CN108183639A - A kind of brshless DC motor least squared classified speed regulating method - Google Patents
A kind of brshless DC motor least squared classified speed regulating method Download PDFInfo
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- CN108183639A CN108183639A CN201810035364.1A CN201810035364A CN108183639A CN 108183639 A CN108183639 A CN 108183639A CN 201810035364 A CN201810035364 A CN 201810035364A CN 108183639 A CN108183639 A CN 108183639A
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- motor
- squared
- electromotive force
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- counter electromotive
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of brshless DC motor least squared classified speed regulating method, including step：1）Using the motor of the same race for installing position sensor, detection motor rotor position and speed governing, while detect back-emf signal；2）Using back-emf signal as input, crossover point signal is output, carries out the off-line training of least squared classified device；3）Classified using trained least squared classified device to the counter electromotive force data of brushless DC motor control system, obtain the zero crossing moment, so as to calculate motor speed and commutation signal, realize commutation, motor speed is fed back in the PID controller of brushless DC motor control system and calculate controlled quentity controlled variable, realize speed governing.The present invention realizes the control of brushless direct current motor sensorless, is classified using least squared classified device to counter electromotive force, estimated for crossover point signal, more accurate to unconventional back EMF zero-crossing point detection.
Description
Technical field
The present invention relates to brshless DC motor control technology fields, and in particular to a kind of brshless DC motor least square point
Class speed regulating method.
Background technology
If brshless DC motor determines the commutation moment with back electromotive force zero-crossing, installation Hall sensor is not just needed to examine
Rotor-position is surveyed, non-conduction phase terminal voltage is usually detected and calculates counter electromotive force, then obtained by detecting counter electromotive force zero
Commutation signal, but pass noise, the outside noise etc. that counter electromotive force detection method is opened due to hardware circuit, if load increase if believe
It makes an uproar than reducing, detects that the probability of wrong zero crossing is very high, velocity variations cause anti-electronic it is also possible that the characteristic changing of winding
Gesture fluctuates, and thus caused false zero crossing causes the motor commutation moment to be difficult to determine, commutation moment inaccuracy results in torque
Pulsation shakes brshless DC motor, in order to realize the stepless speed control of motor, it is necessary to solve above-mentioned existing for counter electromotive force method ask
Topic.
It devises a counter electromotive force zero grader herein to classify to all counter electromotive force detected, non-zero points
It is classified as one kind, zero is classified as another kind of, thus can go out zero crossing with the counter electromotive force detection of classifier.Least squared classified
Device can minimize calculation amount while higher accuracy rate is ensured, be applied in embedded system such as DSP
It disclosure satisfy that.So far, the brushless direct current motor sensorless tune to be tested the speed using least square counter electromotive force grader
Speed not yet occurs.
Invention content
In view of the deficiencies of the prior art, the present invention proposes a kind of brshless DC motor least squared classified speed regulating method, with
Solve the problems, such as that back EMF zero-crossing point detection is inaccurate in existing control method.
To achieve the above object, the technical scheme is that：A kind of brshless DC motor least squared classified speed governing side
Method, including：
Step S1：Offline training data is acquired, using the motor of the same race for installing position sensor, detection motor rotor position is simultaneously
Speed governing, while detect back-emf signal；
Step S2：Using back-emf signal as input, crossover point signal is output, carries out the offline instruction of least squared classified device
Practice；
Step S3：The counter electromotive force data of the brushless DC motor control system of position-sensor-free are carried out using sample circuit
Sampling, classifies to online counter electromotive force data using trained least squared classified device, obtains the zero crossing moment, so as to
Motor speed and commutation signal are calculated, realizes commutation, motor speed is fed back to the PID control of brushless DC motor control system
Controlled quentity controlled variable is calculated in device, realizes speed governing.
Further, the step S2 is specially：
Off-line training least squared classified device retains the back-emf signal { e (k-1) ..., e (k-p) } of p bats on a timeline
It shows, each period only there are one zero crossing, marks zero crossing, and the output of zero crossing sample is y (k)=1, non-mistake
The output of zero sample is y (k)=0；The counter electromotive force input signal { e (k) ..., e (k-p+1) } and the output signal of p bats that p is clapped
{ y (k) ..., y (k-p+1) } as training sample, solving feature vector x (k) is：x(k)=P(y(k-1),...,y(k-n),e
(k) ..., e (k-n)), wherein e (k) ..., e (k-n) and y (k) ..., y (k-n) be respectively the grader kth moment input and
Output, the umber of beats that n expressions are output and input；Least squared classified device is built based on least square method.
Further, the specific method at zero crossing moment is obtained in the step S3 to include：
Method is started using three-stage and starts motor, is divided into rotor pre-determined bit, frequency and voltage boosting synchronous operation, switching motor synchronizing operation three
A stage constantly detects stable counter electromotive force after start completion；
In BLDCM Drive System, zero crossing is detected using trained least squared classified device, it is assumed that input
So that e (k) ..., and e (k-n+1) }, it is expressed as using the decision function of least squared classified device：g(x)=ω·x(k)；If g (x)>
=0, then y (k)=1；If g (x)<0, then y (k)=0；X (k) is feature vector：x(k)=P(y(k-1),...,y(k-n),u
(k) ..., u (k-n)), wherein e (k) ..., e (k-n) and y (k) ..., y (k-n) be respectively the grader kth moment input and
Output, ω are the weights of least squared classified device, and e (k) is counter electromotive force, and y (k) is exported for grader, i.e. crossover point signal；
In brshless DC motor speed governing stage continuous acquisition counter electromotive force data, it is input in least squared classified device, obtained
The zero moment.
Compared with prior art, the present invention has advantageous effect：Present invention saves position sensors, it is only necessary in inversion
3 back EMF sampling circuits are expanded on circuit, hardware spending is small, signal detection not by temperature, the such environmental effects of dust,
Reliability is high；
The present invention classifies to counter electromotive force using least squared classified device, estimates that accuracy is higher, passes through for crossover point signal
The acquisition counter electromotive force classifier calculated amount very little of off-line training occupies fraction cpu resource, the DSP applied to current main-stream
The brushless DC motor control system of control can improve control accuracy.
Description of the drawings
Fig. 1 is the flow diagram of brshless DC motor least squared classified speed regulating method of the present invention；
Fig. 2 is one embodiment of the invention back EMF zero-crossing point detection schematic diagram；
Fig. 3 is one embodiment of the invention counter electromotive force data classification process schematic diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
For trapezoidal wave brshless DC motor of the back emf waveform for 120 ° of flat-top widths, three in an electric period
Phase back-emf produces six zero crossings, and each 30 ° of electrical angle displacement times of delay are 6 commutation moment, during accurate commutation
Carving influences brshless DC motor driving effect.The present invention measures rotating speed using least squared classified method only needs the anti-of power circuit
Electromotive force calculates rotating speed and commutation moment as input signal, and the rotor-position signal that mechanical pick-up device measures can be replaced to complete
Commutation, the input terminal of speed feedback to PID controller realize speed governing.System is controlled in the brshless DC motor of position sensor
Back-emf signal is extracted in system as sample to train least squared classified device, the least squared classified device that training is completed can be realized
Back electromotive force zero-crossing is classified, due to its learning ability so that, output more accurate to unconventional back EMF zero-crossing point detection
It is represented with Boolean, motor speed and commutation moment is calculated, and pass through pid algorithm and realize accurate speed governing by the output.
As shown in Figure 1, a kind of brshless DC motor least squared classified speed regulating method of the present invention, including：
Step S1：Offline training data is acquired, using the motor of the same race for installing position sensor, detection motor rotor position is simultaneously
Speed governing, while detect back-emf signal；
Step S2：Using back-emf signal as input, crossover point signal is output, carries out the offline instruction of least squared classified device
Practice；
Step S3：The counter electromotive force data of the brushless DC motor control system of position-sensor-free are carried out using sample circuit
Sampling, classifies to online counter electromotive force data using trained least squared classified device, obtains the zero crossing moment, so as to
Motor speed and commutation signal are calculated, realizes commutation, motor speed is fed back to the PID control of brushless DC motor control system
Controlled quentity controlled variable is calculated in device, realizes speed governing.
The step S2 is specially：
Off-line training least squared classified device retains the back-emf signal { e (k-1) ..., e (k-p) } of p bats on a timeline
It shows, each period only there are one zero crossing, marks zero crossing, and the output of zero crossing sample is y (k)=1, non-mistake
The output of zero sample is y (k)=0；The counter electromotive force input signal { e (k) ..., e (k-p+1) } and the output signal of p bats that p is clapped
{ y (k) ..., y (k-p+1) } as training sample, solving feature vector x (k) is：x(k)=P(y(k-1),...,y(k-n),e
(k) ..., e (k-n)), wherein e (k) ..., e (k-n) and y (k) ..., y (k-n) be respectively the grader kth moment input and
Output, the umber of beats that n expressions are output and input；Least squared classified device is built based on least square method.
The specific method at zero crossing moment is obtained in the step S3 to include：
Method is started using three-stage and starts motor, is divided into rotor pre-determined bit, frequency and voltage boosting synchronous operation, switching motor synchronizing operation three
A stage constantly detects stable counter electromotive force after start completion；
In BLDCM Drive System, zero crossing is detected using trained least squared classified device, it is assumed that input
So that e (k) ..., and e (k-n+1) }, it is expressed as using the decision function of least squared classified device：g(x)=ω·x(k)；If g (x)>
=0, then y (k)=1；If g (x)<0, then y (k)=0；X (k) is feature vector：x(k)=P(y(k-1),...,y(k-n),u
(k) ..., u (k-n)), wherein e (k) ..., e (k-n) and y (k) ..., y (k-n) be respectively the grader kth moment input and
Output, ω are the weights of least squared classified device, and e (k) is counter electromotive force, and y (k) is exported for grader, i.e. crossover point signal；
In brshless DC motor speed governing stage continuous acquisition counter electromotive force data, it is input in least squared classified device, obtained
The zero moment.
As shown in Fig. 2, for trapezoidal wave brshless DC motor of the back emf waveform for 120 ° of flat-top widths, one
In the electric period, three phase back-emfs produce six zero crossings, are Z1-Z6 respectively, and six commutation points are respectively in S1-S6
It carves, six switches are VT1-VT6 respectively.Driving circuit is using conduction mode two-by-two, and VT5VT6 is in the conduction state during beginning, inspection
After measuring zero crossing moment Z1, then postpone 30 ° of electrical angles, with regard to getable commutation moment S1, control VT1VT6 conductings, Ran Houkai
Begin detection Z2, alternately carries out zero-crossing examination and commutation successively by shown position, it will be able to which driving motor rotates.
As shown in figure 3, reading the result of A/D conversions first to obtain counter electromotive force data, need according to different switches
Which phase back-emf is conducting state determine to read, and numerical value obtains feature vector after standardization, uses minimum two
Multiply grader to judge back electromotive force zero-crossing, the output of back electromotive force zero-crossing is set as y (k)=1, if detecting zero crossing
Commutation is then completed according to phase back-emf, finally adjusts rotating speed.
Particular embodiments described above elaborates the purpose of the present invention, technical solution and achievement, is answered
Understand, the above is only a specific embodiment of the present invention, is not intended to restrict the invention, all essences in the present invention
God and any modification, equivalent substitution, improvement and etc. within principle, done, should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of brshless DC motor least squared classified speed regulating method, which is characterized in that including：
Step S1：Offline training data is acquired, using the motor of the same race for installing position sensor, detection motor rotor position is simultaneously
Speed governing, while detect back-emf signal；
Step S2：Using back-emf signal as input, crossover point signal is output, carries out the offline instruction of least squared classified device
Practice；
Step S3：The counter electromotive force data of the brushless DC motor control system of position-sensor-free are carried out using sample circuit
Sampling, classifies to online counter electromotive force data using trained least squared classified device, obtains the zero crossing moment, so as to
Motor speed and commutation signal are calculated, realizes commutation, motor speed is fed back to the PID control of brushless DC motor control system
Controlled quentity controlled variable is calculated in device, realizes speed governing.
2. brshless DC motor least squared classified speed regulating method according to claim 1, which is characterized in that the step
S2 is specially：
Off-line training least squared classified device retains the back-emf signal { e (k-1) ..., e (k-p) } of p bats on a timeline
It shows, each period only there are one zero crossing, marks zero crossing, and the output of zero crossing sample is y (k)=1, non-mistake
The output of zero sample is y (k)=0；The counter electromotive force input signal { e (k) ..., e (k-p+1) } and the output signal of p bats that p is clapped
{ y (k) ..., y (k-p+1) } as training sample, solving feature vector x (k) is：x(k)=P(y(k-1),...,y(k-n),e
(k) ..., e (k-n)), wherein e (k) ..., e (k-n) and y (k) ..., y (k-n) be respectively the grader kth moment input and
Output, the umber of beats that n expressions are output and input；Least squared classified device is built based on least square method.
3. brshless DC motor least squared classified speed regulating method according to claim 1, which is characterized in that the step
The specific method at zero crossing moment is obtained in S3 to include：
Method is started using three-stage and starts motor, is divided into rotor pre-determined bit, frequency and voltage boosting synchronous operation, switching motor synchronizing operation three
A stage constantly detects stable counter electromotive force after start completion；
In BLDCM Drive System, zero crossing is detected using trained least squared classified device, it is assumed that input
So that e (k) ..., and e (k-n+1) }, it is expressed as using the decision function of least squared classified device：g(x)=ω·x(k)；If g (x)>
=0, then y (k)=1；If g (x)<0, then y (k)=0；X (k) is feature vector：x(k)=P(y(k-1),...,y(k-n),u
(k) ..., u (k-n)), wherein e (k) ..., e (k-n) and y (k) ..., y (k-n) be respectively the grader kth moment input and
Output, ω are the weights of least squared classified device, and e (k) is counter electromotive force, and y (k) is exported for grader, i.e. crossover point signal；
In brshless DC motor speed governing stage continuous acquisition counter electromotive force data, it is input in least squared classified device, obtained
The zero moment.
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| CN201810035364.1A CN108183639B (en) | 2018-01-15 | 2018-01-15 | Least square classification speed regulation method for brushless direct current motor |
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| CN201810035364.1A CN108183639B (en) | 2018-01-15 | 2018-01-15 | Least square classification speed regulation method for brushless direct current motor |
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| CN112505576A (en) * | 2020-12-04 | 2021-03-16 | 厦门市爱维达电子有限公司 | Power failure rapid detection method based on least square classifier |
| CN113258835A (en) * | 2021-04-20 | 2021-08-13 | 山东大学 | Direct-current brushless motor control method and system for vehicle engine cooling fan |
| CN113411013A (en) * | 2021-07-14 | 2021-09-17 | 北京航空航天大学 | Brushless direct current motor control system and method for back electromotive force function integral prediction |
| CN113572395A (en) * | 2020-04-26 | 2021-10-29 | 北京信息科技大学 | Adaptive real-time correction method for commutation error of brushless motor without position sensor |
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Cited By (6)
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