CN108053970B - Sensorless trapezoidal wave motor commutation rapid demagnetization control method and device and motor - Google Patents
Sensorless trapezoidal wave motor commutation rapid demagnetization control method and device and motor Download PDFInfo
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Abstract
The invention is suitable for the field of motor control, and provides a sensorless trapezoidal wave motor commutation rapid demagnetization control method, a device and a motor, wherein the method comprises the following steps: when the motor is in phase change, within a period of time from the beginning of the current working interval, applying a PWM signal to a switching tube which is not switched during the change of the working interval, and enabling the other switching tube in the current working interval to be in a normally-on state, so that the reverse phase voltage on the suspended phase winding is increased, and the suspended phase winding is rapidly demagnetized when the working interval is changed; and if demagnetization is finished, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state. The method greatly shortens demagnetization time and improves the accuracy of zero crossing point judgment, so that phase change is accurate and the motor cannot step out; the reliability of the sensorless trapezoidal wave control is greatly improved, the hardware cost is not increased, and certain universality and technical advantages are achieved.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a sensorless trapezoidal wave motor commutation rapid demagnetization control method, a sensorless trapezoidal wave motor commutation rapid demagnetization control device and a sensorless trapezoidal wave motor.
Background
A Brushless DC Motor (BLDCM) is a new type of Motor that matures rapidly with the development of power electronics and new permanent magnet materials. The motor has the advantages of large starting torque, good speed regulation performance, high efficiency, strong overload capacity, stable performance, simple control structure and the like, simultaneously retains the excellent mechanical characteristics of the common direct current motor, and is widely applied to the fields of servo control, numerical control machines, robots and the like.
In the brushless direct current motor, the counter electromotive force of the winding is usually positive and negative alternation, when the counter electromotive force of a certain phase winding passes through zero, the straight shaft of the rotor just coincides with the axis of the phase winding, so that a plurality of key positions of the rotor can be known as long as the zero-crossing point of each counter electromotive force is detected, thereby omitting a rotor position sensor and realizing the control of the brushless direct current motor without the position sensor. This is the most widely used position sensorless BLDCM control method at present.
In the existing brushless direct-current motor controlled by trapezoidal waves without a sensor (namely a position sensor), the counter electromotive force of the motor is typical trapezoidal waves, in the field, a method for quickly demagnetizing the suspended phase of the motor does not exist at present, for the motor with larger winding inductance (more than hundreds of mH) or the motor in heavy-load operation, the inherent demagnetization phenomenon can submerge the zero crossing point when the motor is in phase change, so that the motor cannot obtain normal position information, the motor can be out of step, and the MOS tube or the motor can be burnt by overcurrent seriously.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device for commutation and rapid demagnetization of a sensorless trapezoidal wave motor and the motor, and aims to solve the problem that no method for rapid demagnetization of a suspended phase exists in the field of a brushless direct current motor controlled by sensorless trapezoidal waves.
The embodiment of the invention is realized in such a way that a control method for phase change and rapid demagnetization of a sensorless trapezoidal wave motor comprises the following steps:
when the motor is in phase change, within a period of time from the beginning of the current working interval, applying a PWM signal to a switching tube which is not switched during the change of the working interval, and enabling the other switching tube in the current working interval to be in a normally-on state, so that the reverse phase voltage on the suspended phase winding is increased, and the suspended phase winding is rapidly demagnetized when the working interval is changed;
and if demagnetization is finished, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state.
The invention also provides a control device for the commutation and rapid demagnetization of the sensorless trapezoidal wave motor, which comprises:
the fast demagnetization unit is used for applying a PWM signal to a switching tube which is not switched in the process of changing the working interval within a period of time when the motor starts to change the phase, and enabling the other switching tube in the current working interval to be in a normally-on state, so that the reversed phase voltage on the suspended phase winding is increased, and the suspended phase winding is demagnetized fast when the working interval is changed;
and the recovery unit is used for applying the PWM signal to the upper bridge arm switching tube in the current working interval and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state if demagnetization is finished.
The present invention also provides a motor comprising: a motor body; and
the control device for the phase change and the rapid demagnetization of the sensorless trapezoidal wave motor.
By the demagnetization method, the demagnetization time of the suspended phase in the phase commutation period can be greatly shortened, the time for judging the zero crossing point of the back electromotive force is prolonged, and the accuracy for judging the zero crossing point is improved, so that the phase commutation is accurate, the motor cannot step out, and the motor runs more stably; meanwhile, the method does not need to increase any hardware cost, is completely realized by software, has simple, accurate and reliable algorithm, is convenient for practical application, greatly improves the reliability of the sensorless trapezoidal wave control, and has certain universality and technical advantages.
Drawings
Fig. 1 is a flowchart of a control method for commutation and fast demagnetization of a sensorless trapezoidal wave motor according to an embodiment of the present invention;
fig. 2 is a motor commutation sequence table for sensorless trapezoidal wave motor commutation rapid demagnetization according to an embodiment of the present invention;
FIG. 3 is a driving circuit of a sensorless trapezoidal wave motor according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the current direction when the T1 and T4 tubes are connected according to the present invention;
FIG. 5 is a schematic diagram illustrating the direction of current applied to the upper bridge switch T1 by PWM according to the embodiment of the present invention;
fig. 6 is a schematic diagram of the current direction when the T1 and T6 tubes provided by the embodiment of the present invention are conducted;
FIG. 7 is a schematic diagram illustrating the direction of current applied to the lower bridge switch T6 by PWM according to the embodiment of the present invention;
FIG. 8 is a waveform diagram illustrating a zero crossing of a floating phase by a degaussing phenomenon according to an embodiment of the present invention;
FIG. 9 is a waveform diagram illustrating the zero crossing of the floating phase that is not flooded by the degaussing phenomenon according to an embodiment of the present invention;
fig. 10 is a block diagram of a control device for commutation and fast demagnetization of a sensorless trapezoidal wave motor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Because the inherent demagnetization phenomenon of the motor during phase change can submerge the zero crossing point, the motor can not obtain normal position information, the motor is out of step, and the MOS tube or the motor can be burnt down due to overcurrent seriously. In order to solve the problem, the scheme provided by the invention accelerates the demagnetization speed of the suspended phase by adjusting the input mode of the PWM signal within a period of time before the beginning of the current working interval when the motor commutates, so that the demagnetization time in the commutation process of the motor is greatly shortened, the commutation precision is higher, the stability and the safety of motor control are obviously improved, and the hardware cost is not required to be increased or decreased.
The first embodiment is as follows:
in the embodiment of the present invention, fig. 1 shows a flowchart of a commutation rapid demagnetization method controlled by a sensorless trapezoidal wave motor, and only the contents related to the present invention are shown in the following and in the drawings, which are described in detail below.
The present embodiment includes the following steps:
step S210, when the motor changes phases, namely when the working interval changes, in a period of time from the beginning of the current working interval, a PWM signal is applied to a switching tube which is not switched in the process of the change of the working interval, and the other switching tube in the current working interval is in a normally-on state, so that the reverse phase voltage on the suspended phase winding is increased, and the suspended phase winding when the working interval changes is quickly demagnetized;
and step S220, if demagnetization is finished, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state.
In one embodiment of the invention, the brushless direct current motor adopts a three-phase full-bridge main circuit structure, the operation is controlled by three-phase six-state square waves (namely trapezoidal waves), two switching tubes in any state are controlled by PWM, and the PWM modulation mode of the switching tubes is similar to H-bridge PWM modulation of the direct current motor, and two bridge arms are controlled simultaneously.
In the dc brushless motor of this embodiment, the three-phase winding is switched on two by two, and is driven by the trapezoidal wave/square wave with a phase difference of 120 degrees.
In the embodiment of the invention, each control period of the motor is divided into 6 working intervals, and each working interval is 60 electrical degrees. Fig. 2 is a detailed table of fast demagnetization performed according to steps S210 and S220 of the present invention (the table is merely an example and is not intended to limit the protection scope of the present invention), the first column of the table is a serial number, and the serial number 1 to the serial number 6 correspond to 6 working intervals in each control cycle of the motor; the second column of the table is the conduction condition of the switch tube in each working interval; the third column of the table is the demagnetization current direction; the fourth column is the position of application of the fast demagnetization PWM in each operating interval.
Fig. 3 shows a motor driving circuit provided by the present invention, wherein. The following describes a specific embodiment of the present invention based on the above table and the driving circuit.
Fig. 4 to 7 show transition procedures from the operation interval (TI and T4 on) corresponding to the number 1 to the operation interval (TI and T6 on) corresponding to the number 2 in table 2, and the following describes the specific implementation procedures of steps S210 and S220 of the present invention.
When the motor is in phase change, the working interval is changed from the last working interval (namely the working interval corresponding to the serial number 1) to the current working interval (namely the working interval corresponding to the serial number 2), at the moment, the winding of the phase B is switched off, and demagnetization current flows through the phase B. The B-phase voltage is clamped at + HV by freewheeling diode D3, and during PWM conduction, the neutral point (i.e., point O) voltage is HV/2; if PWM is applied to the upper bridge T1 (i.e. the switching tube that does not switch during the change of operating interval), when the PWM is off, the neutral voltage is clamped at GND by the freewheeling diode D2 and the equivalent PWM voltage of the suspended phase winding B is between HV and HV/2; if the PWM voltage is applied to the lower bridge T6 (the other switch tube in the current operating interval), when the PWM is off, the neutral voltage is clamped at HV by the freewheeling diode D5, the equivalent PWM voltage for the floating-phase winding B is between HV/2 and GND, and the reverse voltage on the winding is lower than the first. It can be understood that, if the reverse voltage on one winding is larger, the demagnetization time is shorter, and therefore, to accelerate demagnetization, in a period of time when the current working interval starts, the PWM signal is applied to T1, and at the same time, T6 is in a normally-on state, so that the reverse voltage on the suspended phase winding B is increased, and the suspended phase winding B can be demagnetized quickly when the working interval changes.
The switching tube which is not switched is in the T1 interval from the previous operating interval to the current operating interval, that is, the fast demagnetization PWM is applied to the switching tube which is not switched (i.e., T1), and in the demagnetization process, the other switching tube (i.e., T6) in the current operating interval is in the normal on state.
After demagnetization is finished, the PWM signal is applied to the upper arm switching tube T1 in the current working interval, and the lower arm switching tube T6 in the current working interval is in a normally-on state, so that the demagnetization process in the current working interval is completed.
In the table of fig. 2, during the process from sequence numbers 2 to 3, from sequence numbers 3 to 4, from sequence numbers 4 to 5, from sequence numbers 5 to 6, and from sequence number 6 to 1, the analysis manner of the demagnetization PWM application positions is similar to the analysis manner from sequence numbers 1 to 2 in the previous paragraph, and detailed description is omitted here. The applied positions of the fast demagnetization PWM in the table of fig. 2 can be obtained by analyzing the above steps, and the detailed description is shown in the last column of the table of fig. 2.
It should be noted that the zero crossing point of the back electromotive force on the suspended phase winding is the basis of the sensorless trapezoidal wave motor for controlling the phase change, so the accuracy of the judgment directly affects the normal operation of the motor. As shown in fig. 8 and 9, if rapid demagnetization is not performed, the demagnetization phenomenon (shown as X in the figure) inherent to the motor may overwhelm the zero crossing point, so that the motor may not obtain normal position information, which may cause the motor to step out, and may cause an overcurrent to burn the MOS transistor or the motor.
Through the rapid demagnetization method provided by the embodiment of the invention, the demagnetization time of the suspended phase in the phase commutation period can be greatly shortened, the time for judging the zero crossing point of the back electromotive force is prolonged, and the accuracy for judging the zero crossing point is improved, so that the phase commutation is accurate, the motor cannot step out, and the motor runs more stably; meanwhile, the method does not need to increase any hardware cost, is completely realized by software, has simple, accurate and reliable algorithm, is convenient for practical application, greatly improves the reliability of the sensorless trapezoidal wave control, and has certain universality and technical advantages.
Example two:
in one embodiment of the present invention, based on the schematic diagram of fig. 3, for step S210:
when the working interval is switched to the current working interval from the last working interval, if the upper bridge arm switch tube is switched within a period of time after the current working interval begins, applying a PWM signal to the lower bridge arm switch tube in the current working interval, and enabling the upper bridge arm switch tube in the current working interval to be in a normally open state;
and if the lower bridge arm switching tube is switched, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm in the current working interval to be in a normally open state.
As an embodiment of the present invention, as in the scheme illustrated in the first embodiment, when the operating interval changes from the previous operating interval (i.e., the operating interval corresponding to the serial number 1) to the current operating interval (i.e., the operating interval corresponding to the serial number 2), in the process, the lower arm switch is switched, i.e., from T4 to T6, then, within a period of time from the beginning of the current operating interval (i.e., the operating interval corresponding to the serial number 2), the PWM signal should be applied to the upper arm switch T1, and the lower arm switch T6 in the current operating interval is in the normally open state.
As another embodiment of the present invention, in the table in fig. 2, in two working intervals corresponding to sequence numbers 2 to 3, when the working interval changes from the previous working interval (the working interval corresponding to sequence number 2) to the current working interval (the working interval corresponding to sequence number 3), in the process, the upper arm switch is switched, that is, from T1 to T3, then, in a period of time from the beginning of the current working interval (the working interval corresponding to sequence number 3), the PWM signal should be applied to the lower arm switch T6, and the upper arm switch T3 in the current working interval is in the normally open state.
The cases from the serial numbers 3 to 4, 4 to 5, 5 to 6, and 6 to 1 are similar to the above two cases in principle, and are not described again here.
The rapid demagnetization method provided by the embodiment of the invention can greatly shorten the demagnetization time of the suspended phase in the phase commutation period, prolong the time for judging the zero crossing point of the back electromotive force and improve the accuracy of judging the zero crossing point, so that the phase commutation is accurate, the motor cannot step out, and the motor runs more stably; meanwhile, the method does not need to increase any hardware cost, is completely realized by software, has simple, accurate and reliable algorithm, is convenient for practical application, greatly improves the reliability of the sensorless trapezoidal wave control, and has certain universality and technical advantages.
Example three:
in the embodiment of the invention, in the demagnetization process, the terminal voltage of the suspended phase winding is clamped to the anode or the cathode of the bridge arm bus by the freewheeling diode; step S220 specifically includes:
judging whether the terminal voltage of the suspended phase winding exits from a clamping state or not;
and if so, applying the PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state.
In an embodiment of the present invention, as described in step S210, the demagnetization process occurs during a period of time from the beginning of the current working interval, during which the interior of the motor detects the terminal voltage of the suspended phase winding, and determines whether to end the demagnetization process according to the terminal voltage condition of the suspended phase.
In an embodiment of the present invention, the step of "determining whether the terminal voltage of the suspended phase winding exits the clamped state" includes:
detecting the terminal voltage of the suspended phase winding;
judging whether the terminal voltage of the suspension phase is between zero and the bus voltage;
and if so, judging that the terminal voltage of the suspended phase exits the clamping state.
The voltage for clamping is GND voltage and bus voltage + HV, if the terminal voltage of the suspension phase is detected to be GND voltage or + HV, the demagnetization is finished, and the system continuously executes demagnetization operation; and if the terminal voltage of the suspension phase is detected to be between GND and + HV, namely the terminal voltage of the suspension phase exits from the clamping state, the demagnetization is finished, and the demagnetization operation can be exited.
Example four:
in order to realize the embodiment, the invention further provides a control device for commutation and fast demagnetization of the sensorless trapezoidal wave motor.
In the embodiment of the present invention, fig. 10 is a block diagram illustrating a sensorless trapezoidal wave motor-controlled commutation fast demagnetization device, and only the relevant contents of the present invention are shown below and in the drawings, which are described in detail below.
The device comprises the following units:
the fast demagnetization unit 10 is used for applying a PWM signal to a switching tube which is not switched in the process of changing the working interval and enabling the other switching tube in the current working interval to be in a normally-on state when the motor is subjected to phase change, namely when the working interval is changed, and enabling the opposite-phase voltage on the suspended phase winding to be increased so as to carry out fast demagnetization on the suspended phase winding when the working interval is changed;
and the recovery unit 20 is configured to apply a PWM signal to the upper arm switching tube in the current working interval and make the lower arm switching tube in the current working interval in a normally-on state if demagnetization is finished.
In the embodiment of the invention, the brushless direct current motor usually adopts a three-phase full-bridge main circuit structure, the operation is controlled by three-phase six-state square waves (namely trapezoidal waves), two switching tubes are controlled by PWM in any state, and the PWM modulation mode of the brushless direct current motor is similar to H-bridge PWM modulation of the direct current motor, and two bridge arms are controlled simultaneously. In the trapezoidal wave controlled dc brushless motor of this embodiment, the two three-phase windings of the motor are conducted and driven by the square wave with a phase difference of 120 degrees.
In the embodiment of the invention, each control period of the motor is divided into 6 working intervals, and each working interval is 60 electrical degrees. Fig. 2 shows a table of the application modes of the fast demagnetization PWM after setting by the fast demagnetization unit 10 and the recovery unit 20 according to the present invention (the table is merely an example, and is not intended to limit the scope of the present invention), and the table corresponds to 6 operation intervals in each control cycle of the motor from number 1 to number 6; the second column of the table is the conduction condition of the switch tube in each working interval; the third column of the table is the demagnetization current direction; the fourth column is the position of application of the fast demagnetization PWM in each operating interval.
Fig. 3 shows a motor driving circuit provided by the present invention, wherein. The following describes a specific embodiment of the present invention based on the above table and the driving circuit.
As an example, fig. 4 to 7 show the transition from the operation section corresponding to the index 1 (TI and T4 on) to the operation section corresponding to the index 2 (TI and T6 on) of table 2.
When the working interval changes from the last working interval (i.e. the working interval corresponding to the serial number 1) to the current working interval (i.e. the working interval corresponding to the serial number 2), the winding of the phase B is turned off, and the demagnetization current flows through the phase B. The B-phase voltage is clamped at + HV by freewheeling diode D3, and during PWM conduction, the neutral point (i.e., point O) voltage is HV/2; if PWM is applied to the upper bridge T1 (i.e. the switching tube that does not switch during the change of operating interval), when the PWM is off, the neutral voltage is clamped at GND by the freewheeling diode D2 and the equivalent PWM voltage of the suspended phase winding B is between HV and HV/2; if the PWM voltage is applied to the lower bridge T6 (the other switch tube in the current operating interval), when the PWM is off, the neutral voltage is clamped at HV by the freewheeling diode D5, the equivalent PWM voltage for the floating-phase winding B is between HV/2 and GND, and the reverse voltage on the winding is lower than the first. It will be appreciated that the larger the reverse voltage across a winding, the shorter the demagnetization time. Therefore, in order to accelerate demagnetization, the PWM signal is applied to T1 during a period of time when the current working interval begins, and at the same time, T6 is in a normally-on state, so that the reverse voltage on the suspended phase winding B is increased, and the suspended phase winding B can be demagnetized quickly when the working interval changes.
The switching tube which is not switched is in the T1 interval from the previous operating interval to the current operating interval, that is, the fast demagnetization PWM is applied to the switching tube which is not switched (i.e., T1), and in the demagnetization process, the other switching tube (i.e., T6) in the current operating interval is in the normal on state.
After demagnetization is finished, the PWM signal is applied to the upper arm switching tube T1 in the current working interval, and the lower arm switching tube T6 in the current working interval is in a normally-on state, so that the demagnetization process in the current working interval is completed.
In the table of fig. 2, during the process from sequence numbers 2 to 3, from sequence numbers 3 to 4, from sequence numbers 4 to 5, from sequence numbers 5 to 6, and from sequence number 6 to 1, the analysis manner of the demagnetization PWM application positions is similar to the analysis manner from sequence numbers 1 to 2 in the previous paragraph, and detailed description is omitted here. The applied positions of the fast demagnetization PWM in the table of fig. 2 can be obtained by analyzing the above steps, and the detailed description is shown in the last column of the table of fig. 2.
The zero crossing point of the back electromotive force on the suspended phase winding is the basis of controlling the commutation of the sensorless trapezoidal wave motor, and by the demagnetization mode, the demagnetization time of the suspended phase during the commutation period can be greatly shortened, the judgment time of the zero crossing point of the back electromotive force is prolonged, and the judgment accuracy of the zero crossing point is improved, so that the commutation is accurate, the motor cannot step out, and the motor runs more stably; meanwhile, the method does not need to increase any hardware cost, is completely realized by software, has simple, accurate and reliable algorithm, is convenient for practical application, greatly improves the reliability of the sensorless trapezoidal wave control, and has certain universality and technical advantages.
In an embodiment of the present invention, the fast demagnetization unit 10 is further configured to:
when the working interval is switched to the current working interval from the last working interval, if the upper bridge arm switch tube is switched within a period of time after the current working interval begins, applying a PWM signal to the lower bridge arm switch tube in the current working interval, and enabling the upper bridge arm switch tube in the current working interval to be in a normally open state;
and if the lower bridge arm switching tube is switched, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm in the current working interval to be in a normally open state.
As an embodiment of the present invention, as described in the first embodiment, when the operating interval changes from the previous operating interval (i.e., the operating interval corresponding to serial number 1) to the current operating interval (i.e., the operating interval corresponding to serial number 2), during this process, the lower arm switch is switched, i.e., from T4 to T6, then, within a period of time from the beginning of the current operating interval (i.e., the operating interval corresponding to serial number 2), the PWM signal should be applied to the upper arm switch T1, and the lower arm switch T6 in the current operating interval is in the normally open state.
As another embodiment of the present invention, in the table in fig. 2, in two working intervals corresponding to sequence numbers 2 to 3, when the working interval changes from the previous working interval (the working interval corresponding to sequence number 2) to the current working interval (the working interval corresponding to sequence number 3), in the process, the upper arm switch is switched, that is, from T1 to T3, then, within a period of time from the beginning of the current working interval (the working interval corresponding to sequence number 3), the PWM signal should be applied to the lower arm switch T6, and the upper arm switch T3 in the current working interval is in the normally open state.
The cases from the sequence numbers 3 to 4, from the sequence numbers 4 to 5, from the sequence numbers 5 to 6, and from the sequence number 6 to 1 are similar to the above two cases, and are not described again here.
As shown in fig. 8 and 9, if rapid demagnetization is not performed, the zero crossing point is submerged by the demagnetization phenomenon (shown as X in the figure) inherent to the motor, so that normal position information cannot be obtained, the motor is out of step, and an MOS transistor or the motor may be burned due to overcurrent seriously.
The rapid demagnetization method provided by the embodiment of the invention can greatly shorten the demagnetization time of the suspended phase in the phase commutation period, prolong the time for judging the zero crossing point of the back electromotive force and improve the accuracy of judging the zero crossing point, so that the phase commutation is accurate, the motor cannot step out, and the motor runs more stably; meanwhile, the method does not need to increase any hardware cost, is completely realized by software, has simple, accurate and reliable algorithm, is convenient for practical application, greatly improves the reliability of the sensorless trapezoidal wave control, and has certain universality and technical advantages.
In the embodiment of the invention, in the demagnetization process, the terminal voltage of the suspended phase winding is clamped to the anode or the cathode of the bridge arm bus by the freewheeling diode; the recovery unit 20 is configured to:
judging whether the terminal voltage of the suspended phase winding exits from a clamping state or not;
and if so, applying the PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state.
In an embodiment of the present invention, the demagnetization process occurs in a period of time from the beginning of the current working interval, during which the interior of the motor will detect the terminal voltage of the suspended phase winding, and determine whether to end the demagnetization process according to the terminal voltage condition of the suspended phase.
In an embodiment of the present invention, the recovery unit 20 is further specifically configured to:
detecting the terminal voltage of the suspended phase winding;
judging whether the terminal voltage of the suspension phase is between zero and the bus voltage;
and if so, judging that the terminal voltage of the suspended phase exits the clamping state.
As shown in fig. 8, the voltages for clamping are GND voltage and bus voltage + HV, and if the terminal voltage of the suspension phase is detected to be GND voltage or + HV, it indicates that demagnetization is not finished, the system continues to perform demagnetization operation; and if the terminal voltage of the suspension phase is detected to be between GND and + HV, namely the terminal voltage of the suspension phase exits from the clamping state, the demagnetization is finished, and the demagnetization operation can be exited.
Fifth embodiment:
the invention further provides a motor, which comprises a motor body and the control device for the phase change and rapid demagnetization of the sensorless trapezoidal wave motor according to the fourth embodiment.
According to the motor provided by the embodiment of the invention, through the control device for the commutation and rapid demagnetization of the sensorless trapezoidal wave motor, the demagnetization time of the suspended phase in the commutation period can be greatly shortened, the time for judging the zero crossing point of the counter electromotive force is prolonged, and the accuracy of judging the zero crossing point is improved, so that the commutation is accurate, the motor cannot step out, and the motor can run more stably; meanwhile, the method does not need to increase any hardware cost, is completely realized by software, has simple, accurate and reliable algorithm, is convenient for practical application, greatly improves the reliability of the sensorless trapezoidal wave control, and has certain universality and technical advantages.
In the description of the present specification, reference to the description of the term "one/more/another embodiment", "example", "specific example", "an embodiment of the invention" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A sensorless trapezoidal wave motor commutation rapid demagnetization control method is characterized by comprising the following steps:
when the motor is in phase change, within a period of time from the beginning of the current working interval, applying a PWM signal to a switching tube which is not switched during the change of the working interval, and enabling the other switching tube in the current working interval to be in a normally-on state, so that the reverse phase voltage on the suspended phase winding is increased, and the suspended phase winding is rapidly demagnetized when the working interval is changed;
if demagnetization is finished, applying a PWM signal to an upper bridge arm switching tube in the current working interval, and enabling a lower bridge arm switching tube in the current working interval to be in a normally-on state;
in the demagnetization process, the terminal voltage of the suspended phase winding is clamped to the anode or the cathode of the bridge arm bus by the freewheeling diode;
if demagnetization is finished, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state specifically comprises the following steps:
detecting the terminal voltage of the suspended phase winding;
judging whether the terminal voltage of the suspension phase is between zero and the bus voltage;
and if so, judging that the terminal voltage of the suspension phase exits the clamping state, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state.
2. The method according to claim 1, wherein when the motor is in phase change, and the operating interval is changed, the PWM signal is applied to the switching tube that is not switched during the change of the control interval during a period of time from the beginning of the current operating interval, and another switching tube in the current operating interval is in a normally-on state, so as to perform the fast demagnetization on the suspended phase winding when the operating interval is changed, specifically:
when the motor is in phase change, when the working interval is switched to the current working interval from the previous working interval, in a period of time when the current working interval starts, if the upper bridge arm switch tube is switched, a PWM signal is applied to the lower bridge arm switch tube in the current working interval, and the upper bridge arm switch tube in the current working interval is in a normally open state;
and if the lower bridge arm switching tube is switched, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm in the current working interval to be in a normally open state.
3. The method of claim 1 wherein each motor control cycle is divided into 6 of said operating intervals, each of said operating intervals being 60 electrical degrees.
4. The utility model provides a no sensor trapezoidal wave motor commutation rapid demagnetization controlling means which characterized in that, the device includes:
the fast demagnetization unit is used for applying a PWM signal to a switching tube which is not switched in the process of changing the working interval within a period of time when the motor starts to change the phase, and enabling the other switching tube in the current working interval to be in a normally-on state, so that the reversed phase voltage on the suspended phase winding is increased, and the suspended phase winding is demagnetized fast when the working interval is changed;
the recovery unit is used for applying a PWM signal to the upper bridge arm switching tube in the current working interval and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state if demagnetization is finished;
in the demagnetization process, the terminal voltage of the suspended phase winding is clamped to the anode or the cathode of the bridge arm bus by the freewheeling diode;
the recovery unit is further configured to:
detecting the terminal voltage of the suspended phase winding;
judging whether the terminal voltage of the suspension phase is between zero and the bus voltage;
and if so, judging that the terminal voltage of the suspension phase exits the clamping state, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm switching tube in the current working interval to be in a normally-on state.
5. The apparatus of claim 4, wherein the fast demagnetization unit is further configured to:
when the working interval is switched to the current working interval from the last working interval, if the upper bridge arm switch tube is switched within a period of time after the current working interval begins, applying a PWM signal to the lower bridge arm switch tube in the current working interval, and enabling the upper bridge arm switch tube in the current working interval to be in a normally open state;
and if the lower bridge arm switching tube is switched, applying a PWM signal to the upper bridge arm switching tube in the current working interval, and enabling the lower bridge arm in the current working interval to be in a normally open state.
6. The apparatus of claim 4 wherein each motor control cycle is divided into 6 of said operating intervals, each of said operating intervals being 60 electrical degrees.
7. An electric machine, comprising: a motor body; and
the sensorless trapezoidal wave motor commutation rapid demagnetization control device according to any one of claims 4 to 6.
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| DE2245783A1 (en) * | 1972-09-15 | 1974-03-28 | Licentia Gmbh | PROCEDURE FOR DEMAGNETIZING HYSTERESIS MOTORS |
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| JP6076587B2 (en) * | 2011-03-30 | 2017-02-08 | 株式会社日立産機システム | Power conversion system |
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| DE2245783A1 (en) * | 1972-09-15 | 1974-03-28 | Licentia Gmbh | PROCEDURE FOR DEMAGNETIZING HYSTERESIS MOTORS |
| CN103475292A (en) * | 2013-08-13 | 2013-12-25 | 燕山大学 | Switch magnetic resistance generator system capable of realizing rapid excitation/demagnetization |
| CN103795033A (en) * | 2014-03-04 | 2014-05-14 | 东南大学 | Detecting and protecting circuit and method for inter-phase short circuit of switch reluctance motor |
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