CN107565869A - Family expenses cooking machine control method based on permanent-magnet brushless DC electric machine - Google Patents
Family expenses cooking machine control method based on permanent-magnet brushless DC electric machine Download PDFInfo
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- CN107565869A CN107565869A CN201710762900.3A CN201710762900A CN107565869A CN 107565869 A CN107565869 A CN 107565869A CN 201710762900 A CN201710762900 A CN 201710762900A CN 107565869 A CN107565869 A CN 107565869A
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Abstract
The invention provides a kind of family expenses cooking machine control method based on permanent-magnet brushless DC electric machine, including：The first position of the rotor obtained according to Hall cells, and the first rotating speed of the change calculating rotor according to the first position；Second rotating speed of the rotor obtained according to position-sensor-free unit, and the second place of rotor is obtained according to second rotating speed；When the actual speed of motor is less than first predetermined value, first position is selected by speed selecting unit and the first rotating speed is used as position and the rotating speed of rotor, otherwise the operation of the position and rotating speed, in a closed loop manner controlled motor of the second place and the second rotating speed as rotor is selected.It is of the invention to be especially combined using hall position sensor and position-sensor-free scheme, pass through speed selecting unit and position selecting unit, select to use hall position sensor scheme during low frequency, be controlled using position-sensor-free during high frequency, improve the control stability of motor.
Description
Technical field
The present invention relates to permanent magnetic brushless control technology, the family expenses cooking more particularly to based on permanent-magnet brushless DC electric machine
Machine control method.
Background technology
At present, family expenses cooking machine or Domestic fruit juice extractor, are typically controlled using brushed DC motor, due to there is brush electricity
Electromechanical brush has the deficiencies of service life is short, and noise is big and has spark, and efficiency is low, and running frequency immobilizes, and has brush electricity
Machine can be substituted by brushless electric machine sooner or later.And permanent-magnet brushless DC electric machine has efficiency high, brushless and running frequency can
Become so as to a variety of advantages such as save, be widely used in the multiple fields such as household electrical appliances, weaving, medical treatment, automobile, new energy.
When being controlled to motor, generally use Hall sensor or position-sensor-free are controlled in the prior art
System, still, rotor-position caused by using position Sensorless Control faint due to back-emf signal when low frequency is run
Detection is inaccurate, causes motor operation step-out problem；And during high-frequency operation, the motor using hall position sensor detection turns
Physical location of the sub- position as motor, controlled motor operation, due in 60 degree of electrical angle sections, rotor physical location according to
Estimate by calculating, it is larger with physical location gap, cause motor rotor position estimation inaccurate, cause the skill of motor control failure
Art problem.
The content of the invention
The invention provides a kind of family expenses cooking machine control method based on permanent-magnet brushless DC electric machine, to solve in low frequency
Use position Sensorless Control rotor-position detection caused by because back-emf signal is faint inaccurate when rate is run, cause
Motor operation step-out problem；And during high-frequency operation, using the motor rotor position of hall position sensor detection as motor
Physical location, controlled motor operation, due in 60 degree electrical angle sections, rotor physical location by calculating estimation, with
Physical location gap is larger, causes motor rotor position estimation inaccurate, causes the technical problem of motor control failure.
To solve the above problems, as one aspect of the present invention, there is provided a kind of based on permanent-magnet brushless DC electric machine
Family expenses cooking machine control method, including：The first position of the rotor obtained according to Hall cells, and according to described
The change of first position calculates the first rotating speed of rotor；The second of the rotor obtained according to position-sensor-free unit
Rotating speed, and the second place of rotor is obtained according to second rotating speed；When the actual speed of motor is less than first predetermined value
When, first position is selected by speed selecting unit and the first rotating speed is used as position and the rotating speed of rotor, otherwise selectes the
The operation of the position and rotating speed, in a closed loop manner controlled motor of two positions and the second rotating speed as rotor.
Preferably, the first position of the rotor obtained according to Hall cells, and according to the first position
Change calculate rotor the first rotating speed include：The first position of rotor is detected by hall sensing assembly unit,
The record time interval that hall sensing signal intensity undergoes twice, so as to obtain the first rotating speed.
Preferably, the second rotating speed of the rotor obtained according to position-sensor-free unit, and according to described second turn
The second place that speed obtains rotor includes：The second rotating speed of rotor is obtained by position-sensor-free unit, according to
Second rotating speed obtains the second place by position deduction unit.
Preferably, the operation of controlled motor includes in a closed loop manner：By the speed that given rotating speed and speed selecting unit are selected
Input of the difference of degree as the first pi regulator；The three-phase current that IPM is flowed through by current detecting unit detection is sentenced the accuser to the punishment facing the person he falsely accused
Input of the difference of the q shaft currents of the output of q shaft currents and first pi regulator after mark conversion as the second pi regulator；
The three-phase current that IPM is flowed through by current detecting unit detection is subjected to the d shaft currents after anti-coordinate transform and d shaft current orders
Input of the difference of value as the 3rd pi regulator；Adjusted the output of the second pi regulator as q shaft voltages bid value, the 3rd PI
The output of device is as d shaft voltages bid value by obtaining α shaft voltages bid value and β shaft voltage bid values after coordinate transform；By α axles
Voltage command value and β shaft voltages bid value obtain the PWM of the variable duty ratio of IPM six tunnels complementation by SVPWM control units
Ripple；The ON time of six IGBT upper and lower bridge arms inside IPM is controlled by the PWM ripples, with the operation of controlled motor.
Preferably, the d shaft currents bid value passes through Id*=0 gives directions, or passes through weak magnetic control and maximum moment control
The modes such as system obtain.
Preferably, by the q shaft currents after α shaft voltages bid value, β shaft voltages bid value, anti-coordinate transform and sentence the accuser to the punishment facing the person he falsely accused mark become
D shaft currents after changing input the position-sensor-free unit, to obtain the second described rotating speed.
Preferably, the PWM can be replaced sine wave or square wave.
It is of the invention to be especially combined using hall position sensor and position-sensor-free scheme, pass through speed selecting unit
With position selecting unit, select use hall position sensor scheme during low frequency, using position-sensor-free progress during high frequency
Control, improve the control stability of motor.
Brief description of the drawings
Fig. 1 schematically shows control structure figure of the present invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
It is of the invention to be especially combined using hall position sensor and position-sensor-free scheme, pass through speed selecting unit
With position selecting unit, select use hall position sensor scheme during low frequency, using position-sensor-free progress during high frequency
Control, improve the control stability of motor.
Fig. 1 is refer to, the invention provides a kind of family expenses cooking machine control method based on permanent-magnet brushless DC electric machine, is adopted
Rotatable parts by the use of permanent-magnet brushless DC electric machine as family expenses arranging machine, using running at high speed for converter technique controlled motor.Should
Method includes：
The first position of the rotor obtained according to Hall cells, and according to the change meter of the first position
Calculate the first rotating speed of rotor；
Second rotating speed of the rotor obtained according to position-sensor-free unit, and electricity is obtained according to second rotating speed
The second place of machine rotor；
When the actual speed of motor is less than first predetermined value, first position and first turn are selected by speed selecting unit
Position and rotating speed of the speed as rotor, otherwise select the second place and the second rotating speed as the position of rotor and turn
The operation of speed, in a closed loop manner controlled motor.
In the above-mentioned technical solutions, the present invention detects the physical location of rotor, low frequency by Hall subassembly unit
Shi Caiyong Halls detect the position of rotor, as the physical location of motor, for the operation of closed-loop control motor, high frequency
During rate, the physical location of rotor is obtained by position-sensor-free unit, closed-loop control high speed operation of motor, is successfully solved
Position Sensorless Control rotor-position caused by because back-emf signal is faint is used to detect not when low frequency of having determined is run
Accurately, when causing motor operation step-out problem, while solving high-frequency operation, if continuing to examine using hall position sensor
Physical location of the motor rotor position of survey as motor, controlled motor operation, due in 60 degree of electrical angle sections, rotor
Physical location is estimated by reckoning, larger with physical location gap, causes motor rotor position estimation inaccurate, causes motor control
Make the technical problem of failure.
The principle of Hall subassembly unit detection motor rotor position is that three road hall signals become with motor rotor position
Change, changed at interval of 60 degree of electrical angle hall signals, between 60 degree of electrical angles, using the presumed value of motor rotor position
As the rotor physical location angle of detection, its formula used is：θ 1 (n)=θ 1 (n-1)+ω (n-1) △ T, wherein θ
Corresponding motor rotor position when 1 (n-1) is 60 degree of integral multiples, corresponding rotor turns when ω (n-1) is 60 degree of integral multiples
Dynamic angular speed, △ T are the time of the experience from last time hall signal changes the moment, it is seen then that during acceleration, deceleration etc., with
And the detection accuracy due to △ T, the accuracy that motor rotor position estimates result can be influenceed.During high frequency, due to rotor
Position changes very greatly within the extremely short time, in high frequency, if only the position that motor is detected dependent on hall position sensor
Put as control, the generation of motor control failure problem can be caused.
Preferably, the first position of the rotor obtained according to Hall cells, and according to the first position
Change calculate rotor the first rotating speed include：The first position of rotor is detected by hall sensing assembly unit,
The record time interval that hall sensing signal intensity undergoes twice, so as to obtain the first rotating speed.
Preferably, the second rotating speed of the rotor obtained according to position-sensor-free unit, and according to described second turn
The second place that speed obtains rotor includes：The second rotating speed of rotor is obtained by position-sensor-free unit, according to
Second rotating speed obtains the second place by position deduction unit.
Preferably, the operation of controlled motor includes in a closed loop manner：By the speed that given rotating speed and speed selecting unit are selected
Input of the difference of degree as the first pi regulator；The three-phase current that IPM is flowed through by current detecting unit detection is sentenced the accuser to the punishment facing the person he falsely accused
Input of the difference of the q shaft currents of the output of q shaft currents and first pi regulator after mark conversion as the second pi regulator；
The three-phase current that IPM is flowed through by current detecting unit detection is subjected to the d shaft currents after anti-coordinate transform and d shaft current orders
Input of the difference of value as the 3rd pi regulator；Adjusted the output of the second pi regulator as q shaft voltages bid value, the 3rd PI
The output of device is as d shaft voltages bid value by obtaining α shaft voltages bid value and β shaft voltage bid values after coordinate transform；By α axles
Voltage command value and β shaft voltages bid value obtain the PWM of the variable duty ratio of IPM six tunnels complementation by SVPWM control units
Ripple；The ON time of six IGBT upper and lower bridge arms inside IPM is controlled by the PWM ripples, with the operation of controlled motor.It is described
PWM can be replaced sine wave or square wave.
Preferably, the d shaft currents bid value passes through Id *=0 gives directions, or passes through weak magnetic control and maximum moment control
The modes such as system obtain.
Preferably, by the q shaft currents after α shaft voltages bid value, β shaft voltages bid value, anti-coordinate transform and sentence the accuser to the punishment facing the person he falsely accused mark become
D shaft currents after changing input the position-sensor-free unit, to obtain the second described rotating speed.
Below, it is illustrative to the method for the present invention.
It refer to Fig. 1, a kind of family expenses cooking machine control method based on permanent-magnet brushless DC electric machine of the present invention, including it is as follows
Step：
1. the position θ 1 of rotor is detected by Hall subassembly unit, the time of the record experience of hall signal change twice
Interval, calculate rotor velocity of rotation ω 1；
2. obtaining the rotor speed estimate ω 2 of motor by position-sensor-free unit, ω 2 passes through position deduction unit
Obtain motor rotor position estimated values theta 2
3. when rotor velocity of rotation ω 1 is less than first frequency value, Hall is selected to detect by speed selecting unit
Rate signal ω 1 be used as value of feedback ω, while by position selecting unit select Hall detect position signalling θ 1 be used as seat
Mark conversion and the angle signal of anti-coordinate transform.
4. when rotor velocity of rotation ω 1 is not less than first frequency value, selected by speed selecting unit without position
The velocity estimation value ω 2 of sensor unit output is used as value of feedback ω, while selects ω 2 by position by position selecting unit
Location estimation signal 2 angle signals as coordinate transform and anti-coordinate transform of θ exported after scavenging valve.
5. by given rotating speed ω*Difference with feedback rotational speed omega obtains motor q shaft current bid values I by pi regulator 1q *；
6. obtaining motor three-phase current detection value Iu, Iv, Iw by current detecting unit, Iu, Iv, Iw are become by sentencing the accuser to the punishment facing the person he falsely accused mark
Change unit and obtain d/q shaft currents IdWith Iq；
7. by Iq *With the actually detected q shaft currents I of feedbackqDifference input pi regulator 2, the output of pi regulator 2 is as q
Shaft voltage bid value Vq, d shaft current bid value Id *Pass through Id *=0 gives directions, or is controlled by weak magnetic control and maximum moment
Obtained etc. mode, Id *With the actually detected d shaft currents I of feedbackdDifference be input to pi regulator 3, the output conduct of pi regulator 3
D shaft voltage bid values Vd；
8.Vd and Vq obtains α shaft voltage bid values V by coordinate transformation unitαWith β shaft voltage bid values Vβ, VαWith VβAgain
The PWM ripples of the variable duty ratio of IPM 6 tunnels complementation are obtained by SVPWM control units, for controlling 6 IGBT inside IPM
The ON time of lower bridge arm, the operation of controlled motor.
In a specific embodiment, the present invention detects the physical location of rotor by Hall subassembly unit, low
The position of rotor is detected during frequency using Hall, as the physical location of motor, for the operation of closed-loop control motor,
During high-frequency, the physical location of rotor, closed-loop control high speed operation of motor, success are obtained by position-sensor-free unit
When solving low frequency operation using the control of position-sensor-free unit due to back-emf signal it is faint caused by rotor position
It is inaccurate to put detection, when causing motor operation step-out problem, while solving high-frequency operation, if continuing to use hall position
Physical location of the motor rotor position as motor of sensor detection, controlled motor are run, due in 60 degree of electrical angle sections,
Rotor physical location is estimated by reckoning, larger with physical location gap, causes motor rotor position estimation inaccurate, makes
Into the technical problem of motor control failure.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (7)
- A kind of 1. family expenses cooking machine control method based on permanent-magnet brushless DC electric machine, it is characterised in that including：The first position of the rotor obtained according to Hall cells, and electricity is calculated according to the change of the first position First rotating speed of machine rotor；Second rotating speed of the rotor obtained according to position-sensor-free unit, and motor is obtained according to second rotating speed and turned The second place of son；When the actual speed of motor is less than first predetermined value, first position is selected by speed selecting unit and the first rotating speed is made Position and rotating speed for rotor, the position and rotating speed of the second place and the second rotating speed as rotor are otherwise selected, with The operation of closed-loop fashion controlled motor.
- 2. the family expenses cooking machine control method according to claim 1 based on permanent-magnet brushless DC electric machine, it is characterised in that The first position of the rotor obtained according to Hall cells, and motor is calculated according to the change of the first position and turned First rotating speed of son includes：The first position of rotor is detected by hall sensing assembly unit, records what hall sensing signal intensity twice underwent Time interval, so as to obtain the first rotating speed.
- 3. the family expenses cooking machine control method based on permanent-magnet brushless DC electric machine according to claim 1 and 2, its feature exist In, the second rotating speed of the rotor obtained according to position-sensor-free unit, and motor is obtained according to second rotating speed and turned The second place of son includes：The second rotating speed of rotor is obtained by position-sensor-free unit, according to second rotating speed by position deduction unit Obtain the second place.
- 4. the family expenses cooking machine control method according to claim 1 based on permanent-magnet brushless DC electric machine, it is characterised in that The operation of controlled motor includes in a closed loop manner：Input using the difference of the selected speed of given rotating speed and speed selecting unit as the first pi regulator；The three-phase current that IPM is flowed through by current detecting unit detection is subjected to the q shaft currents after anti-coordinate transform and described the Input of the difference of the q shaft currents of the output of one pi regulator as the second pi regulator；The three-phase current that IPM is flowed through by current detecting unit detection is subjected to the d shaft currents after anti-coordinate transform and d shaft currents Input of the difference of bid value as the 3rd pi regulator；Using the output of the second pi regulator as the output of q shaft voltages bid value, the 3rd pi regulator as d shaft voltage bid values By obtaining α shaft voltages bid value and β shaft voltage bid values after coordinate transform；α shaft voltages bid value and β shaft voltages bid value are obtained to the dutycycle of IPM six tunnels complementation by SVPWM control units Variable PWM ripples；The ON time of six IGBT upper and lower bridge arms inside IPM is controlled by the PWM ripples, with the operation of controlled motor.
- 5. the family expenses cooking machine control method according to claim 4 based on permanent-magnet brushless DC electric machine, it is characterised in that The d shaft currents bid value passes through Id *=0 gives directions, or is obtained by the mode such as weak magnetic control and maximum moment control.
- 6. the family expenses cooking machine control method according to claim 4 based on permanent-magnet brushless DC electric machine, it is characterised in that Q shaft currents after α shaft voltages bid value, β shaft voltages bid value, anti-coordinate transform and the d shaft currents after anti-coordinate transform is defeated Enter the position-sensor-free unit, to obtain the second described rotating speed.
- 7. the family expenses cooking machine control method according to claim 4 based on permanent-magnet brushless DC electric machine, it is characterised in that The PWM can be replaced sine wave or square wave.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710762900.3A CN107565869A (en) | 2017-08-30 | 2017-08-30 | Family expenses cooking machine control method based on permanent-magnet brushless DC electric machine |
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| CN201710762900.3A CN107565869A (en) | 2017-08-30 | 2017-08-30 | Family expenses cooking machine control method based on permanent-magnet brushless DC electric machine |
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Cited By (7)
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| CN108880345A (en) * | 2018-08-20 | 2018-11-23 | 佛山市登拓医疗器械有限公司 | A kind of control method and controller of brushless motor |
| WO2019169831A1 (en) * | 2018-03-07 | 2019-09-12 | 广东美的生活电器制造有限公司 | Food processor and rotational speed increase control method and apparatus therefor |
| CN110236419A (en) * | 2018-03-07 | 2019-09-17 | 广东美的生活电器制造有限公司 | Food processor and its control system and power down display control method |
| CN110236420A (en) * | 2018-03-07 | 2019-09-17 | 广东美的生活电器制造有限公司 | Food processor and its revolving speed increase control method, device |
| CN110236418A (en) * | 2018-03-07 | 2019-09-17 | 广东美的生活电器制造有限公司 | Food processor and its constant-power control method and control device |
| CN111431451A (en) * | 2020-04-29 | 2020-07-17 | 祐富百胜宝电器（深圳）有限公司 | Mute constant-rotating-speed control method of brushless motor of wall breaking machine |
| CN111884547A (en) * | 2020-07-02 | 2020-11-03 | 华中科技大学 | Method for detecting position of rotor of brushless direct current motor |
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| CN111884547A (en) * | 2020-07-02 | 2020-11-03 | 华中科技大学 | Method for detecting position of rotor of brushless direct current motor |
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