CN108667358A - A kind of brshless DC motor full range velocity modulation control system and its control method - Google Patents
A kind of brshless DC motor full range velocity modulation control system and its control method Download PDFInfo
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- CN108667358A CN108667358A CN201810576335.6A CN201810576335A CN108667358A CN 108667358 A CN108667358 A CN 108667358A CN 201810576335 A CN201810576335 A CN 201810576335A CN 108667358 A CN108667358 A CN 108667358A
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Classifications
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- 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
-
- 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
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention relates to a kind of brshless DC motor full range velocity modulation control system and its control methods, the control system includes power module, communication module, MCU module, drive circuit module, inverter module, motor M, voltage sample module, current sampling module and rotor-position detection module, power module is powered to entire control device, communication module, voltage sample module, current sampling module and rotor-position detection module are separately connected MCU module, MCU module connects drive circuit module, drive circuit module connects inverter module, inverter module connects motor M, inverter module connects current sampling module, motor M connection rotor-position detection modules.The present invention has ensured the operation with closed ring started using detection impulses injection method, solves the problems, such as that electric rotating speed is not low enough existing for conventional low stage starting algorithm and it is unstable to start, improves traditional high speed stage position detection algorithm.
Description
Technical field
The present invention relates to Motor Control Fields, and in particular to a kind of brshless DC motor full range velocity modulation control system and its
Control method.
Background technology
Traditional square wave control structure is generally speed, current double closed-loop control system.The advantages of this system, is to control
System is simple, and dynamic response is fast, stable under rated speed, is widely applied in many fields.In the controls, it controls
Device processed mostly uses PI controls, although PI controls strong robustness, if joining only with one group of fixed adjusting in full range velocity modulation
Number, it is difficult to reach satisfactory dynamic response characteristic；Simultaneously because torque ripple reason, speed adjustable range is typically small, especially
Be not suitable for low speed operation.The starting algorithm of low-speed stage is all open-loop start-up, and the randomness of this open-loop start-up can not only be led
Speed governing value not low enough problem when causing the low speed operation phase wild effects such as shake, reversion occur, and can cause to start.
Invention content
The purpose of the present invention is to solve above-mentioned deficiency, provide a kind of brshless DC motor full range velocity modulation control system and
Its control method.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of brshless DC motor full range velocity modulation control system, including power module, communication module, MCU module, driving circuit
Module, inverter module, motor M, voltage sample module, current sampling module and rotor-position detection module, power module are given
Entire control device power supply, communication module, voltage sample module, current sampling module and rotor-position detection module are separately connected
MCU module, MCU module connect drive circuit module, and drive circuit module connects inverter module, and inverter module connects motor M,
Inverter module connects current sampling module, motor M connection rotor-position detection modules.
A kind of brshless DC motor full range velocity modulation control method, fixed duty is implanted sequentially into threephase stator winding
Then the voltage signal of ratio estimates the location information of rotor according to the peak current level of feedback.
The present invention has following beneficial effect：
The present invention has been ensured the operation with closed ring started, has been solved conventional low stage starting algorithm using detection impulses injection method
Existing electricity rotating speed is not low enough and starts unstable problem, improves traditional high speed stage position detection algorithm, uses
Based on the wind-powered electricity generation kinetic potential cross zero detecting method that comparator is realized, the sampling rate of counter electromotive force zero cross signal is improved.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the flow chart of the present invention；
Fig. 3 is the power unit circuit figure of the present invention；
Fig. 4 is the inverter module circuit diagram of the present invention；
Fig. 5 is bridge circuit figure on the driving circuit of the present invention；
Fig. 6 is bridge circuit figure under the driving circuit of the present invention.
Specific implementation mode
Below by specific implementation mode combination attached drawing, invention is further described in detail.Wherein different embodiments
Middle similar component uses associated similar element numbers.In the following embodiments, many datail descriptions be in order to
The application is better understood.However, those skilled in the art can be without lifting an eyebrow recognize, which part feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please it is relevant some operation there is no in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, these relevant operations, which are described in detail, not to be necessary, they
It can completely understand relevant operation according to the general technology knowledge of description and this field in specification.
As shown in Figure 1, a kind of brshless DC motor full range velocity modulation control system, including power module, communication module,
MCU module, drive circuit module, inverter module, motor M, voltage sample module, current sampling module and rotor-position detection
Module, power module are powered to entire control device, communication module, voltage sample module, current sampling module and rotor-position
Detection module is separately connected MCU module, and MCU module connects drive circuit module, and drive circuit module connects inverter module, inversion
Module connects motor M, and inverter module connects current sampling module, motor M connection rotor-position detection modules.
Control system operation principle is as follows：DC power supplier is powered to entire control system, when MCU governor circuits receive
When the control signal sent to communication module, such as PPM signal, this signal will be demodulated to the PWM letters of control motor speed
Number, to control the on off state of driving circuit and inverter circuit, to control the operating of motor.In the low rate start stage, by
In using based on detection impulses injection method as improved low-speed stage starting algorithm, so needing sampling three-phase electric current
MCU main control modules are fed back to, MCU main control modules judge the location information of current rotor according to current change quantity, to realize
Low-speed stage starting algorithm, in the high speed operation phase (back-emf signal is enough to be detected by back-emf zero cross detection circuit),
Using improved counter electromotive force zero cross detection circuit, counter electromotive force zero cross signal is fed back into MCU by the circuit, to shape
At a complete closed-loop control system.
Referring to Fig. 4, inverter module：Corresponding upper bridge driving circuit exports respectively with C.HO by A.HO in inverter module, B.HO,
Corresponding lower bridge driving circuit output, A.PHASE, B.PHASE correspond to three-phase respectively with C.PHASE respectively by A.LO, B.LO and C.LO
A, B and the C three-phase of motor.
Referring to Fig. 3, power module：The first order decompression be 5V voltage stabilizings output, be due to common MCU cannot input it is excessively high
Voltage.Also there is higher requirement simultaneously for first order decompression 5V outputs, this general voltage error should strictly be limited in one
Between 0.1V ~+0.1V.Herein since 5V voltage stabilizings output is the prime benchmark of AD sampled references voltage in MCU.
Referring to Fig. 5, bridge on drive circuit module：When the corresponding MCU control signals AP of upper bridge arm exports high level, at this time
Q1 is not turned on, and the voltage of bootstrap capacitor C1 is BAT+ at this time, and C 1 passes through Q2, and A.HO, R7 are added to the grid of Q110, metal-oxide-semiconductor
Q110 is connected.Here, the reason of Q2 early period is connected is because of bootstrap capacitor C1 electric discharges.After Q2 is connected, A.HO and A.PHASE
Between pressure drop be equal to the pressure drop at the both ends C1, cause the ends Ucs of metal-oxide-semiconductor Q110 there are pressure drop, be worth for the voltage value at the both ends C1, from
And bridge metal-oxide-semiconductor Q110 is made to be connected.The voltage of A.PHASE is BAT+ after MOS is connected, due to the voltage at C1 bootstrap capacitors both ends
It will not be mutated, so also raising for the voltage of A.HO becomes 2BAT+, upper bridge metal-oxide-semiconductor Q110 is still open-minded, until bootstrap capacitor
Electric discharge terminates.When the corresponding MCU control signals AP of upper bridge arm exports low level, Q1 is connected at this time, the wink of upper tube Q110 shutdowns
Between, there is the process of electric discharge in the grid capacitance of corresponding metal-oxide-semiconductor, discharge loop R7, A.HO, Q3, A.PHASE.The ends E of Q3 at this time
Potential be more than the ends B potential, therefore Q3 be connected, at this time the potential moment of A.HO be drawn together with A.PHASE.Therefore the effect of Q3 is
Bridge arm MOS discharge loops in offer accelerate MOS electric discharges, accelerate MOS turn-off speeds.
Referring to Fig. 6, bridge under drive circuit module：When the corresponding MCU control signals AN of lower bridge arm exports high level, Q4
It closes, Q6 is closed, QS conductings.The grid of the metal-oxide-semiconductor Q111 of lower bridge arm provides discharge loop, keeps the Ucs terminal voltages of Q111 fast
Speed declines close to SGND, realizes Q111 and rapidly turns off.When the corresponding MCU controls signal of lower bridge arm exports low level, Q4
Conducting, to which QS is connected.The grid of driving circuit lower bridge arm metal-oxide-semiconductor Q111 completes quick charge, make its Ucs terminal voltage it is rapid on
Liter is connected rapidly close to BAT+, then lower bridge arm metal-oxide-semiconductor Q111.
A kind of brshless DC motor full range velocity modulation control method, fixed duty cycle is implanted sequentially into threephase stator winding
Voltage signal, the location information of rotor is then estimated according to the peak current level of feedback；
The voltage equation of DC brushless motor is as follows：
Wherein, U indicates that the voltage of a wherein phase in three-phase direct-current brushless motor, R are phase resistance, and i is armature supply, and L is mutually electric
Sense, e is phase back-emf, since when motor is static, counter electromotive force does not consider ohmically pressure drop, obtain at this time close to zero
Go out following formula：
It can be obtained from above formula, when the winding of brshless DC motor applies certain voltage U, such as pwm pulse voltage, electricity
The change rate and inductance value of pivot electric current are inversely proportional, and since voltage U is definite value, i.e. the value of the two product is definite value, if so inductance
Value reduces, and corresponding current changing rate just will increase, and when inductance value becomes larger, corresponding current changing rate will reduce；For nothing
Brushless motor, if apply certain voltage will produce air gap magnetic to stator winding, stator armature magnetomotive force and rotor mmf
, the saturation degree of motor resultant magnetic field is directly influenced by stator armature magnetomotive force size, and magnetic field degree of saturation is higher, corresponding
With regard to smaller, armature inductance L changes equivalent armature inductance amount with the variation of composite magnetic power, when rotor mmf direction and stator
When synthesizing the angle in magnetomotive force direction less than 90 °, increasing magnetic action is played after two Vector modulations, inductance at this time is denoted as L1, rotor
When magnetomotive force direction and stator synthesis magnetomotive force direction differ by more than 90 °, therefore armature mmf plays degaussing for rotor magnetic potential and makees
With inductance is denoted as L2 at this time；The relative position that can reflect rotor and stator by comparing the size of inductance value, in motor
Before startup, i.e., when motor is static, when rotor is located at different initial positions, added to stator winding by interior at a fixed time
Fixed voltage vector, the size for flowing through current value in stator winding at this time can be different, similarly, it is assumed that rotor is in a certain fixation
Position, if at this time plus the voltage vector of different directions to stator winding, then different current values can be also obtained, so also may be used
The position of rotor magnetic pole is come out with the magnitude estimation by comparing current value；In order to generate two opposite magnetic fields of direction, then need
To give a wherein phase winding to lead to high level gives other two phase windings to lead to low level simultaneously, and this creates the terminal positive magnetic fields.So
Other two-phases switch to high level when a phase being switched to low electric couch afterwards, and material is thus formed opposite magnetic directions；At two
It will produce two peak point currents under the opposite magnetic fields in direction.Wherein what peak point current was larger means the magnetic of rotor permanent magnet
Field direction is identical with the magnetic direction that stator coil generates, and shows as increasing magnetic action, corresponding core field degree of saturation at this time
Enhancing, and winding inductance reduce, due to stator winding apply be fixed width voltage value, at this time inductance value become smaller, it is right
The current changing rate answered becomes larger, and eventually leads to current peak and becomes larger, and since winding inductance is the function of rotor-position, so just
Which semicircle is the size of reverse phase energization peak point current can react rotor in, therefore thus the position of magnetic pole of permanent magnet can be
It obtains；The position restriction of rotor in 60 ° of electrical angles, i.e., only need three positive and negative pulse currents detections can be rotor
Location determination in 60 ° of electrical angles, to motor can correctly commutation, there is also the positions of rotor just at one at this time
The borderline situation of semicircle, no matter because rotor is on the boundary of which semicircle, it should which the phase of energization is all identical；When
When PWM duty cycle is smaller, zero cross signal is also fainter, the afterflow that zero crossing is brought by the interference and commutation at the edges PWM in addition
It influences, therefore zero-crossing examination should as possible select after afterflow while avoid the position progress of the edges PWM interference.Work as speed
When spending relatively low, since PWM duty cycle is smaller, i.e., the ratio very little of high level, low level ratio are very big.In order to avoid the edges PWM
To the interference caused by zero-crossing examination, the sample mode used at this time is that high level does not sample, and is only examined in low level
It surveys, not only avoids the afterflow that commutation is brought and flood the influence of zero crossing, while also avoiding the interference effect zero passage at the edges PWM
The accuracy of point detection；With continuing growing for PWM duty cycle, corresponding motor is switched to high speed from the low rate start operation phase
Operation phase, this operation phase duty ratio of PWM are continuously increased, and rotating speed is also continuously increased, until duty ratio is filled it up with.
Referring to Fig. 2, the workflow of entire control system can be summarized as follows:It is hardware initialization stage, hardware first
Initialization is the initialization to modules such as PWM module, timer module, comparator module, ADC module and GPIO;Next, when
MCU receives PPM throttle signals and begins to enter the low rate start stage, and the low rate start stage is completed using detection impulses injection method
Closed-loop start-up process;Then, when motor operation is to certain rotating speed, i.e., when counter electromotive force is sufficiently large, switching position detection mode,
The position signal of rotor is judged using improved zero crossing detection of back EMF, this stage is examined by counter electromotive force zero passage
What slowdown monitoring circuit and MCU included built-in comparator was realized, finally, when motor needs are stopped or encounter protection, just into
Enter the shutdown brake stage.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not limiting
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (2)
1. a kind of brshless DC motor full range velocity modulation control system, it is characterised in that：Including power module, communication module, MCU
Module, drive circuit module, inverter module, motor M, voltage sample module, current sampling module and rotor-position detect mould
Block, power module are powered to entire control device, communication module, voltage sample module, current sampling module and rotor-position inspection
It surveys module and is separately connected MCU module, MCU module connects drive circuit module, and drive circuit module connects inverter module, inversion mould
Block connects motor M, and inverter module connects current sampling module, motor M connection rotor-position detection modules.
2. a kind of brshless DC motor full range velocity modulation control method, it is characterised in that：It is implanted sequentially into threephase stator winding
Then the voltage signal of fixed duty cycle estimates the location information of rotor according to the peak current level of feedback.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810576335.6A CN108667358A (en) | 2018-06-06 | 2018-06-06 | A kind of brshless DC motor full range velocity modulation control system and its control method |
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| CN201810576335.6A CN108667358A (en) | 2018-06-06 | 2018-06-06 | A kind of brshless DC motor full range velocity modulation control system and its control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111654213A (en) * | 2020-05-06 | 2020-09-11 | 惠州拓邦电气技术有限公司 | Control method and device for non-inductive starting of motor, motor and storage medium |
| CN113395020A (en) * | 2021-07-01 | 2021-09-14 | 长沙金泰时仪器有限公司 | Control method of intelligent high-speed centrifuge |
| CN113965114A (en) * | 2021-11-16 | 2022-01-21 | 江苏科技大学 | Initial sector detection method for rotor position of brushless direct current motor |
| CN114944788A (en) * | 2022-04-24 | 2022-08-26 | 芯北电子科技(南京)有限公司 | Method for detecting static position of brushless motor |
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| CN105897081A (en) * | 2016-06-29 | 2016-08-24 | 苏州联芯威电子有限公司 | Low speed starting method of sensorless brushless direct current motor |
| CN106208881A (en) * | 2016-07-07 | 2016-12-07 | 中国电子科技集团公司第二十研究所 | Based on potential pulse vector control strategy without sensing motor driver |
| CN107547030A (en) * | 2016-06-24 | 2018-01-05 | 南京理工大学 | A kind of high speed three-phase switch reluctance machine starting/phase change method of impulses injection |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111654213A (en) * | 2020-05-06 | 2020-09-11 | 惠州拓邦电气技术有限公司 | Control method and device for non-inductive starting of motor, motor and storage medium |
| CN113395020A (en) * | 2021-07-01 | 2021-09-14 | 长沙金泰时仪器有限公司 | Control method of intelligent high-speed centrifuge |
| CN113965114A (en) * | 2021-11-16 | 2022-01-21 | 江苏科技大学 | Initial sector detection method for rotor position of brushless direct current motor |
| CN114944788A (en) * | 2022-04-24 | 2022-08-26 | 芯北电子科技(南京)有限公司 | Method for detecting static position of brushless motor |
| CN114944788B (en) * | 2022-04-24 | 2023-10-13 | 芯北电子科技(南京)有限公司 | Detection method for static position of brushless motor |
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Application publication date: 20181016 |