~+120 ° of θ, enable+60 ° of θ~θ corresponding hall signals postpone 30 ° of electrical angles obtain+30 ° of θ~
Corresponding with+120 ° of the θ~θ hall signal of the postpones signal is carried out exclusive-OR operation by+90 ° of signals of θ, then with torque controller
The high and low level of output carries out with operation, and PWM letter of the switching tube VTM under PWM_OFF_PWM modulation system can be obtained
Number.Fig. 6~8 respectively correspond single armed copped wave PWM_OFF, both arms copped wave HPWM_LPWM and invention PWM_OFF_PWM modulation methods
A phase current simulation waveform under formula.As seen from Figure 6, there are non-conduction when single armed copped wave under regenerative braking operating status
Phase afterflow, such as the place drawn a circle in figure；Torque ripple is not present in Fig. 7 under both arms copped wave HPWM_LPWM modulation system,
But due to two switching tube PWM of both arms copped wave, non-converting commutating current fluctuation is larger during non-commutation；Novel PWM_OFF_ in Fig. 8
Also without Torque ripple under PWM modulation mode.Simulation result meets theory analysis situation.
In summary, can be pressed down using the PWM_OFF_PWM control method that a kind of brshless DC motor regenerative braking is run
Torque ripple phenomenon processed and be not present critical speed；It ensure that only one switching tube of any time carries out PWM tune
System, does not increase the switching loss of device；Six switching tubes carry out PWM modulation in turn, and each switching tube fever uniformly, 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 method of brshless DC motor regenerative braking operation, comprising the following steps:
Step 1: brshless DC motor uses six state of three-phase, two phase winding conduction mode, detects rotor 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: using torque closed-loop control under regenerative braking operating status, torque feedback amount is compared with torque reference amount,
Obtained torque error exports high and low level by torque controller, is input to PWM_OFF_PWM together with three-phase hall signal
In control module；
Step 3: regenerative braking runs lower PWM control and uses PWM_OFF_PWM modulation system, to any switching tube, if it is acted on
Section are as follows:+30 ° of θ~θ ,+90 ° of θ~+120 ° of θ, θ are electrical angle, and+60 ° of θ~θ corresponding hall signals is enabled to postpone 30 ° of electrical angles
+ 30 ° of θ~+90 ° of θ signal is obtained, θ+90 ° of signals of+30 °~θ hall signal corresponding with+120 ° of θ~θ is subjected to distance behaviour
Make, then carry out with operation with the high and low level of torque controller output, the pwm signal of switching tube is obtained, in PWM_OFF_
Under PWM modulation mode, during 120 ° of electrical angles of any switching tube conducting, first 30 ° and rear 30 ° of progress PWM modulation are intermediate
60 ° are held off, and the pwm signal of output makes corresponding phase winding conducting by the conducting and shutdown of switching tube in control inverter,
Drive brshless DC motor rotation.
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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 true CN107171602B (en) | 2019-05-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109167539B (en) * | 2018-10-08 | 2021-05-28 | 哈尔滨工程大学 | Commutation error compensation method and control system for brushless direct current motor without position sensor under heavy load condition |
| 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 |
| CN115589177B (en) * | 2022-11-22 | 2023-03-03 | 深圳市锦锐科技股份有限公司 | Intelligent braking control method of brushless direct current motor |
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