CN109412474B - Control method for sinusoidal torque output of brushless direct current motor - Google Patents
Control method for sinusoidal torque output of brushless direct current motor Download PDFInfo
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- CN109412474B CN109412474B CN201811514814.1A CN201811514814A CN109412474B CN 109412474 B CN109412474 B CN 109412474B CN 201811514814 A CN201811514814 A CN 201811514814A CN 109412474 B CN109412474 B CN 109412474B
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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
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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
- H02P6/28—Arrangements for controlling current
Abstract
The invention discloses a control method for sinusoidal torque output of a brushless direct current motor, which comprises the following steps: a. obtaining a sine torque parameter according to the communication command; b. generating a sine command control curve according to the sine torque parameters; c. integrating the value of the sine command control curve to obtain a rotating speed value, and taking the rotating speed value as the rotating speed command value to enter a speed loop control; d. the speed loop control output is a current compensation command, the current compensation command and the value of the sine command control curve are summed to obtain a current command, the current command enters current loop control, and sine torque output is calculated through current closed loop. The invention can accurately finish the output of sine torque and has simple operation.
Description
Technical Field
The invention relates to the field of brushless direct current motors, in particular to a control method for sinusoidal torque output of a brushless direct current motor.
Background
Brushless dc motors are actuators required in many servo control fields, and are electronically commutated low-power dc motors, which are also called commutatorless motors or commutatorless dc motors. It uses semiconductor inverter to replace the mechanical commutator in general DC motor, and forms the DC motor without commutator. The motor has simple structure, reliable operation, no spark and low electromagnetic noise, and is widely applied to modern production equipment, instruments and meters, computer peripheral equipment and advanced household appliances. In many fields, brushless dc motors are required to output a certain precise speed or a certain constant torque. With the popularization of intelligent application, the output of the motor is required to be not constant torque any more in a plurality of motor application fields, and more variable torques with required output periods are required, so that a better control effect is achieved.
At present, brushless dc motors can be used by controlling the rotational speed of the motor to be constant or by controlling the acceleration and deceleration to be constant. The brushless DC motor has good external characteristics, can output large torque at low speed, can provide large starting torque, can run at full power at any speed, has high efficiency and strong overload capacity, has excellent performance in a dragging system, has good regenerative braking effect, can enter a generator state during braking because a rotor of the brushless DC motor is made of permanent magnet materials, and is simpler than the driving control of an asynchronous motor. However, with the development of intelligent control, the motor is required to realize output variable torque control, and sinusoidal torque output control is the most typical requirement. The driving mode can improve the operation effect of the motor and lead the output torque to be uniform, but the realization process is relatively complex. Therefore, a method for controlling the sinusoidal torque output of the brushless dc motor is needed, which is simple to operate and can accurately complete the sinusoidal torque output.
Disclosure of Invention
The invention aims to provide a control method for sinusoidal torque output of a brushless direct current motor, which is characterized in that the period and the torque amplitude of sinusoidal torque are input, a sinusoidal command control curve is generated by a table look-up method, a current command is formed after the integral speed of the sinusoidal command control curve is closed, and accurate sinusoidal torque output of the brushless direct current motor is realized by current closed-loop control.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a control method for sinusoidal torque output of a brushless direct current motor comprises the following steps:
a. obtaining a sine torque parameter according to the communication command;
b. generating a sine command control curve according to the sine torque parameter;
c. integrating the value of the sine command control curve to obtain a rotating speed value, and taking the rotating speed value as the rotating speed command value to enter a speed loop control;
d. the speed loop control output is a current compensation command, the current compensation command and the value of the sine command control curve are summed to obtain a current command, the current command enters current loop control, and sine torque output is calculated through current closed loop.
Preferably, the sinusoidal torque parameters in step a include torque period and torque amplitude.
Preferably, step b specifically comprises the following steps:
b1. generating the period step length of the table look-up according to the torque period;
b2. timing the cycle step length one by one, and taking a corresponding sine value from the address of the sine table;
b3. and adding 1 to the address, and timing again until the maximum value of the address of the sine table is reached to generate a sine curve with a variable period.
Preferably, the sine table in step b2 is preset, the sine table address corresponds to a sine value, and the sine value can be referred to by the sine table address.
Preferably, the period of the sine command control curve can be adjusted by adjusting the torque period of the sine curve with variable period in the step b3.
Preferably, the amplitude of the sine command control curve can be adjusted for the amplitude of the amplification torque of the sine curve with the variable period in the step b3.
Preferably, the current compensation command in step d can be obtained by performing corresponding algorithm control on the difference between the rotation speed command in step c and the currently fed-back rotation speed.
Preferably, the algorithmic control may be PID control.
Preferably, the sinusoidal torque output in step d can be obtained by performing corresponding algorithm PID control by subtracting the current command from the current currently fed back.
Preferably, the control method needs the double closed loop combined control of the rotating speed loop and the current loop of the motor.
Compared with the prior art, the invention has the following advantages:
the method is different from the conventional method for outputting the constant torque by the brushless direct current electric motor, can improve the operation effect of the motor, enables the output torque to be uniform, can accurately finish the output of the sine torque, and is simple to operate.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for controlling the sinusoidal torque output of a brushless DC motor according to the present invention;
fig. 2 is a schematic flow chart of a sinusoidal command control curve of a brushless dc motor according to the present invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
Fig. 1 shows a detailed flowchart of a method for controlling a sinusoidal torque output of a brushless dc motor according to an embodiment of the present invention, and specifically includes the following steps:
firstly, entering step S101, and obtaining sinusoidal torque parameters including a torque period and a torque amplitude according to a communication command;
then, step S102 is carried out, and a sine command control curve is generated according to the sine torque parameter;
then, step S103 is carried out, the value of the sine command control curve is integrated to obtain a rotating speed value, and the rotating speed value is used as a rotating speed command value to enter speed loop control;
finally, step S104 is carried out, corresponding algorithm control (such as PID control) is carried out by calculating the difference between the rotating speed instruction in step S103 and the currently fed-back rotating speed, and speed loop control output is obtained to obtain a current compensation instruction; and summing the current compensation command and the value of the sinusoidal command control curve to obtain a current command, entering current loop control, calculating the difference between the current command value and the feedback current value, performing corresponding algorithm control (such as PID control), and calculating sinusoidal torque output through a current closed loop.
The control method needs the double closed loop combined control of the rotating speed loop and the current loop of the motor.
Fig. 2 shows a specific flowchart of a sinusoidal command control curve of a brushless dc motor according to the present invention, and those skilled in the art understand that fig. 2 is a specific step of step S102 in fig. 1, and specifically includes the following steps:
b1. generating the period step length of the table look-up according to the torque period;
b2. using a crystal oscillator to time the period step length one by one, and taking a corresponding sine value from a sine table address, wherein the sine table is preset, a standard sine table is stored in the system at first, the sine table address corresponds to the sine value, and the sine value can be consulted through the sine table address;
b3. and adding 1 to the address, timing again until the maximum value of the address of the sine table is reached, generating a sine curve with a variable period, multiplying the sine curve with the moment amplitude to obtain a sine command control curve, wherein the sine period and the amplitude are both adjustable. Adjusting the torque period, namely realizing the sine period adjustment; and amplifying the torque amplitude, so that the amplitude of the sine command control curve can be adjusted.
In summary, the method for controlling the sinusoidal torque output of the brushless dc motor according to the present invention inputs the period and the torque amplitude of the sinusoidal torque, generates the sinusoidal command control curve through the table lookup method, forms the current command after the integral speed of the sinusoidal command control curve is closed, and realizes the precise sinusoidal torque output of the brushless dc motor through the current closed-loop control.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A control method for sinusoidal torque output of a brushless direct current motor is characterized by comprising the following steps:
a. obtaining a sine torque parameter according to the communication command;
b. generating a sine command control curve according to the sine torque parameter;
c. integrating the value of the sine command control curve to obtain a rotating speed value, and taking the rotating speed value as the rotating speed command value to enter a speed loop control;
d. the speed loop control output is a current compensation command, the current compensation command and the value of the sine command control curve are summed to obtain a current command, the current command enters current loop control, and sine torque output is calculated through current closed loop.
2. The control method of claim 1 wherein said sinusoidal torque parameters of step a include torque period and torque amplitude.
3. The control method according to claim 2, wherein step b comprises the following steps:
b1. generating the period step length of the table look-up according to the torque period;
b2. timing the cycle step length one by one, and taking a corresponding sine value from the address of the sine table;
b3. and adding 1 to the address, and timing again until the maximum value of the address of the sine table is reached to generate a sine curve with a variable period.
4. A control method according to claim 3, wherein the sine table in step b2 is preset, the sine table address corresponds to a sine value, and the sine value can be referred to by the sine table address.
5. A control method as claimed in claim 3 wherein said cycle of said sinusoidal command control curve is adjustable by adjusting the torque cycle of said variable cycle sinusoid of step b3.
6. A control method as claimed in claim 3 wherein said sinusoidal command control curve is adjustable in amplitude for a variable cycle sinusoidal amplifying torque amplitude as set forth in step b3.
7. The control method of claim 1, wherein the current compensation command in step d is obtained by performing corresponding algorithm control by subtracting the rotation speed command in step c from the currently fed-back rotation speed.
8. The control method of claim 7, wherein said algorithmic control may be PID control.
9. The control method of claim 1, wherein the sinusoidal torque output in step d is obtained by performing a corresponding algorithm PID control by subtracting the current command from the current currently fed back.
10. The control method of claim 1, wherein the control method requires a combined control of a speed loop and a current loop of the motor.
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| CN201811514814.1A CN109412474B (en) | 2018-12-12 | 2018-12-12 | Control method for sinusoidal torque output of brushless direct current motor |
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| CN201811514814.1A CN109412474B (en) | 2018-12-12 | 2018-12-12 | Control method for sinusoidal torque output of brushless direct current motor |
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| CN109412474B true CN109412474B (en) | 2020-10-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH089672A (en) * | 1994-06-22 | 1996-01-12 | Hitachi Ltd | Speed controller for motor |
| CN1283041C (en) * | 2004-09-17 | 2006-11-01 | 清华大学 | Method or controlling permanent magnet synchronous motor-air conditioner compressor system without speed sensor |
| CN100461615C (en) * | 2005-06-27 | 2009-02-11 | 株式会社电装 | Motor control apparatus |
| CN100584278C (en) * | 2007-11-30 | 2010-01-27 | 深圳市蓝韵实业有限公司 | Device for testing the compatibility of front end amplification channel of ultrasonic diagnostic device |
| CN103281027B (en) * | 2013-06-09 | 2016-01-20 | 中南大学 | Frequency converting air-conditioner compressor starts and low-frequency torque compensation method |
| CN106411189B (en) * | 2016-10-31 | 2018-11-23 | 北京控制工程研究所 | A kind of gyro sensor-free control system of permanent magnet synchronous motor |
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