CN109495024A - A kind of motor controller without position sensor - Google Patents
A kind of motor controller without position sensor Download PDFInfo
- Publication number
- CN109495024A CN109495024A CN201811507526.3A CN201811507526A CN109495024A CN 109495024 A CN109495024 A CN 109495024A CN 201811507526 A CN201811507526 A CN 201811507526A CN 109495024 A CN109495024 A CN 109495024A
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- module
- electric machine
- connects
- acquisition module
- motor
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- 238000004804 winding Methods 0.000 claims abstract description 16
- 230000033228 biological regulation Effects 0.000 claims abstract description 12
- 239000011159 matrix material Substances 0.000 claims abstract description 3
- 238000001914 filtration Methods 0.000 claims description 7
- 230000007257 malfunction Effects 0.000 claims 1
- 230000001133 acceleration Effects 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 20
- 238000000034 method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 208000035126 Facies Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Abstract
The present invention provides a kind of motor controller without position sensor, including DC power supplier, rotational speed regulation module, steering switching module, detent torque module, electric machine controller, driving circuit, counter electromotive force acquisition module, current acquisition module and inverter；Rotational speed regulation module connects electric machine controller and DC power supplier, it turns to switching module and connects electric machine controller, start matrix module and connects electric machine controller, electric machine controller connects driving circuit, counter electromotive force acquisition module, current acquisition module, the electric current in counter electromotive force and winding for obtaining motor, and counter electromotive force acquisition module connects inverter, current acquisition module connects inverter, inverter makes to generate corresponding electric current in winding, driving motor rotation for connecting machine winding.The present invention, it can be achieved that the normal of brshless DC motor starts and control, has the characteristics that reliable starting performance, acceleration for stabilization, control precision height, strong robustness under conditions of being not necessarily to mechanical position sensor.
Description
Technical field
The present invention relates to brshless DC motor control field, specifically a kind of motor controller without position sensor.
Background technique
Currently, the brshless DC motor of domestic military products grade mostly uses the control mode of position sensor.Currently, domestic
The design of outer unmanned helicopter full envelope flight control system control law is most of to use traditional gain scheduler (gain
Schedule) scheme, especially domestic winged control design all using this method.Past thinks that always gain scheduling is a kind of
Open loop self adaptive control, because the dynamic characteristic of process changes with the service condition of process in many cases, but this change
The relationship of change is known.One kind of dynamic characteristic variation is the reason is that as caused by known nonlinear characteristic, and at this moment, we are just
The parameter of controller can be changed by the service condition of monitoring process, this thought is known as gain scheduling.In compensating parameter
Oneself knows non-linear aspect for variation or object, the gain scheduling control based on the measurement to process operation condition be usually it is a kind of effectively
Method.Oneself by many successful engineering practices proves a kind of highly effective and widely used method to gain scheduling, it
Advantage is not limited by computer speed.
Summary of the invention
Aiming at the defects existing in the prior art, the technical problem to be solved in the present invention is to provide a kind of no positions
Set sensor motor controller.
Present invention technical solution used for the above purpose is: a kind of motor controller without position sensor, packet
DC power supplier, rotational speed regulation module are included, switching module is turned to, is detent torque module, electric machine controller, driving circuit, anti-
Electromotive force acquisition module, current acquisition module and inverter；
The rotational speed regulation module connects electric machine controller and DC power supplier, for that will pass through DC power supplier
The analog voltage of input is adjusted to different analog voltages；
The steering switching module connects electric machine controller, for passing through the switching control motor positive and inverse of low and high level
Switching；
The starting matrix module connects electric machine controller, and the height of torque is controlled for the height by voltage value；
The electric machine controller connects driving circuit, for driving inverter work on startup；Connection counter electromotive force is adopted
Collect module, current acquisition module, the electric current in counter electromotive force and winding for obtaining motor；It connects rotational speed regulation module, turn
To adjustment module and detent torque adjustment module, for adjusting revolving speed, the steering, detent torque parameter of motor；
The counter electromotive force acquisition module connects inverter, for acquiring counter electromotive force from inverter；
The current acquisition module connects inverter, for acquiring winding current from inverter；
The inverter makes to generate corresponding electric current in winding, driving motor rotation for connecting machine winding.
It further include temperature collecting module and state display module, the temperature collecting module connection status display module, institute
Temperature collecting module is stated for acquiring the temperature of machine winding, is compared with the temperature of setting, judges whether overtemperature, and control
The light on and off of indicator light.
The state display module is also connected with current acquisition module and electric machine controller, for show power on, run and therefore
Barrier state.
The electric machine controller is also used to connect host computer.
Further include filtering anti-circnit NOT, connects DC power supplier, for filtering out the clutter in DC power supply, and provide electricity
Source reverse connecting protection.
Further include power supply characteristic circuit, connect DC power supplier, for carrying out overvoltage protection to late-class circuit.
The present invention has the following advantages and beneficial effects:
1, the present invention is under conditions of being not necessarily to mechanical position sensor, it can be achieved that the normal starting and control of brshless DC motor
System has the characteristics that reliable starting performance, acceleration for stabilization, control precision height, strong robustness.
2, the achievable LED light of the present invention shows the powering on, run of motor, four overtemperature, failure states, realizes comprehensively
Starting, acceleration and the closed-loop control three phases of motor have speed regulation, overcurrent protection, overvoltage protection, short-circuit protection, power supply anti-
Instead, overtemperature alarm function, and using the communication module of product realize with the communication of host computer, the voltage of real-time display motor,
The parameters such as electric current, revolving speed, temperature.
3, the rotational speed regulation and control that the composite can be widely applied to brshless DC motor, can be improved the globality of system
Can, reduce the volume of motor product, improve resistance to environment capacity, have a wide range of application, market prospects are good.
Detailed description of the invention
Fig. 1 is system principle diagram of the invention；
Fig. 2 is system closed-loop drive control block diagram of the invention；
Fig. 3 is the circuit diagram of rotational speed regulation module of the invention；
Fig. 4 is the circuit diagram of steering switching module of the invention；
Fig. 5 is the circuit diagram of detent torque module of the invention；
Fig. 6 is the circuit diagram of driving circuit of the invention；
Fig. 7 is the circuit diagram of counter electromotive force acquisition module of the invention；
Fig. 8 is the circuit diagram of current acquisition module of the invention；
Fig. 9 is the circuit diagram of inverter of the invention；
Figure 10 is the circuit diagram of the anti-circnit NOT of filtering of the invention；
Figure 11 is the circuit diagram of power supply characteristic circuit of the invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
As shown in Figure 1, DC power supplier is divided into main circuit power and two parts of control circuit power supply, and separately design
Power filter and anti-reflection function, power supply characteristic part improve the performance of system resistance to over-voltage and spike；System core member
Part electric machine controller can input speed, detent torque, turn around parameters, pass through inverter and acquire counter electromotive force information and electric current and join
Number exports corresponding control signal to driving circuit, to constitute closed loop feedback control；System also has motor in real time
Running temperature, the operating status for showing motor and host computer communication function.The invention also includes temperature collecting module and state are aobvious
Show module, the temperature collecting module is used to acquire the temperature of machine winding, is compared with the temperature of setting, judges whether to surpass
Temperature, and the light on and off of control instructions lamp, the bright expression motor overheating operation of indicator light.
As shown in Fig. 2, the present invention uses the control mode of two close cycles, wherein inner ring is electric current loop, and outer ring is der Geschwindigkeitkreis, can
Greatly improve the control precision of system, strong robustness.
Fig. 3 is the circuit diagram of rotational speed regulation module of the invention, and 5V power supply passes through two resistance and a potentiometer
It is input to after being divided in rear class sample circuit, to carry out motor speed adjusting.
Fig. 4 is the circuit diagram of steerings switching module of the invention, use in figure two 0 Ohmic resistances respectively with GND
And VCC5V connection, require can weld corresponding 0 Ohmic resistance progress course changing control according to turning to.
Fig. 5 is the circuit diagram of detent torque module of the invention, and 5V power supply passes through a resistance and a potentiometer
It is input to after being divided in rear class sample circuit, to carry out electric motor starting torque adjusting.
Fig. 6 is the circuit diagram of driving circuit of the invention, and U11 is special driving chip IR2110PBF, motor in figure
Controller output signal is connected to chip I R2110PBF (CT and CB in figure), and output end is connected to rear class inverter circuit (in figure
H3U and H3D).
Fig. 7 is the circuit diagram of counter electromotive force acquisition module of the invention, and A interfaces are defeated after electric resistance partial pressure in figure
Enter to comparator anode, resistance R24, R30, R42 simulation threephase load are simultaneously input to comparator negative terminal, comparator output terminal signal
To electric machine controller, remaining two-phase is identical as A facies principle for output.
Fig. 8 is the circuit diagram of current acquisition module of the invention, and current signal is converted to voltage by sampling resistor to be believed
Number output, signal is amplified by amplifier circuit, by diode (D1, D4) protection circuit output into late-class circuit.
Fig. 9 is the circuit diagram of inverter of the invention, and inverter circuit is mainly made of six field-effect tube, is driven
End is separately connected 100 ohm of build-out resistors, and sampling resistor is used for sampled current signals in major loop.Each bridge arm in inverter
Motor A, B, C three-phase windings are respectively connected to, with the on-off of electric current in control winding, and then control motor rotation.
The invention also includes filter anti-circnit NOT and power supply characteristic circuit.As shown in Figure 10,11, anti-circnit NOT and electricity are filtered
Source characteristic circuit is all connected with DC power supplier.Anti- circnit NOT is filtered for filtering out the clutter in DC power supply, and power supply is provided
Reversal connection protection function.Power supply characteristic circuit is used for the overvoltage protection to late-class circuit.
Figure 10 is filtering counnter attack circuit diagram, and diode (D2) is protected for reverse power connection in figure, and two capacitors are used for
Power filter.
Figure 11 is power supply characteristic circuit diagram, and transient voltage suppressor diode (D3) is used for overvoltage protection, resistance in figure
For dividing.
The present invention effectively realizes brshless DC motor and stablizes starting and operation under the conditions of position-sensor-free.This
The mating control equipment that invention can be used as brshless DC motor uses, and using box structure, mating connector facilitates connection, more
It changes and repairs.
Claims (6)
1. a kind of motor controller without position sensor, which is characterized in that including DC power supplier, rotational speed regulation module, turn
To switching module, detent torque module, electric machine controller, driving circuit, counter electromotive force acquisition module, current acquisition module and inverse
Become device；
The rotational speed regulation module connects electric machine controller and DC power supplier, for that will input by DC power supplier
Analog voltage be adjusted to different analog voltages；
The steering switching module connects electric machine controller, for cutting for the switching control motor positive and inverse by low and high level
It changes；
The starting matrix module connects electric machine controller, and the height of torque is controlled for the height by voltage value；
The electric machine controller connects driving circuit, for driving inverter work on startup；It connects counter electromotive force and acquires mould
Block, current acquisition module, the electric current in counter electromotive force and winding for obtaining motor；Rotational speed regulation module is connected, turns to and adjusts
Module and detent torque adjustment module are saved, for adjusting revolving speed, the steering, detent torque parameter of motor；
The counter electromotive force acquisition module connects inverter, for acquiring counter electromotive force from inverter；
The current acquisition module connects inverter, for acquiring winding current from inverter；
The inverter makes to generate corresponding electric current in winding, driving motor rotation for connecting machine winding.
2. a kind of motor controller without position sensor according to claim 1, which is characterized in that further include temperature acquisition
Module and state display module, the temperature collecting module connection status display module, the temperature collecting module is for acquiring
The temperature of machine winding is compared with the temperature of setting, judges whether overtemperature, and the light on and off of control instructions lamp.
3. a kind of motor controller without position sensor according to claim 2, which is characterized in that the status display mould
Block is also connected with current acquisition module and electric machine controller, powers on, runs and malfunction for showing.
4. a kind of motor controller without position sensor according to claim 1, which is characterized in that the electric machine controller
It is also used to connect host computer.
5. a kind of motor controller without position sensor according to claim 1, which is characterized in that further include filtering counnter attack
Circuit connects DC power supplier, for filtering out the clutter in DC power supply, and provides reverse power connection protection.
6. a kind of motor controller without position sensor according to claim 1, which is characterized in that further include power supply characteristic
Circuit connects DC power supplier, for carrying out overvoltage protection to late-class circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811507526.3A CN109495024A (en) | 2018-12-11 | 2018-12-11 | A kind of motor controller without position sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811507526.3A CN109495024A (en) | 2018-12-11 | 2018-12-11 | A kind of motor controller without position sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109495024A true CN109495024A (en) | 2019-03-19 |
Family
ID=65709720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811507526.3A Pending CN109495024A (en) | 2018-12-11 | 2018-12-11 | A kind of motor controller without position sensor |
Country Status (1)
| Country | Link |
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| CN (1) | CN109495024A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109944783A (en) * | 2019-03-25 | 2019-06-28 | 江苏超力电器有限公司 | The control device and control method of automobile secondary air pump based on brushless motor driving |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10271875A (en) * | 1997-01-24 | 1998-10-09 | Aichi Electric Co Ltd | Driving circuit for brushless motor |
| JP2011103718A (en) * | 2009-11-10 | 2011-05-26 | Mitsubishi Electric Corp | Brushless dc motor drive circuit, brushless dc motor, and apparatus |
| CN103701367A (en) * | 2013-07-11 | 2014-04-02 | 北京航空航天大学 | Soft start control device for sensorless brushless direct current motor |
| CN105071714A (en) * | 2015-07-31 | 2015-11-18 | 苏州南光电子科技有限公司 | Control system for brushless direct current motor free of position sensor |
| CN205304653U (en) * | 2016-01-19 | 2016-06-08 | 哈尔滨理工大学 | Two plane type leads to fan control system based on brushless DC motor |
-
2018
- 2018-12-11 CN CN201811507526.3A patent/CN109495024A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10271875A (en) * | 1997-01-24 | 1998-10-09 | Aichi Electric Co Ltd | Driving circuit for brushless motor |
| JP2011103718A (en) * | 2009-11-10 | 2011-05-26 | Mitsubishi Electric Corp | Brushless dc motor drive circuit, brushless dc motor, and apparatus |
| CN103701367A (en) * | 2013-07-11 | 2014-04-02 | 北京航空航天大学 | Soft start control device for sensorless brushless direct current motor |
| CN105071714A (en) * | 2015-07-31 | 2015-11-18 | 苏州南光电子科技有限公司 | Control system for brushless direct current motor free of position sensor |
| CN205304653U (en) * | 2016-01-19 | 2016-06-08 | 哈尔滨理工大学 | Two plane type leads to fan control system based on brushless DC motor |
Non-Patent Citations (1)
| Title |
|---|
| 何超: "《交流变频调速技术 第3版 十三五》", 30 June 2017, 北京：北京航空航天大学出版社, pages: 137 - 138 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109944783A (en) * | 2019-03-25 | 2019-06-28 | 江苏超力电器有限公司 | The control device and control method of automobile secondary air pump based on brushless motor driving |
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