CN108964528A - Brshless DC motor low speed torque undulated control device and control method - Google Patents
Brshless DC motor low speed torque undulated control device and control method Download PDFInfo
- Publication number
- CN108964528A CN108964528A CN201810917127.8A CN201810917127A CN108964528A CN 108964528 A CN108964528 A CN 108964528A CN 201810917127 A CN201810917127 A CN 201810917127A CN 108964528 A CN108964528 A CN 108964528A
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- China
- Prior art keywords
- brshless
- motor
- chip microcontroller
- commutation
- bus current
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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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
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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 low speed torque undulated control device and control methods, described device is by voltage source inverter, brshless DC motor, single-chip microcontroller, bus current detection module composition, wherein, the three-polar output of voltage source inverter connects the three-phase windings of brshless DC motor, the input terminal of single-chip microcontroller is connected with brshless DC motor hall signal output end, the control terminal of the output termination voltage source inverter power tube of single-chip microcontroller, the bus of the input termination voltage source inverter of bus current detection module, the output end of bus current detection module connects the input terminal of single-chip microcontroller.Control method is: according to the variation of bus current when brshless DC motor commutation, the PWM duty cycle for opening phase is adjusted with single-chip microcontroller, makes bus current value when commutation close to the numerical value before commutation, achievees the purpose that control the fluctuation of brshless DC motor low speed torque.
Description
Technical field
The invention belongs to brshless DC motor control field, it is related to a kind of brshless DC motor, more particularly to a kind of brushless
Direct current generator low speed torque undulated control device and control method.
Background technique
Brshless DC motor has many advantages, such as structure is simple, power density is high, control is simple.In recent years, brushless straight
Galvanic electricity machine has obtained increasingly extensive application in the industrial circles such as high-performance speed-regulating system and servo-control system.
The commutation torque ripple generated when brshless DC motor commutation, can cause motor vibrating, noise, limit such electricity
The application range of machine.By taking 120 ° of brshless DC motor conductings, three phase six state controls as an example, the brshless DC motor of low speed operation
When commutation, bus current can change, and this generates torque ripple, return the reason is that opening the curent change of phase
Rate is excessive, opens phase PWM duty cycle so adjusting, and so that bus current is tended to be constant can play the role of controlling torque ripple.This
Case is based on this thinking and is formed.
Summary of the invention
The purpose of the present invention is to provide a kind of brshless DC motor low speed torque undulated control device and control method,
It can control torque ripple by way of adjusting and opening phase PWM duty cycle.
In order to achieve the above objectives, solution of the invention is:
A kind of brshless DC motor low speed torque undulated control device, including voltage source inverter, brshless DC motor, list
Piece machine, bus current detection module, wherein the three-polar output of voltage source inverter connects the three-phase windings of brshless DC motor, single
The input terminal of piece machine is connected with brshless DC motor hall signal output end, and the output of single-chip microcontroller terminates voltage source inverter function
The control terminal of rate pipe, the bus of the input termination voltage source inverter of bus current detection module, bus current detection module
Output end connects the input terminal of single-chip microcontroller.
A kind of brshless DC motor low speed torque undulated control method, includes the following steps:
Step 1: the hall signal of the single-chip microcontroller acquisition brshless DC motor, and according to collected hall signal meter
Calculation obtains brshless DC motor and opens phase X in commutation；
Step 2: electricity when bus current detection module detects electric current If of the bus current in non-commutation and commutation respectively
Ih is flowed, and is sent into single-chip microcontroller；
Step 3: electric current If of the bus current in non-commutation is subtracted the bus current and is existed in single-chip microcontroller
Electric current Ih when commutation obtains bus current commutation deviation delta I；
Step 4: judging whether the absolute value of the bus current commutation deviation delta I is greater than the 1% of If absolute value, if full
Sufficient condition then continues step 5, otherwise, then terminates；
Step 5: the bus current commutation deviation delta I is carried out PI operation；
Step 6: obtaining numerical value D in the range of 0-100% to the result clipping of the PI operation；
Step 7: single-chip microcontroller carries out PWM modulation control to brshless DC motor, wherein single-chip microcontroller control is described to open phase X
PWM duty cycle be the numerical value D.
After adopting the above scheme, the present invention makes bus current commutation by opening the current changing rate of phase when adjusting commutation
Front and back keeps inconvenient, to have the function that control low speed torque fluctuation, structure is simple.
Detailed description of the invention
Fig. 1 is the structural block diagram of control device of the present invention；
Fig. 2 is the flow chart of control method of the present invention.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention and beneficial effect are described in detail.
As shown in Figure 1, the present invention provides a kind of control device of brshless DC motor low speed torque fluctuation, for Fig. 1
In brshless DC motor controlled, the control device includes voltage source inverter, brshless DC motor, single-chip microcontroller, mother
Line current detection module, wherein the three-polar output of voltage source inverter connects the three-phase windings of brshless DC motor, single-chip microcontroller it is defeated
Enter end to be connected with brshless DC motor hall signal output end, the control of the output termination voltage source inverter power tube of single-chip microcontroller
End processed, the bus of the input termination voltage source inverter of bus current detection module, the output termination of bus current detection module
The input terminal of single-chip microcontroller.
Cooperate shown in Fig. 2, the present invention also provides a kind of control dresses based on the fluctuation of aforementioned brshless DC motor low speed torque
The control method set, includes the following steps:
Step 1: the hall signal of the single-chip microcontroller acquisition brshless DC motor, and according to collected hall signal meter
Calculation obtains brshless DC motor and opens phase X in commutation；
Step 2: electricity when bus current detection module detects electric current If of the bus current in non-commutation and commutation respectively
Ih is flowed, and is sent into single-chip microcontroller；
Step 3: electric current If of the bus current in non-commutation is subtracted the bus current and is existed in single-chip microcontroller
Electric current Ih when commutation obtains bus current commutation deviation delta I；
Step 4: judging whether the absolute value of the bus current commutation deviation delta I is greater than the 1% of If absolute value, if full
Sufficient condition then continues step 5, otherwise, then terminates；
Step 5: the bus current commutation deviation delta I is carried out PI operation；
Step 6: obtaining numerical value D in the range of 0-100% to the result clipping of the PI operation；
Step 7: single-chip microcontroller carries out PWM modulation control to brshless DC motor, wherein single-chip microcontroller control is described to open phase X
PWM duty cycle be the numerical value D.
To sum up, the present invention a kind of control device and control method of the fluctuation of brshless DC motor low speed torque, according to brushless
The variation of bus current when direct current generator commutation adjusts the PWM duty cycle for opening phase, to control motor low speed commutation torque wave
It is dynamic, torque ripple small requirement when reaching the operation of brshless DC motor low speed.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (2)
1. a kind of brshless DC motor low speed torque undulated control device characterized by comprising voltage source inverter, brushless
Direct current generator, single-chip microcontroller, bus current detection module, wherein the three-polar output of voltage source inverter connects brshless DC motor
The input terminal of three-phase windings, single-chip microcontroller is connected with brshless DC motor hall signal output end, and the output of single-chip microcontroller terminates electricity
The control terminal of die mould inverter power pipe, the bus of the input termination voltage source inverter of bus current detection module, bus electricity
The output end of stream detection module connects the input terminal of single-chip microcontroller.
2. a kind of control method of brshless DC motor low speed torque undulated control device as described in claim 1, feature
It is, includes the following steps:
Step 1: the hall signal of the single-chip microcontroller acquisition brshless DC motor, and calculated according to collected hall signal
Phase X is opened in commutation to brshless DC motor；
Step 2: electric current when bus current detection module detects electric current If of the bus current in non-commutation and commutation respectively
Ih, and it is sent into single-chip microcontroller；
Step 3: electric current If of the bus current in non-commutation is subtracted the bus current in commutation in single-chip microcontroller
When electric current Ih, obtain bus current commutation deviation delta I；
Step 4: judging whether the absolute value of the bus current commutation deviation delta I is greater than the 1% of If absolute value, if meeting item
Part then continues step 5, otherwise, then terminates；
Step 5: the bus current commutation deviation delta I is carried out PI operation；
Step 6: obtaining numerical value D in the range of 0-100% to the result clipping of the PI operation；
Step 7: single-chip microcontroller carries out PWM modulation control to brshless DC motor, wherein single-chip microcontroller, which controls, described opens phase X's
PWM duty cycle is the numerical value D.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810917127.8A CN108964528A (en) | 2018-08-13 | 2018-08-13 | Brshless DC motor low speed torque undulated control device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810917127.8A CN108964528A (en) | 2018-08-13 | 2018-08-13 | Brshless DC motor low speed torque undulated control device and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108964528A true CN108964528A (en) | 2018-12-07 |
Family
ID=64470065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810917127.8A Withdrawn CN108964528A (en) | 2018-08-13 | 2018-08-13 | Brshless DC motor low speed torque undulated control device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108964528A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006067667A (en) * | 2004-08-25 | 2006-03-09 | Fujitsu General Ltd | Controller of brushless dc motor |
| CN103248294A (en) * | 2013-04-28 | 2013-08-14 | 天津大学 | Position sensor-free double closed-loop speed regulation control method for brushless DC motor |
| CN104393801A (en) * | 2014-11-24 | 2015-03-04 | 江苏科技大学 | Brush-less direct current motor speed regulating device and speed regulating method |
| CN104393800A (en) * | 2014-11-24 | 2015-03-04 | 江苏科技大学 | Low-speed torque pulsation restraining device and restraining method for brush-less direct current motor |
| CN104410339A (en) * | 2014-11-27 | 2015-03-11 | 江苏科技大学 | Control device and control method for suppressing low-speed torque pulse of brushless direct current motor |
-
2018
- 2018-08-13 CN CN201810917127.8A patent/CN108964528A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006067667A (en) * | 2004-08-25 | 2006-03-09 | Fujitsu General Ltd | Controller of brushless dc motor |
| CN103248294A (en) * | 2013-04-28 | 2013-08-14 | 天津大学 | Position sensor-free double closed-loop speed regulation control method for brushless DC motor |
| CN104393801A (en) * | 2014-11-24 | 2015-03-04 | 江苏科技大学 | Brush-less direct current motor speed regulating device and speed regulating method |
| CN104393800A (en) * | 2014-11-24 | 2015-03-04 | 江苏科技大学 | Low-speed torque pulsation restraining device and restraining method for brush-less direct current motor |
| CN104410339A (en) * | 2014-11-27 | 2015-03-11 | 江苏科技大学 | Control device and control method for suppressing low-speed torque pulse of brushless direct current motor |
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Application publication date: 20181207 |