CN107959445B - 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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- CN107959445B CN107959445B CN201711271139.XA CN201711271139A CN107959445B CN 107959445 B CN107959445 B CN 107959445B CN 201711271139 A CN201711271139 A CN 201711271139A CN 107959445 B CN107959445 B CN 107959445B
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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 device and method of brshless DC motor anti-saturation, wherein, the device includes driving circuit, power circuit, interface circuit and control circuit, control circuit is connected between interface circuit and driving 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 greater than a pre-set maximum compensation phase angle θcWhen max, the second compensation phase angle θ is calculated using the first formulac2(k): the 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 θcWhen max, according to the second compensation phase angle θc2(k) driving circuit is adjusted to drive brshless DC motor to work.By means of the invention it is possible to which adaptively adjustment compensation phase angle is to avoid compensation phase angle saturation, so as to improve the stability of motor.
Description
Technical field
The present invention relates to the adaptive of a kind of electronic control unit and method more particularly to a kind of brshless DC motor anti-saturation
Answer phase compensating method and control device.
Background technique
Currently, when load changes, motor speed can be passive with load variation in brshless DC motor control
It adjusts.Counter electromotive force can with motor speed increase and increase, so as to cause current commutation lag, output torque degradation and turn
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 value, 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.
Summary 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 technical scheme adopted by the invention is that: it is anti-to provide a kind of brshless DC motor
It is saturated adaptive phase-compensatory contro device, is connect with a brshless DC motor, the control device includes driving circuit and electricity
Source circuit, further includes: interface circuit connects with the speed control circuit of a working condition for the brshless DC motor to be arranged
It connects；Control circuit is connected between the interface circuit and the driving 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 greater than a pre-set maximum compensation phase angle θcWhen max, calculated using the first formula
Second compensation phase angle θc2(k): the 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 θcWhen max, root
According to the second compensation phase angle θc2(k) driving 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): the 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 greater than the maximum compensation phase angle θcWhen max, described is utilized
One formula calculates the second compensation phase angle θc2(k)。
Wherein, the control circuit further include: state analysis unit, for being controlled by the interface circuit acquisition speed
The output voltage Vout (k) of circuit, and obtain by the driving unit working status parameter of the brshless DC motor；
It is also used to analyze the working status parameter with the determination 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 greater than the maximum compensation phase angle θcmax；It is also used to
Determining the first compensation phase angle θc1(k) it is greater than the maximum compensation phase angle θcWhen max, Xiang Suoshu integral calculation unit
The first trigger signal is sent so that the integral calculation unit calculates the second compensation phase angle θ using first formulac2
(k)；And determining the first compensation phase angle θc1(k) no more than the maximum compensation phase angle θcWhen max, to the drive
Circuit output adjustment instruction is moved so that driving circuit is according to the first compensation phase angle θc1(k) brshless DC motor is driven
Work.
Wherein, the judging unit is also used to: judging whether the output voltage Vout (k) is greater than the reference voltage
Vref；When determining that the output voltage Vout (k) is greater than the reference voltage Vref, Xiang Suoshu ratio computing unit sends the
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 determining the output voltage Vout (k) no more than the reference voltage Vref, without phase
Angle compensation.
Wherein, the driving circuit includes sample circuit, for acquiring the running parameter of the driving circuit in real time, and
The working status parameter of the brshless DC motor is acquired in real time；The control circuit is also used to be acquired according to the sample circuit
The parameter arrived adjusts the driving circuit in real time to control the brshless DC motor and realize multi-mode operation.
Wherein, the driving circuit includes: PWM drive circuit and inverter circuit；The control circuit determines described brushless
The running parameter of direct current generator and generate 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: providing a kind of brshless DC motor
The adaptive phase compensating method of anti-saturation, which comprises 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 greater than a pre-set maximum compensation phase angle θcmax；As the first compensation phase angle θc1(k) it is greater than
The maximum compensation phase angle θcWhen max, the second compensation phase angle θ is calculated using the first formulac2(k): the 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 greater than the maximum compensation phase angle θcmax；And work as the second compensation phase angle θc2(k) it is not more than
The maximum compensation phase angle θcWhen 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
It examines voltage and calculates the first compensation phase angle θc1(k), specifically: when carrying out phase angle compensation, according to a speed control circuit
Output voltage and a pre-set reference voltage, and the first compensation phase angle θ is calculated 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 also includes: judge speed control circuit output voltage Vout (k) whether be greater than reference voltage
Vref；When the output voltage Vout (k) of the speed control circuit is greater than the reference voltage Vref, described in execution " into
When 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 also includes: as the first compensation phase angle θc1(k) no more than the maximum compensation phase angle
θcWhen max, by the first compensation phase angle θc1(k) it is used as current compensation phase angle, and according to the current compensation phase angle
Drive brshless DC motor work.
The beneficial effect of embodiment of the present invention is: being in contrast to 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 difference setting maximum compensation phase angle and work as precompensation angle,
Phase angle compensation control output saturation is avoided, to optimize the performance of motor.
Detailed description of the invention
Fig. 1 is a kind of adaptive phase-compensatory contro device of brshless DC motor anti-saturation in first embodiment of the invention
Structural schematic diagram；
Fig. 2 is a kind of adaptive phase-compensatory contro device of brshless DC motor anti-saturation in second embodiment of the invention
Structural schematic 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.
Specific embodiment
To facilitate the understanding of 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 technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.Used term is only 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" used in this specification includes
Any and all combinations of one or more related listed items.
Referring to Fig. 1, being a kind of adaptive phase-compensatory contro of brshless DC motor anti-saturation in embodiment of the present invention
The structural schematic diagram of device.For the control device 10 for driving brshless DC motor 10a to work, which includes power supply
Circuit 11, driving circuit 12, control circuit 13 and interface circuit 14.Wherein, which is used to be the control device
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 generates the working state control of brshless DC motor 10a.
The control circuit 13 is connected between interface circuit 14 and driving circuit 12, for receiving speed from interface circuit 14
The speed command of control circuit 10b, and the current working condition ginseng of brshless DC motor 10a is obtained from driving circuit 12
Number, and working status parameter is correspondingly adjusted, drive brshless DC motor 10a according to the running parameter to adjust driving circuit 12
It works.
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 greater than a pre-set maximum compensation phase
Parallactic angle θcWhen 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 θcWhen max, according to the second compensation phase angle θc2
(k) adjustment driving circuit 12 is 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 calculation unit 233.The driving circuit 22 include PWM drive circuit 221, sample circuit 222 with
And single-phase inversion circuit 223.
The sample circuit 222 is used to acquire the running parameter of driving circuit 22 in real time in brshless DC motor 20a work,
And the working status parameter of brshless DC motor 20a is acquired in real time.Specifically, the sample circuit 222 for acquiring PWM in real time
The running parameter of driving circuit 221, and the working status parameter of acquisition brshless DC motor 20a in real time.
State analysis unit 230 is used to obtain the running parameter, brushless straight of the collected driving circuit 22 of sample circuit 222
The working status parameter of galvanic electricity machine 20a obtains the output voltage Vout of speed control circuit 20b 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 is set according to the working status parameter of brshless DC motor 20a
The maximum compensates phase angle thetacmax。
Judging unit 231 is for judging whether output voltage Vout (k) is greater than reference voltage Vref, that is, Δ V (k) > 0, Δ
V (k)=Vout (k)-Vref；It is also used to when determining that output voltage Vout (k) is greater than the reference voltage Vref, that is, Δ V
(k) > 0, the second trigger signal is sent to ratio computing unit 232；Determining output voltage Vout (k) no more than reference voltage
When Vref, that is, Δ V (k)≤0 does not at this time adjust to driving circuit 22 without phase angle compensation, makes the brushless dc
Machine 20a works according to current working status parameter.
As Δ V (k) > 0, it is determined that it needs 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 also used to judge the first compensation phase angle θc1(k) whether it is greater than pre-set
Maximum compensation phase angle θcMax, i.e. Δ θ (k) > 0, wherein Δ θ (k)=θcmax—θc1(k)；Determining the first compensation phase angle
θc1(k) it is greater than maximum compensation phase angle θcWhen max, i.e. Δ θ (k)≤0, Xiang Jifen computing unit 233 sends the first trigger signal；
Determining the first compensation phase angle θc1(k) no more than maximum compensation phase angle θcWhen max, i.e. Δ θ (k) > 0, to driving circuit 22
Output adjustment instructs so that driving circuit 22 is according to the first compensation phase angle θc1(k) driving brshless DC motor 20a work.
As Δ θ (k)≤0, it is determined that current phase angle compensation saturation, at this time:
The integral calculation 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 also used to judge the second compensation phase angle θc2(k) whether it is greater than maximum compensation phase
Parallactic angle θcMax, if so, continuing that the integral calculation unit 233 is driven 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 calculation unit 233 is calculated is not more than maximum compensation phase angle θcMax,
At this point, dynamic 22 output adjustment of circuit instructs so that driving circuit 22 drives according to the compensation phase angle being currently calculated to drive
Brshless DC motor 20a work.
Further, the control circuit 23 is by determining brshless DC motor 20a after phase angle compensation calculation as described above
Running parameter, and generate 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 acquires the running parameter of PWM drive circuit 221 in real time, and acquires brushless dc in real time
The working status parameter of machine 20a.The control circuit 23 adjusts PWM in real time and drives according to the collected running parameter of sample circuit 222
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, for the adaptive phase compensation side of brshless DC motor anti-saturation in first embodiment of the invention
The flow diagram of method.This method comprises:
Step S30, when carrying out phase angle compensation, according to the output voltage of speed control circuit and a pre-set ginseng
It examines voltage and calculates 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
It (k) 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 greater than a pre-set maximum compensation phase angle θcmax；If so, entering step S32；Otherwise, by the first compensation phase angle θc1(k) it is used as current compensation phase angle, 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 sets maximum compensation phase angle theta according to the working status parameter of brshless DC motorcmax。
Step S32 calculates the second compensation phase angle θ 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 greater than maximum compensation phase angle θcmax；If so, returning
Return step S32；Otherwise, by the second compensation phase angle θc2(k) it is used as current compensation phase angle, subsequently into step S34.
Step S34 adjusts driving circuit according to current compensation phase angle to drive brshless DC motor to work.
Referring to Fig. 4, for the adaptive phase compensation side of brshless DC motor anti-saturation in second embodiment of the invention
The flow diagram of method.This method comprises:
Step S40, judges whether the output voltage Vout (k) of speed control circuit is greater than reference voltage Vref；If into
Enter step S41；Otherwise, process 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 sets maximum compensation phase angle theta according to the working status parameter of brshless DC motorcmax。
Step S41 calculates the first compensation phase 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 greater than maximum compensation phase angle θcmax；If so, into
Enter step S43；Otherwise, by the first compensation phase angle θc1(k) it is used as current compensation phase angle, subsequently into step S45.
Step S43 calculates the second compensation phase angle θ 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 greater than maximum compensation phase angle θcmax；If so, returning
Return step S43；Otherwise, by the second compensation phase angle θc2(k) it is used as current compensation phase angle, subsequently into step S45.
Step S45 adjusts driving circuit according to current compensation phase angle to drive brshless DC motor to work.
The adaptive phase compensating method and control device of brshless DC motor anti-saturation of the 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
When machine heavy load, when compensation phase angle reaches saturation, according to difference setting maximum compensation phase angle and work as precompensation angle, adaptively
Phase angle compensation control is adjusted, phase angle compensation control output saturation is avoided, to optimize the performance of motor.
It should be noted that preferable embodiment of the invention is given in specification and its attached drawing of the invention, but
It is that the present invention can be realized by many different forms, however it is not limited to embodiment described in this specification, these realities
Mode is applied not as the additional limitation to the content of present invention, the purpose of providing these embodiments is that making in disclosure of the invention
The understanding of appearance is more thorough and comprehensive.Also, above-mentioned each technical characteristic continues to be combined with each other, and forms the various realities not being enumerated above
Mode is applied, the range of description of the invention record is accordingly to be regarded as；Further, for those of ordinary skills, Ke Yigen
It is improved or converted according to above description, and all these modifications and variations all should belong to the protection of appended claims of the present invention
Range.
Claims (10)
1. a kind of adaptive phase-compensatory contro device of brshless DC motor anti-saturation, connect with a brshless DC motor, described
Control device includes driving circuit and power circuit, which is characterized in that further include:
Interface circuit is connect with the speed control circuit of a working condition for the brshless DC motor to be arranged；
Control circuit is connected between the interface circuit and the driving 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 greater than a pre-set maximum compensation phase
Parallactic angle θcWhen 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 θcWhen max, mended according to described second
Repay phase angle θc2(k) driving 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, which is characterized in that
The control circuit includes:
Ratio computing unit, for calculating the first compensation phase angle θ using the second formula 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 calculation unit, in the first compensation phase angle θc1(k) it is greater than the maximum compensation phase angle θcWhen 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, which is characterized in that
The control circuit further include:
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 circuit obtains the brshless DC motor；Be also used 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 greater than the maximum compensation phase angle θcmax；
It is also used to determining the first compensation phase angle θc1(k) it is greater than the maximum compensation phase angle θcWhen max, to the integral
Computing unit sends the first trigger signal so that the integral calculation unit calculates second compensation using first formula
Phase angle θc2(k)；And determining the first compensation phase angle θc1(k) no more than the maximum compensation phase angle θc max
When, Xiang Suoshu driving circuit output adjustment instructs so that driving circuit is according to the first compensation phase angle θc1(k) described in driving
Brshless DC motor work.
4. the adaptive phase-compensatory contro device of brshless DC motor anti-saturation according to claim 3, which is characterized in that
The judging unit is also used to:
Judge whether the output voltage Vout (k) is greater than the reference voltage Vref；
When determining that the output voltage Vout (k) is greater than the reference voltage Vref, Xiang Suoshu ratio computing unit sends the
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 determining the output voltage Vout (k) no 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, which is characterized in that
The driving circuit includes sample circuit, for acquiring the running parameter of the driving circuit in real time, and in real time described in acquisition
The working status parameter of brshless DC motor；
The control circuit is also used to according to the collected parameter of the sample circuit, adjust in real time the driving circuit with
It controls the brshless DC motor and realizes multi-mode operation.
6. the adaptive phase-compensatory contro device of brshless DC motor anti-saturation according to claim 1, which is characterized in that
The driving circuit includes: PWM drive circuit and inverter circuit；
The control circuit determines the running parameter of the brshless DC motor and generates 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.
7. a kind of adaptive phase compensating method of brshless DC motor anti-saturation, which is characterized 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 greater than a pre-set maximum compensation phase angle θcmax；
As the first compensation phase angle θc1(k) it is greater than the maximum compensation phase angle θcWhen 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 greater than the maximum compensation phase angle θcmax；And
As the second compensation phase angle θc2(k) no more than the maximum compensation phase angle θcWhen max, described second is compensated
Phase angle θc2(k) it is used as current compensation phase angle, 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, which is characterized in that
When carrying out phase angle compensation, first is calculated according to the output voltage of a speed control circuit and a pre-set reference voltage and is mended
Repay phase angle θc1(k), specifically:
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, which is characterized in that institute
State method further include:
Judge whether the output voltage Vout (k) of speed control circuit is greater than reference voltage Vref；
When the output voltage Vout (k) of the speed control circuit is greater than the reference voltage Vref, " carried out described in execution
When 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, which is characterized in that
The method also includes:
As the first compensation phase angle θc1(k) no more than the maximum compensation phase angle θcWhen max, described first is compensated
Phase angle θc1(k) it is used as current compensation phase angle, and according to the current compensation phase angle driving brshless DC motor work.
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| JP5312195B2 (en) * | 2009-05-20 | 2013-10-09 | 本田技研工業株式会社 | DC brushless motor control device |
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