CN107769631A - A kind of single Hall control modes of three-phase permanent brshless DC motor - Google Patents

A kind of single Hall control modes of three-phase permanent brshless DC motor Download PDF

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Publication number
CN107769631A
CN107769631A CN201711073220.7A CN201711073220A CN107769631A CN 107769631 A CN107769631 A CN 107769631A CN 201711073220 A CN201711073220 A CN 201711073220A CN 107769631 A CN107769631 A CN 107769631A
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China
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phase
hall
motor
module
phases
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CN201711073220.7A
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Chinese (zh)
Inventor
何国涛
张帆
郁琪
马云
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中山市普阳电子科技有限公司
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Priority to CN201711073220.7A priority Critical patent/CN107769631A/en
Publication of CN107769631A publication Critical patent/CN107769631A/en

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Abstract

A kind of single Hall control modes of three-phase permanent brshless DC motor, mainly it is achieved by Logic control module, rotor-position sampling module, three-phase drive module and tach signal output module, rotor-position sampling module, Logic control module connection, three-phase drive module are sequentially connected, and the output end and input of tach signal output module connect Logic control module connection and three-phase drive module respectively;Logic control module is according to the HALL signal of change rotor-position received and synthesizes SVPWM modulated signals;Three-phase drive module is mainly three-phase inverter bridge circuit, and the SVPWM signals exported by Logic control module drive the conducting and disconnection of power transistor in inverter, so as to realize the commutation process of permanent-magnet brushless DC electric machine;Logic control module determines U phase back-emf zero crossings by detecting U phase coils terminal voltage compared with the winding mid-point voltage of motor;Carry out the biasing of HALL signals.

Description

A kind of single Hall control modes of three-phase permanent brshless DC motor

Technical field

The present invention relates to machine field, more particularly, to a kind of single Hall controlling parties of three-phase permanent brshless DC motor Formula.

Background technology

Permanent magnet brushless electromotor can regard a dc motor for substituting mechanical commutation with electronic commutating device as, forever Magnetic DC Brushless Motor is mainly made up of permanent magnet motor body, rotor-position sensor and electronic commutation circuit.Either Structure or control mode, permanent magnet DC brushless motor and traditional dc motor have many similarities:With equipped with forever The magnetic pole of the stator of the rotor substitution brush DC motors of magnet;Substitute armature with the stator with polyphase windings;With by solid-state The electronic commutator substitution mechanical commutator and brush of inverter and shaft position detector composition;

Compared with traditional electrical excitation motor, permanent magnet motor particularly rare-earth permanent magnet motor has simple in construction, operation Reliably, small volume, quality are small, are lost less, efficiency high, and the shape and size of motor can be significantly excellent with grade versatile and flexible Point, because application is extremely wide, almost throughout Aero-Space, national defence, industrial and agricultural production and the every field of daily life;

The present invention proposes a kind of single Hall control modes of three-phase permanent brshless DC motor, passes through more accurate computing mould Formula, finer modulator approach, to cause permanent magnet brushless electromotor preferably to be used in actual production.

The content of the invention

The present invention is to overcome the above situation insufficient, it is desirable to provide a kind of technical scheme that can be solved the above problems;

A kind of single Hall control modes of three-phase permanent brshless DC motor, are mainly adopted by Logic control module, rotor-position Egf block, three-phase drive module and tach signal output module are achieved, the rotor-position sampling module, logic control mould Block connection, three-phase drive module are sequentially connected, and the output end and input of the tach signal output module connect logic respectively Control module connects and three-phase drive module;The rotor-position sampling module uses single HALL sensors, Logic control module According to the HALL signal of change rotor-position received and synthesize SVPWM modulated signals;The three-phase drive module is mainly three Phase bridge inverter main circuit, by Logic control module export SVPWM signals drive inverter in power transistor conducting and Disconnect, so as to realize the commutation process of permanent-magnet brushless DC electric machine;The Logic control module is by detecting U phase coil terminal voltages Compared with the winding mid-point voltage of motor, U phase back-emf zero crossings are determined;The biasing of HALL signals is carried out, makes HALL Signal 30 ° of electrical angles of advanced U phase back-emfs zero crossing, the commutation point as V phases with W phases to U phases;And W phases and U phases to V phases And U phases can be calculated with the commutation point of V phases to W phases from this point;

Preferably, the SVPWM modulated process mainly includes:The sector of reference voltage vector judges, each sector non-zero Calculating with zero vector action time is so that it is determined that each sector vectors switching point, is finally believed using the triangular carrier of certain frequency Number compared with each sector vectors switching point, so as to produce the SVPWM pulse signals needed for inverter;

Preferably, switching value be Ta, Ta ', Tb, Tb ', Tc, Tc ' is defined, same bridge arm can not simultaneously turn on, then two level three-phases The on off state of inverter shares 8 kinds, corresponding 8 space vector of voltage;

Preferably, 8 space vector of voltage include 6 non-zero U1(001)、U2(010)、U3(011)、U4(100)、U5 (101)、U6(110), and 2 zero vector U0(000)、U7(111);

Preferably, it is known that the section position where reference voltage vector, utilize adjacent two voltage vector of place sector and appropriate Zero vector synthesized reference voltage vector, you can realize SVPWM signal modulations;

Preferably, the action time of each sector is obtained by simple computation using space vector of voltage composite diagram, determines three-phase Voltage time switching point and the relation of each sector, are cut by the triangle carrier signal and each sector vector that compare certain frequency Change a little, produce the SVPWM waveforms needed for inverter;

Preferably, motor-field is emulated by maxwell softwares, it is determined that the optimal sensed position of single HALL sensors;

Compared with prior art, the beneficial effects of the invention are as follows:The present invention is mainly sampled by Logic control module, rotor-position Module, three-phase drive module and tach signal output module are achieved, and rotor-position sampling module uses single HALL sensors, Logic control module is according to the HALL signal of change rotor-position received and synthesizes SVPWM modulated signals;Three-phase drive module Predominantly three-phase inverter bridge circuit, the SVPWM signals exported by Logic control module drive power transistor in inverter Conducting and disconnection, so as to realize the commutation process of permanent-magnet brushless DC electric machine;Logic control module is by detecting U phase coils end Voltage determines U phase back-emf zero crossings compared with the winding mid-point voltage of motor;The biasing of HALL signals is carried out, is made HALL signals 30 ° of electrical angles of advanced U phase back-emfs zero crossing, the commutation point as V phases with W phases to U phases.And W phases arrive with U phases V phases and U phases can be calculated with the commutation point of V phases to W phases from this point;

The present invention is by more accurate operational pattern, finer modulator approach, to cause permanent magnet brushless electromotor in reality Preferably used in the production of border;

The additional aspect and advantage of the present invention will be set forth in part in the description, and partly will become bright from the following description It is aobvious, or recognized by the practice of the present invention.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also To obtain other accompanying drawings according to these accompanying drawings;

Fig. 1 is a kind of structured flowchart of single Hall control modes of three-phase permanent brshless DC motor;

Fig. 2 is HALL signals and U, V, W counter electromotive force in a kind of single Hall control modes of three-phase permanent brshless DC motor With the time domain beamformer of voltage;

Fig. 3 is a kind of inverter principle figure of single Hall control modes of three-phase permanent brshless DC motor;

Fig. 4 is a kind of space vector of voltage figure of single Hall control modes of three-phase permanent brshless DC motor;

Fig. 5 is Distribution of Magnetic Field when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.90 Figure;

Fig. 6 is that a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is attached in 1.88mT when being 0.90 Nearly enlarged drawing;

Fig. 7 is Distribution of Magnetic Field when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.85 Figure;

Fig. 8 is that a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is attached in 1.88mT when being 0.85 Nearly enlarged drawing;

Fig. 9 is Distribution of Magnetic Field when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.80 Figure;

Figure 10 is in 1.88mT when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.80 Neighbouring enlarged drawing;

Figure 11 is the magnetic field point when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.75 Butut;

Figure 12 is in 1.88mT when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.75 Neighbouring enlarged drawing;

Figure 13 is the magnetic field point when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.70 Butut;

Figure 14 is in 1.88mT when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.70 Neighbouring enlarged drawing;

Figure 15 is the magnetic field point when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.65 Butut;

Figure 16 is in 1.88mT when a kind of pole embrace of single Hall control modes of three-phase permanent brshless DC motor is 0.65 Neighbouring enlarged drawing.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention;

Refer to Fig. 1-16, in the embodiment of the present invention, a kind of single Hall control modes of three-phase permanent brshless DC motor, mainly It is achieved by Logic control module, rotor-position sampling module, three-phase drive module and tach signal output module, it is described Rotor-position sampling module, Logic control module connection, three-phase drive module are sequentially connected, the tach signal output module Output end and input connect Logic control module connection and three-phase drive module respectively;The rotor-position sampling module uses Single HALL sensors, Logic control module is according to the HALL signal of change rotor-position received and synthesizes SVPWM modulated signals; The three-phase drive module is mainly three-phase inverter bridge circuit, and the SVPWM signals exported by Logic control module drive inverse Become the conducting and disconnection of power transistor in device, so as to realize the commutation process of permanent-magnet brushless DC electric machine;The logic control Module determines U phase back-emf zero crossings by detecting U phase coils terminal voltage compared with the winding mid-point voltage of motor; The biasing of HALL signals is carried out, makes HALL signals 30 ° of electrical angles of advanced U phase back-emfs zero crossing, as V phases and W phases to U phases Commutation point.And W phases can be calculated with U phases to V phases and U phases with the commutation point of V phases to W phases from this point;

The SVPWM modulated process mainly includes:The sector of reference voltage vector judges(In order to determine that this switch periods is used Fundamental voltage space vector), each sector non-zero and the calculating of zero vector action time is so that it is determined that each sector is sweared Switching point is measured, finally using the triangle carrier signal of certain frequency compared with each sector vectors switching point, so as to produce SVPWM pulse signals needed for inverter.Reference voltage sector judges;

Switching value be Ta, Ta ', Tb, Tb ', Tc, Tc ' is defined, same bridge arm can not simultaneously turn on, then two level three-phase inverters On off state share 8 kinds, corresponding 8 space vector of voltage.Including 6 non-zero U1(001)、U2(010)、U3 (011)、U4(100)、U5(101)、U6(110), and 2 zero vector U0(000)、U7(111), voltage vector is mapped into figure Complex plane shown in 4 can obtain the space vector of voltage figure shown in Fig. 4, and complex plane divide into 6 sectors by them;

Realize SVPWM signal modulations, it is necessary first to know the section position where reference voltage vector, utilize place sector Adjacent two voltage vector and appropriate zero vector synthesized reference voltage vector;

When obtaining the effect of each sector by simple computation using space vector of voltage composite diagram on the basis of said process Between, the relation of three-phase voltage time-switching point and each sector is determined, by comparing the triangle carrier signal of certain frequency and each Individual sector vectors switching point, produce the SVPWM waveforms needed for inverter;

Motor-field is emulated by maxwell softwares, it is determined that the optimal sensed position of single HALL sensors;

Fig. 5-16 shows the curve that the magnetic field of different pole embraces changes with h and r, by magnetic field simulation it can be seen that:Magnetic field is with r Change when, there is extreme point when r is about 3mm.If neglecting the Distribution of Magnetic Field of stator, the limiting altitude of Hall element installation As shown in table 1;

Table 1 ignores stator field HALL element limiting altitudes

In order to obtain more accurate result of calculation, the distribution for producing magnetic field to stator below is analyzed;

For different motor stator parameters, magnetic field analysis is carried out, motor stator parameter is as shown in table 2

23 kinds of parameters of electric machine of table

Magnetic induction intensity of the three types motor at single HALL sensors upper surface is as shown in table 3;

The stator core magnetic induction intensity of table 3

Magnetic field caused by rotor is Br, and magnetic field caused by stator is Bs, in order to which brshless DC motor can correctly commutate, Hall member The magnetic induction intensity that part receives meets, following to require:.Comprehensive analysis, consider under maximum conditions, three Kind model motor Hall sensor limit height distance is as shown in table 4

The HALL sensors theoretical limit of table 4 height

Technical manual is said according to Hall element, a height of 2.67mm of Hall element, so Hall element and rotor in motor axial direction Gap is h-2.67, and specific data are as shown in table 5

The HALL sensors of table 5 and rotor axial gap

It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and do not carrying on the back In the case of spirit or essential attributes from the present invention, the present invention can be realized in other specific forms.Therefore, no matter from which From the point of view of a bit, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention will by appended right Ask rather than described above limits, it is intended that all changes in the implication and scope of the equivalency of claim will be fallen Include in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.

Claims (7)

1. a kind of single Hall control modes of three-phase permanent brshless DC motor, mainly pass through Logic control module, rotor-position Sampling module, three-phase drive module and tach signal output module are achieved, it is characterised in that the rotor-position samples mould Block, Logic control module connection, three-phase drive module are sequentially connected, the output end and input of the tach signal output module Logic control module connection and three-phase drive module are connected respectively;The rotor-position sampling module uses single HALL sensors, Logic control module is according to the HALL signal of change rotor-position received and synthesizes SVPWM modulated signals;The three-phase drive Module is mainly three-phase inverter bridge circuit, and the SVPWM signals exported by Logic control module drive power in inverter brilliant The conducting and disconnection of body pipe, so as to realize the commutation process of permanent-magnet brushless DC electric machine;The Logic control module is by detecting U Phase coil terminal voltage determines U phase back-emf zero crossings compared with the winding mid-point voltage of motor;Carry out HALL signals Biasing, makes HALL signals 30 ° of electrical angles of advanced U phase back-emfs zero crossing, the commutation point as V phases with W phases to U phases;And W phases It can be calculated with U phases to V phases and U phases with the commutation point of V phases to W phases from this point.
A kind of 2. single Hall control modes of three-phase permanent brshless DC motor according to claim 1, it is characterised in that The SVPWM modulated process mainly includes:The sector of reference voltage vector judges, each sector non-zero and zero vector act on The calculating of time is so that it is determined that each sector vectors switching point, the finally triangle carrier signal using certain frequency and each sector Vectors switching point is compared, so as to produce the SVPWM pulse signals needed for inverter.
A kind of 3. single Hall control modes of three-phase permanent brshless DC motor according to claim 1, it is characterised in that Define switching value be Ta, Ta ', Tb, Tb ', Tc, Tc ', same bridge arm can not be simultaneously turned on, then two level three-phase inverters are opened Off status shares 8 kinds, corresponding 8 space vector of voltage.
A kind of 4. single Hall control modes of three-phase permanent brshless DC motor according to claim 3, it is characterised in that 8 space vector of voltage include 6 non-zero U1(001)、U2(010)、U3(011)、U4(100)、U5(101)、U6 (110), and 2 zero vector U0(000)、U7(111).
5. a kind of single Hall control modes of three-phase permanent brshless DC motor according to claim 1 or 3, its feature exist In, it is known that the section position where reference voltage vector, utilize adjacent two voltage vector of place sector and appropriate zero vector Synthesized reference voltage vector, you can realize SVPWM signal modulations.
6. a kind of single Hall control modes of three-phase permanent brshless DC motor according to claim 1 or 3, its feature exist In the action time of each sector is obtained by simple computation using space vector of voltage composite diagram, determines the three-phase voltage time Switching point and the relation of each sector, pass through the triangle carrier signal for comparing certain frequency and each sector vectors switching point, production SVPWM waveforms needed for raw inverter.
A kind of 7. single Hall control modes of three-phase permanent brshless DC motor according to claim 1, it is characterised in that Motor-field is emulated by maxwell softwares, it is determined that the optimal sensed position of single HALL sensors.
CN201711073220.7A 2017-11-04 2017-11-04 A kind of single Hall control modes of three-phase permanent brshless DC motor CN107769631A (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201383787Y (en) * 2009-03-19 2010-01-13 深圳市拓邦电子科技股份有限公司 Controller of brushless direct current motor
US20140246997A1 (en) * 2013-03-04 2014-09-04 Denso Corporation Rotary electric machine control apparatus
CN104967370A (en) * 2015-07-23 2015-10-07 苏州思奥半导体科技有限公司 Sine-wave brushless DC motor driver

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201383787Y (en) * 2009-03-19 2010-01-13 深圳市拓邦电子科技股份有限公司 Controller of brushless direct current motor
US20140246997A1 (en) * 2013-03-04 2014-09-04 Denso Corporation Rotary electric machine control apparatus
CN104967370A (en) * 2015-07-23 2015-10-07 苏州思奥半导体科技有限公司 Sine-wave brushless DC motor driver

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