CN107959445A - A kind of adaptive phase compensating method of brshless DC motor anti-saturation and control device - Google Patents
A kind of adaptive phase compensating method of brshless DC motor anti-saturation and control device Download PDFInfo
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- CN107959445A CN107959445A CN201711271139.XA CN201711271139A CN107959445A CN 107959445 A CN107959445 A CN 107959445A CN 201711271139 A CN201711271139 A CN 201711271139A CN 107959445 A CN107959445 A CN 107959445A
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- phase angle
- compensation
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- compensation phase
- motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- 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
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of adaptive phase-compensatory contro apparatus and method of brshless DC motor anti-saturation, wherein, the device includes drive circuit, power circuit, interface circuit and control circuit, control circuit is connected between interface circuit and drive circuit, when carrying out phase angle compensation, the first compensation phase angle θ is calculated according to the output voltage of speed control circuit and a pre-set reference voltagec1(k), and in the first compensation phase angle θc1(k) it is more than a pre-set maximum compensation phase angle θcDuring max, the second compensation phase angle θ is calculated using the first formulac2(k)：First formula：θc2(k)=θc1(k)+Ki·(θcmax—θc1(k))；Wherein, KiFor integral coefficient, i, k are natural number；As the second compensation phase angle θc2(k) no more than maximum compensation phase angle θcDuring max, according to the second compensation phase angle θc2(k) drive circuit is adjusted to drive brshless DC motor to work.By means of the invention it is possible to compensation phase angle is adaptively adjusted to avoid compensation phase angle saturation, so as to improve the stability of motor.
Description
Technical field
The present invention relates to a kind of electronic control unit and method, more particularly to a kind of brshless DC motor anti-saturation is adaptive
Answer phase compensating method and control device.
Background technology
At present, in brshless DC motor control, when load changes, motor speed can be passive with load change
Adjust.Counter electromotive force can be raised and increased with motor speed, so as to cause current commutation to lag, output torque degradation and be turned
Square pulsation becomes larger so that motor speed fluctuation becomes larger.
Existing phase-compensatory contro method, generally controls phase compensation angle using common proportional and integral controller,
When integral element reaches saturation, compensation phase angle has reached maximum, loses regulating power, makes phase angle compensation controlling unit
Failure, causes to export uncontrollable, and integral element easily causes torque and the fluctuation of speed.
The content of the invention
Embodiment of the present invention is mainly solving the technical problems that provide a kind of adaptive phase of brshless DC motor anti-saturation
Position compensation method and control device, can adaptively adjust compensation phase angle to avoid compensation phase angle saturation, so as to improve electricity
The stability of machine.
In order to solve the above technical problems, one aspect of the present invention is：A kind of brshless DC motor is provided to resist
The adaptive phase-compensatory contro device of saturation, is connected with a brshless DC motor, and the control device includes drive circuit and electricity
Source circuit, further includes：Interface circuit, the speed control circuit for being used to set the working status of the brshless DC motor with one connect
Connect；Control circuit, is connected between the interface circuit and the drive circuit, is used for：When carrying out phase angle compensation, according to
The output voltage of the speed control circuit and a pre-set reference voltage calculate the first compensation phase angle θc1(k), and
The first compensation phase angle θc1(k) it is more than a pre-set maximum compensation phase angle θcDuring max, calculated using the first formula
Second compensation phase angle θc2(k)：First formula：θc2(k)=θc1(k)+Ki·(θcmax—θc1(k))；Wherein, KiFor integration system
Number, i, k are natural number；As the second compensation phase angle θc2(k) no more than the maximum compensation phase angle θcDuring max, root
According to the second compensation phase angle θc2(k) drive circuit is adjusted to drive the brshless DC motor to work.
Wherein, the control circuit includes：Ratio computing unit, for utilizing the second formula when carrying out phase angle compensation
Calculate the first compensation phase angle θc1(k)：Second formula：θc1(k)=Kp·(Vout(k)—Vref)；Wherein, KpFor ratio
Coefficient, p are natural number；Vout (k) is the output voltage of the speed control circuit, and Vref is the reference voltage；Integrating meter
Unit is calculated, in the first compensation phase angle θc1(k) it is more than the maximum compensation phase angle θcDuring max, described is utilized
One formula calculates the second compensation phase angle θc2(k)。
Wherein, the control circuit further includes：State analysis unit, for being controlled by the interface circuit acquisition speed
The output voltage Vout (k) of circuit, and the working status parameter by the driving unit acquisition brshless DC motor；
It is additionally operable to analyze the working status parameter to determine the maximum compensation phase angle θcMax and the reference voltage Vref；Sentence
Disconnected unit, for judging the first compensation phase angle θc1(k) whether it is more than the maximum compensation phase angle θcmax；It is additionally operable to
In the definite first compensation phase angle θc1(k) it is more than the maximum compensation phase angle θcDuring max, to the integral and calculating unit
The first trigger signal is sent so that the integral and calculating unit calculates the second compensation phase angle θ using first formulac2
(k)；And in the definite first compensation phase angle θc1(k) no more than the maximum compensation phase angle θcDuring max, to the drive
Circuit output adjust instruction is moved so that drive circuit is according to the first compensation phase angle θc1(k) brshless DC motor is driven
Work.
Wherein, the judging unit is additionally operable to：Judge whether the output voltage Vout (k) is more than the reference voltage
Vref；When the definite output voltage Vout (k) is more than the reference voltage Vref, the is sent to the ratio computing unit
Two trigger signals are so that the ratio computing unit calculates the first compensation phase angle θ using second formulac1(k), into
Row phase angle compensation；And when the definite output voltage Vout (k) is not more than the reference voltage Vref, without phase
Angle compensation.
Wherein, the drive circuit includes sample circuit, for gathering the running parameter of the drive circuit in real time, and
The working status parameter of the brshless DC motor is gathered in real time；The control circuit is additionally operable to be gathered according to the sample circuit
The parameter arrived, adjusts the drive circuit to control the brshless DC motor to realize multi-mode operation in real time.
Wherein, the drive circuit includes：PWM drive circuit and inverter circuit；The control circuit determines described brushless
The running parameter of direct current generator and produce corresponding pwm signal, the PWM drive circuit according to the pwm signal drive described in
Inverter circuit, to drive the brshless DC motor to work according to the running parameter.
In order to solve the above technical problems, another technical solution used in the present invention is：A kind of brshless DC motor is provided
The adaptive phase compensating method of anti-saturation, the described method includes：When carrying out phase angle compensation, according to a speed control circuit
Output voltage and a pre-set reference voltage calculate the first compensation phase angle θc1(k)；Judge the first compensation phase
Angle θc1(k) whether it is more than a pre-set maximum compensation phase angle θcmax；As the first compensation phase angle θc1(k) it is more than
The maximum compensation phase angle θcDuring max, the second compensation phase angle θ is calculated using the first formulac2(k)：First formula：θc2(k)
=θc1(k)+Ki·(θcmax—θc1(k))；Wherein, KiFor integral coefficient, i, k are natural number；Judge the second compensation phase
Parallactic angle θc2(k) whether it is more than the maximum compensation phase angle θcmax；And as the second compensation phase angle θc2(k) it is not more than
The maximum compensation phase angle θcDuring max, by the second compensation phase angle θc2(k) as current compensation phase angle, and according to
Current compensation phase angle driving brshless DC motor work.
Wherein, when carrying out phase angle compensation, according to the output voltage of a speed control circuit and a pre-set ginseng
Examine voltage and calculate the first compensation phase angle θc1(k), it is specially：When carrying out phase angle compensation, according to a speed control circuit
Output voltage and a pre-set reference voltage, and calculate the first compensation phase angle θ using the second formulac1(k)：Second is public
Formula：θc1(k)=Kp·(Vout(k)—Vref)；Wherein, KpFor proportionality coefficient, p is natural number；Vout (k) is the speed control
The output voltage of circuit processed, Vref are the pre-set reference voltage.
Wherein, the method further includes：Judge whether the output voltage Vout (k) of speed control circuit is more than reference voltage
Vref；When the output voltage Vout (k) of the speed control circuit is more than the reference voltage Vref, described in execution " into
During row phase angle compensation, the first compensation is calculated according to the output voltage of a speed control circuit and a pre-set reference voltage
Phase angle θc1(k) " the step of.
Wherein, the method further includes：As the first compensation phase angle θc1(k) no more than the maximum compensation phase angle
θcDuring max, by the first compensation phase angle θc1(k) current compensation phase angle is used as, and according to the current compensation phase angle
Drive brshless DC motor work.
The beneficial effect of embodiment of the present invention is：It is different from the situation of the prior art, the nothing in embodiment of the present invention
The adaptive phase compensating method and control device of brushless motor anti-saturation, according to speed control circuit output voltage and setting
Reference voltage difference determine brshless DC motor load condition, with this determine whether carry out phase angle compensation control, according to control
Output voltage and the motor status parameter adaptive of detection adjustment compensation phase angle；In brshless DC motor heavy load, work as compensation
Phase angle reaches saturation, adaptive to adjust phase angle compensation control according to the maximum compensation phase angle of setting and the difference when precompensation angle,
Phase angle compensation control output saturation is avoided, so as to optimize the performance of motor.
Brief description of the drawings
Fig. 1 is a kind of adaptive phase-compensatory contro device of brshless DC motor anti-saturation in first embodiment of the invention
Structure diagram；
Fig. 2 is a kind of adaptive phase-compensatory contro device of brshless DC motor anti-saturation in second embodiment of the invention
Structure diagram；
Fig. 3 is a kind of stream of the adaptive phase compensating method of brshless DC motor anti-saturation in first embodiment of the invention
Journey schematic diagram；
Fig. 4 is the stream of the adaptive phase compensating method of brshless DC motor anti-saturation in this second embodiment of the invention
Journey schematic diagram.
Embodiment
For the ease of understanding the present invention, with reference to the accompanying drawings and detailed description, the present invention is carried out in more detail
It is bright.
Unless otherwise defined, technical and scientific term all used in this specification is led with belonging to the technology of the present invention
The normally understood implication of technical staff in domain is identical.Used term is simply in the description of the invention in this specification
The purpose of description specific embodiment, is not intended to the limitation present invention.Term "and/or" includes used in this specification
The arbitrary and all combination of one or more relevant Listed Items.
Referring to Fig. 1, it is a kind of adaptive phase-compensatory contro of brshless DC motor anti-saturation in embodiment of the present invention
The structure diagram of device.The control device 10 is used to drive brshless DC motor 10a to work, which includes power supply
Circuit 11, drive circuit 12, control circuit 13 and interface circuit 14.Wherein, it is the control device which, which is used for,
10 each functional circuit power supply.
In the present embodiment, brshless DC motor 10a is single-phase brushless direct-current motor.
The interface circuit 14 is connected between a rate control instruction 10b and control circuit 13, for receiving speed control
The rate control instruction that circuit 10b produces the working state control of brshless DC motor 10a.
The control circuit 13 is connected between interface circuit 14 and drive circuit 12, for receiving speed from interface circuit 14
The speed command of control circuit 10b, and obtain the current working status ginsengs of brshless DC motor 10a from drive circuit 12
Number, and working status parameter is correspondingly adjusted, brshless DC motor 10a is driven according to the running parameter to adjust drive circuit 12
Work.
Specifically, which is used for：
It is pre-set with reference to electricity according to the output voltage of speed control circuit 10b and one when carrying out phase angle compensation
Pressure calculates the first compensation phase angle θc1(k), and in the first compensation phase angle θc1(k) it is more than a pre-set maximum compensation phase
Parallactic angle θcDuring max, the second compensation phase angle θ is calculated using following first formulac2(k)：
First formula：θc2(k)=θc1(k)+Ki·(θcmax—θc1(k))；Wherein, KiFor integral coefficient, i, k are certainly
So number；
As the second compensation phase angle θc2(k) no more than maximum compensation phase angle θcDuring max, according to the second compensation phase angle θc2
(k) drive circuit 12 is adjusted to drive brshless DC motor 10a to work.
Further, please refer to Fig. 2, which includes state analysis unit 230, judging unit 231, ratio
Example computing unit 232 and integral and calculating unit 233.The drive circuit 22 include PWM drive circuit 221, sample circuit 222 with
And single-phase inversion circuit 223.
The sample circuit 222 is used for the running parameter for gathering drive circuit 22 in real time when brshless DC motor 20a works,
And the working status parameter of brshless DC motor 20a is gathered in real time.Specifically, which is used to gather PWM in real time
The running parameter of drive circuit 221, and the working status parameter of collection brshless DC motor 20a in real time.
State analysis unit 230 is used to obtaining the running parameter for the drive circuit 22 that sample circuit 222 collects, brushless straight
The working status parameter of galvanic electricity machine 20a, the output voltage Vout of speed control circuit 20b is obtained by interface circuit 24.Also
Parameter, voltage are collected for analyzing, to determine the maximum compensation phase angle θ of brshless DC motor 20acMax and reference electricity
Press Vref.
Specifically, which sets the speed according to the input voltage range of brshless DC motor 20a
The output voltage phase angle compensation reference point Vref of control circuit 20b, sets according to the working status parameter of brshless DC motor 20a
The maximum compensates phase angle thetacmax。
Judging unit 231 is used to judge whether output voltage Vout (k) is more than reference voltage Vref, i.e. Δ V (k)>0, Δ
V (k)=Vout (k)-Vref；It is additionally operable to when definite output voltage Vout (k) is more than the reference voltage Vref, i.e. Δ V
(k)>0, send the second trigger signal to ratio computing unit 232；It is not more than reference voltage in definite output voltage Vout (k)
During Vref, i.e. Δ V (k)≤0, without phase angle compensation, does not at this time adjust drive circuit 22, make the brushless dc
Machine 20a works according to current working status parameter.
As Δ V (k)>When 0, it is determined that need to carry out phase angle compensation, at this time：
The ratio computing unit 232 responds second trigger signal and calculates the first compensation phase angle θ using the second formulac1
(k), to carry out phase angle compensation：
Second formula：θc1(k)=Kp·(Vout(k)—Vref)；Wherein, KpFor proportionality coefficient, p, k are natural number.
Further, which is additionally operable to judge the first compensation phase angle θc1(k) whether it is more than pre-set
Maximum compensation phase angle θcMax, i.e. Δ θ (k)>0, wherein Δ θ (k)=θcmax—θc1(k)；In definite first compensation phase angle
θc1(k) it is more than maximum compensation phase angle θcDuring max, i.e. Δ θ (k)≤0, the first trigger signal is sent to integration computing unit 233；
In definite first compensation phase angle θc1(k) no more than maximum compensation phase angle θcDuring max, i.e. Δ θ (k)>0, to drive circuit 22
Output adjustment instructs so that drive circuit 22 is according to the first compensation phase angle θc1(k) brshless DC motor 20a work is driven.
As Δ θ (k)≤0, it is determined that current phase angle compensates saturation, at this time：
The integral and calculating unit 233 responds first trigger signal and calculates the second compensation phase angle θ using the first formulac2
(k)：
First formula：θc2(k)=θc1(k)+Ki·(θcmax—θc1(k))；Wherein, KiFor integral coefficient, i, k are certainly
So number.
Further, which is additionally operable to judge the second compensation phase angle θc2(k) whether it is more than maximum compensation phase
Parallactic angle θcMax, if so, then continuing to drive the integral and calculating unit 233 to calculate compensation phase angle using the first formula, until this is sentenced
Disconnected unit 231 determines that the compensation phase angle that the integral and calculating unit 233 is calculated is not more than maximum compensation phase angle θcMax,
At this time, to drive, 22 output adjustment of dynamic circuit instructs so that drive circuit 22 drives according to the compensation phase angle being currently calculated
Brshless DC motor 20a works.
Further, the control circuit 23 is by determining brshless DC motor 20a after phase angle compensation calculation as described above
Running parameter, and produce corresponding pwm signal, which drives inverter circuit 223 according to the pwm signal,
To drive brshless DC motor 20a to work according to running parameter.
The sample circuit 222 gathers the running parameter of PWM drive circuit 221 in real time, and gathers brushless dc in real time
The working status parameter of machine 20a.The running parameter that the control circuit 23 is collected according to sample circuit 222, adjusts PWM and drives in real time
Circuit 221 is moved to control the work of brshless DC motor 20a.
Further, which includes filter circuit 211, rectification circuit 212 and switching power circuit 213.Its
In, which is electromagnetism interference (Electro Magnetic Interference, EMI) circuit.
Referring to Fig. 3, it is the adaptive phase compensation side of brshless DC motor anti-saturation in first embodiment of the invention
The flow diagram of method.This method includes：
Step S30, when carrying out phase angle compensation, according to the output voltage of speed control circuit and a pre-set ginseng
Examine voltage and calculate the first compensation phase angle θc1(k)。
Specifically, the first compensation phase angle θ is calculated using following second formulac1(k)：
Second formula：θc1(k)=Kp·(Vout(k)—Vref)；Wherein, KpFor proportionality coefficient, p is natural number；Vout
(k) it is the output voltage of speed control circuit, Vref is pre-set reference voltage.
Step S31, judges the first compensation phase angle θc1(k) whether it is more than a pre-set maximum compensation phase angle θcmax；If so, then enter step S32；Otherwise, by the first compensation phase angle θc1(k) current compensation phase angle is used as, then
Enter step S34.
Specifically, the output voltage phase of the speed control circuit is set according to the input voltage range of the brshless DC motor
Angle compensation reference voltage Vref, maximum compensation phase angle theta is set according to the working status parameter of brshless DC motorcmax。
Step S32, the second compensation phase angle θ is calculated using following first formulac2(k)：
First formula：θc2(k)=θc1(k)+Ki·(θcmax—θc1(k))；Wherein, KiFor integral coefficient, i, k are certainly
So number.
Step S33, judges the second compensation phase angle θc2(k) whether it is more than maximum compensation phase angle θcmax；If so, then return
Return step S32；Otherwise, by the second compensation phase angle θc2(k) current compensation phase angle is used as, subsequently into step S34.
Step S34, adjusts drive circuit to drive brshless DC motor to work according to current compensation phase angle.
Referring to Fig. 4, it is the adaptive phase compensation side of brshless DC motor anti-saturation in second embodiment of the invention
The flow diagram of method.This method includes：
Step S40, judges whether the output voltage Vout (k) of speed control circuit is more than reference voltage Vref；If into
Enter step S41；Otherwise, flow terminates.
Specifically, the output voltage phase of the speed control circuit is set according to the input voltage range of the brshless DC motor
Angle compensation reference voltage Vref, maximum compensation phase angle theta is set according to the working status parameter of brshless DC motorcmax。
Step S41, the first compensation phase is calculated according to the output voltage Vout (k) of speed control circuit and reference voltage Vref
Parallactic angle θc1(k)。
Specifically, the first compensation phase angle θ is calculated using following second formulac1(k)：
Second formula：θc1(k)=Kp·(Vout(k)—Vref)；Wherein, KpFor proportionality coefficient, p is natural number.
Step S42, judges the first compensation phase angle θc1(k) whether it is more than maximum compensation phase angle θcmax；If so, then into
Enter step S43；Otherwise, by the first compensation phase angle θc1(k) current compensation phase angle is used as, subsequently into step S45.
Step S43, the second compensation phase angle θ is calculated using following first formulac2(k)：
First formula：θc2(k)=θc1(k)+Ki·(θcmax—θc1(k))；Wherein, KiFor integral coefficient, i, k are certainly
So number.
Step S44, judges the second compensation phase angle θc2(k) whether it is more than maximum compensation phase angle θcmax；If so, then return
Return step S43；Otherwise, by the second compensation phase angle θc2(k) current compensation phase angle is used as, subsequently into step S45.
Step S45, adjusts drive circuit to drive brshless DC motor to work according to current compensation phase angle.
The adaptive phase compensating method and control device of the brshless DC motor anti-saturation of the present invention, according to speed control
Circuit output voltage and the reference voltage difference of setting determine brshless DC motor load condition, determine whether to carry out phase angle with this
Compensation control, according to control output voltage and the motor status parameter adaptive of detection adjustment compensation phase angle；In brushless dc
During machine heavy load, when compensation phase angle reaches saturation, according to the maximum compensation phase angle of setting and the difference when precompensation angle, adaptively
Phase angle compensation control is adjusted, phase angle compensation control output saturation is avoided, so as to optimize the performance of motor.
It should be noted that the preferable embodiment of the present invention is given in the specification and its attached drawing of the present invention, but
It is that the present invention can be realized by many different forms, however it is not limited to the described embodiment of this specification, these realities
Mode is applied not as the extra limitation to present invention, there is provided the purpose of these embodiments is made in disclosure of the invention
The understanding of appearance more thorough and comprehensive.Also, above-mentioned each technical characteristic continues to be mutually combined, the various realities not being enumerated above are formed
Mode is applied, is accordingly to be regarded as the scope of description of the invention record；Further, for those of ordinary skills, Ke Yigen
Improved or converted according to described above, and all these modifications and variations should all belong to the protection of appended claims of the present invention
Scope.
Claims (10)
1. a kind of adaptive phase-compensatory contro device of brshless DC motor anti-saturation, is connected with a brshless DC motor, described
Control device includes drive circuit and power circuit, it is characterised in that further includes：
Interface circuit, is used to set the speed control circuit of the working status of the brshless DC motor to be connected with one；
Control circuit, is connected between the interface circuit and the drive circuit, is used for：
When carrying out phase angle compensation, according to the output voltage of the speed control circuit and a pre-set reference voltage meter
Calculate the first compensation phase angle θc1(k), and in the first compensation phase angle θc1(k) it is more than a pre-set maximum compensation phase
Parallactic angle θcDuring max, the second compensation phase angle θ is calculated using the first formulac2(k)：
First formula：θc2(k)=θc1(k)+Ki·(θcmax—θc1(k))；Wherein, KiFor integral coefficient, i, k are natural number；
As the second compensation phase angle θc2(k) no more than the maximum compensation phase angle θcDuring max, mended according to described second
Repay phase angle θc2(k) drive circuit is adjusted to drive the brshless DC motor to work.
2. the adaptive phase-compensatory contro device of brshless DC motor anti-saturation according to claim 1, it is characterised in that
The control circuit includes：
Ratio computing unit, for utilizing the second formula to calculate the first compensation phase angle θ when carrying out phase angle compensationc1
(k)：
Second formula：θc1(k)=Kp·(Vout(k)—Vref)；Wherein, KpFor proportionality coefficient, p is natural number；Vout (k) is
The output voltage of the speed control circuit, Vref are the reference voltage；
Integral and calculating unit, in the first compensation phase angle θc1(k) it is more than the maximum compensation phase angle θcDuring max,
The second compensation phase angle θ is calculated using first formulac2(k)。
3. the adaptive phase-compensatory contro device of brshless DC motor anti-saturation according to claim 2, it is characterised in that
The control circuit further includes：
State analysis unit, for the output voltage Vout (k), Yi Jitong by the interface circuit acquisition speed control circuit
Cross the working status parameter that the driving unit obtains the brshless DC motor；Be additionally operable to analyze the working status parameter with
Determine the maximum compensation phase angle θcMax and the reference voltage Vref；
Judging unit, for judging the first compensation phase angle θc1(k) whether it is more than the maximum compensation phase angle θcmax；
It is additionally operable in the definite first compensation phase angle θc1(k) it is more than the maximum compensation phase angle θcDuring max, to the integration
Computing unit sends the first trigger signal so that the integral and calculating unit calculates second compensation using first formula
Phase angle θc2(k)；And in the definite first compensation phase angle θc1(k) no more than the maximum compensation phase angle θc max
When, instructed to the drive circuit output adjustment so that drive circuit is according to the first compensation phase angle θc1(k) described in driving
Brshless DC motor works.
4. the adaptive phase-compensatory contro device of brshless DC motor anti-saturation according to claim 3, it is characterised in that
The judging unit is additionally operable to：
Judge whether the output voltage Vout (k) is more than the reference voltage Vref；
When the definite output voltage Vout (k) is more than the reference voltage Vref, the is sent to the ratio computing unit
Two trigger signals are so that the ratio computing unit calculates the first compensation phase angle θ using second formulac1(k), into
Row phase angle compensation；And
When the definite output voltage Vout (k) is not more than the reference voltage Vref, without phase angle compensation.
5. the adaptive phase-compensatory contro device of brshless DC motor anti-saturation according to claim 1, its feature exist
In the drive circuit includes sample circuit, for gathering the running parameter of the drive circuit in real time, and gathers institute in real time
State the working status parameter of brshless DC motor；
The control circuit is additionally operable to the parameter collected according to the sample circuit, adjust in real time the drive circuit with
The brshless DC motor is controlled to realize multi-mode operation.
6. the adaptive phase-compensatory contro device of brshless DC motor anti-saturation according to claim 1, its feature exist
In the drive circuit includes：PWM drive circuit and inverter circuit；
The control circuit determines the running parameter of the brshless DC motor and produces corresponding pwm signal, and the PWM drives
Circuit drives the inverter circuit according to the pwm signal, with drive the brshless DC motor according to the running parameter into
Row work.
A kind of 7. adaptive phase compensating method of brshless DC motor anti-saturation, it is characterised in that the described method includes：
When carrying out phase angle compensation, calculated according to the output voltage of a speed control circuit and a pre-set reference voltage
First compensation phase angle θc1(k)；
Judge the first compensation phase angle θc1(k) whether it is more than a pre-set maximum compensation phase angle θcmax；
As the first compensation phase angle θc1(k) it is more than the maximum compensation phase angle θcDuring max, the is calculated using the first formula
Two compensation phase angle θc2(k)：
First formula：θc2(k)=θc1(k)+Ki·(θcmax—θc1(k))；Wherein, KiFor integral coefficient, i, k are natural number；
Judge the second compensation phase angle θc2(k) whether it is more than the maximum compensation phase angle θcmax；And
As the second compensation phase angle θc2(k) no more than the maximum compensation phase angle θcDuring max, described second is compensated
Phase angle θc2(k) current compensation phase angle is used as, and brshless DC motor work is driven according to current compensation phase angle.
8. the adaptive phase compensating method of brshless DC motor anti-saturation according to claim 7, it is characterised in that
When carrying out phase angle compensation, calculate first according to the output voltage of a speed control circuit and a pre-set reference voltage and mend
Repay phase angle θc1(k), it is specially：
When carrying out phase angle compensation, according to the output voltage of a speed control circuit and a pre-set reference voltage, and
The first compensation phase angle θ is calculated using the second formulac1(k)：
Second formula：θc1(k)=Kp·(Vout(k)—Vref)；Wherein, KpFor proportionality coefficient, p is natural number；Vout (k) is
The output voltage of the speed control circuit, Vref are the pre-set reference voltage.
9. the adaptive phase compensating method of brshless DC motor anti-saturation according to claim 8, it is characterised in that institute
The method of stating further includes：
Judge whether the output voltage Vout (k) of speed control circuit is more than reference voltage Vref；
When the output voltage Vout (k) of the speed control circuit is more than the reference voltage Vref, " carried out described in execution
During phase angle compensation, the first compensation phase is calculated according to the output voltage of a speed control circuit and a pre-set reference voltage
Parallactic angle θc1(k) " the step of.
10. the adaptive phase compensating method of brshless DC motor anti-saturation according to claim 8, it is characterised in that
The method further includes：
As the first compensation phase angle θc1(k) no more than the maximum compensation phase angle θcDuring max, described first is compensated
Phase angle θc1(k) current compensation phase angle is used as, and according to the current compensation phase angle driving brshless DC motor work.
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