CN109962649A - A kind of motor control assembly and its control method - Google Patents
A kind of motor control assembly and its control method Download PDFInfo
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- CN109962649A CN109962649A CN201910178227.8A CN201910178227A CN109962649A CN 109962649 A CN109962649 A CN 109962649A CN 201910178227 A CN201910178227 A CN 201910178227A CN 109962649 A CN109962649 A CN 109962649A
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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
- H02P6/14—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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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The embodiment of the invention discloses a kind of motor control assembly and control methods, comprising: driving circuit, for obtaining three-phase output voltage according to input voltage instruction and stator angle with driving motor；And adjust circuit, the phase current signal of motor is flowed through for basis and back-emf angle obtains advance angle, and stator angle is adjusted according to advance angle, so that phase current signal and back-emf signal realize automatically same phase change, realize the leading angle control in wide operating range.
Description
Technical field
The present invention relates to motor control technology field, relate more specifically to a kind of motor control assembly and its control method.
Background technique
Brushless direct current motor (Brushless Direct Current Motor) is a kind of small function with electronic commutation
Rate dc motor.An anti-dress formula dc motor is equivalent in structure, its armature is placed on stator, and rotor is forever
Magnet.Its armature winding is polyphase windings, generally three-phase, can be connected into star or triangle.Each phase winding respectively with electronics
Switching tube connection in commutator circuit.
The control mode of brshless DC motor is generally divided into square wave control and sine wave control.Sine wave control has torque
Fluctuate it is small, the advantages of low noise, sine wave control include: advance angle adjust, vector controlled (Field-Oriented
Control, FOC), Direct Torque Control (Direct Torque Control, DTC) etc..
Wherein, vector controlled and Direct Torque Control need to cooperate special algorithm, can preferably realize the effect of direct current generator
Rate is optimal.But vector controlled and Direct Torque Control not only need high-cost control chip carry out complicated calculating control and
Debugging, and peripheral circuit is needed to provide the various samplings such as voltage, electric current, improve the control cost of motor.
There are mainly two types of existing leading angle control modes: one is controlled using fixed advance angle；It is another
It is control of being tabled look-up according to the progress such as load voltage, revolving speed advance angle.Above two method can only be realized in the fixed parameter of electric machine, admittedly
Efficiency optimization under fixed load and fixed rotating speed.But in practical applications, same motor needs to cooperate different sizes, no
With the flabellum or fin of shape, and motor needs to operate in different revolving speed points.Therefore, traditional leading angle control mode has been
It is unable to satisfy existing application demand.
Therefore, it is necessary to be improved to existing leading angle control mode to provide a kind of wide adaptation range and control cost
Low motor control method.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of motor control assembly and control method, so that phase current is believed
Number and back-emf signal realize same phase change automatically, realize the leading angle control in wide operating range.
A kind of motor control assembly is provided according to a first aspect of the embodiments of the present invention, comprising: driving circuit is used for basis
Input voltage instruction and stator angle obtain three-phase output voltage with driving motor；And circuit is adjusted, institute is flowed through for basis
The phase current signal and back-emf angle for stating motor obtain advance angle, and adjust the stator angle according to the advance angle, with
So that the phase current signal and the same phase change of the back-emf signal.
Preferably, the adjusting circuit includes: angle calculation unit, for obtaining the back-emf angle；And it is advanced
Angle computing unit, for obtaining the advance angle according to the phase current signal and the back-emf angle, and according to described super
Anterior angle adjusts the stator angle.
Preferably, the advance angle computing unit includes: error calculating module, for according to the phase current signal and institute
It states back-emf angle and obtains first error；Filter module, for filtering out the AC compounent in the first error to obtain second
Error；Linear Control module, for obtaining the advance angle according to second error；And addition module, being used for will be described
Advance angle is added to obtain the stator angle with the back-emf angle.
Preferably, the advance angle computing unit further includes modulo operation module, for taking to the stator angle
Modular arithmetic.
Preferably, the first error Err1Are as follows:
Err1=I/2* [sin (2 θ u+ Δ θ)-sin (Δ θ)]
Wherein, I is the range value of phase current, and θ u is the back-emf angle, and Δ θ is the phase current signal and described anti-
Phase difference between electric potential signal.
Preferably, the second error E rr2Are as follows:
Err2=-I/2*sin (Δ θ)
Wherein, I is the range value of phase current, phase of the Δ θ between the phase current signal and the back-emf signal
Difference.
Preferably, the Linear Control module is for adjusting second error, so that Δ θ=0.
Preferably, the Linear Control module includes PI controller.
Preferably, one in u phase current, v phase current and w phase current of the phase current signal.
Preferably, the phase current signal is selected from u phase current, the stator angle, θ s=θ u+ θLA, the three-phase output electricity
Pressure is respectively as follows:
Uu=V*sin (θ u+ θLA)
Uv=V*sin (θ u+ θLA+120°)
Uw=V*sin (θ u+ θLA+240°)
Wherein, V is input voltage instruction, and θ u is the back-emf angle, θLAFor the advance angle.
Preferably, the adjusting circuit further includes position sensor, for according to the rotor-position of the motor to described
Angle calculation unit provides feedback information, and the angle calculation unit obtains the back-emf angle according to the feedback information.
Preferably, the position sensor includes electromagnetic position sensor, magnetic sensitive position sensor or photo-electric
Position sensor.
Preferably, the driving circuit includes: voltage generating unit, for according to the input voltage instruction and it is described fixed
Subangle obtains three-phase voltage modulated signal；Pwm unit, for obtaining pulsewidth according to the three-phase voltage modulated signal
Modulated signal；And power cell, for obtaining the three-phase output voltage according to the pulse-width signal.
Preferably, the power cell is three phase inverter bridge.
A kind of motor control method is provided according to a second aspect of the embodiments of the present invention, comprising: is instructed according to input voltage
Three-phase output voltage is obtained with stator angle with driving motor；And according to the phase current signal and back-emf for flowing through the motor
Angle obtains advance angle, and adjusts the stator angle according to the advance angle, so that the phase current signal and described anti-
The same phase change of electric potential signal.
Preferably, the basis flows through the phase current signal of the motor and back-emf angle obtains advance angle, and according to
It includes: to obtain the first mistake according to the phase current signal and the back-emf angle that the advance angle, which adjusts the stator angle,
Difference；The AC compounent in the first error is filtered out to obtain the second error；The advance angle is obtained according to second error；
And the advance angle is added with the angle of the counter electromotive force to obtain the stator angle.
Preferably, the basis flows through the phase current signal of the motor and back-emf angle obtains advance angle, and according to
The advance angle adjusts the stator angle further include: carries out modulo operation to the stator angle.
Preferably, the first error Err1Are as follows:
Err1=I/2* [sin (2 θ u+ Δ θ)-sin (Δ θ)]
Wherein, I is the range value of phase current, and θ u is the back-emf angle, and Δ θ is the phase current signal and described anti-
Phase difference between electric potential signal.
Preferably, the second error E rr2Are as follows:
Err2=-I/2*sin (Δ θ)
Wherein, I is the range value of phase current, phase of the Δ θ between the phase current signal and the back-emf signal
Difference.
Preferably, it is described according to second error obtain the advance angle include: adjust second error so that
Δ θ=0.
Preferably, one in u phase current, v phase current and w phase current of the phase current signal.
Preferably, the phase current signal is selected from u phase current, the stator angle, θ s=θ u+ θLA, the three-phase output electricity
Pressure is respectively as follows:
Uu=V*sin (θ u+ θLA)
Uv=V*sin (θ u+ θLA+120°)
Uw=V*sin (θ u+ θLA+240°)
Wherein, V is input voltage instruction, and θ u is the back-emf angle, θLAFor the advance angle.
Preferably, before step obtains first error according to the phase current signal and the back-emf angle further include: root
Feedback information is obtained according to the rotor-position of the motor, the back-emf angle is obtained according to the feedback information.
It is preferably, described that according to input voltage instruction and stator angle, to obtain three-phase output voltage include: according to described defeated
Enter voltage instruction and the stator angle obtains three-phase voltage modulated signal；Pulsewidth is obtained according to the three-phase voltage modulated signal
Modulated signal；And the three-phase output voltage is obtained according to the pulse-width signal.
The motor control assembly and control method of the embodiment of the present invention have the advantages that.
Circuit is adjusted to be obtained by automatic advance angle calculation method according to the phase current signal and back-emf angle that flow through motor
Stator angle is adjusted to advance angle, and according to advance angle, so that phase current signal and back-emf signal realize same phase transformation automatically
Change.Not only make motor output torque maximum, active power is maximum, the efficiency highest of motor, and reduces the noise of motor.
The motor control assembly of the embodiment of the present invention and control method also achieve the leading angle control in wide operating range simultaneously, thus
So that motor realization realizes efficiency optimization under different loads, different rotating speeds.
In addition, the electricity in the motor control assembly of the embodiment of the present invention and the leading angle control process and motor of control method
The parameters such as resistance, inductance are unrelated, therefore the control device of the application and control method can be used for controlling the motor of different parameters, reduce
The control cost of motor；In addition, the operation of this control mode is simple, not needing can be real using expensive control chip
It is existing, further decrease production cost.
Detailed description of the invention
By referring to the drawings to the description of the embodiment of the present invention, above-mentioned and other purposes of the invention, feature and
Advantage will be apparent from.
Fig. 1 shows the structural schematic diagram of traditional motor control assembly；
Fig. 2 shows the waveform diagrams of the phase current obtained according to traditional motor control assembly and back-emf；
Fig. 3 shows the structural schematic diagram of motor control assembly according to a first embodiment of the present invention；
Fig. 4 shows advance angle adjustment vector figure according to a first embodiment of the present invention；
Fig. 5 shows the waveform diagram of phase voltage according to a first embodiment of the present invention, back-emf and phase current；
Fig. 6 shows the structural schematic diagram of advance angle computing unit according to a first embodiment of the present invention；
Fig. 7 shows the relation schematic diagram of Δ θ and sin (Δ θ) according to a first embodiment of the present invention；
Fig. 8 shows the flow diagram of motor control method according to a second embodiment of the present invention.
Specific embodiment
Hereinafter reference will be made to the drawings, and the present invention will be described in more detail.In various figures, identical element is using similar attached
Icon is remembered to indicate.For the sake of clarity, the various pieces in attached drawing are not necessarily to scale.In addition, may not show in figure
Certain well known parts out.
Many specific details of the invention, such as structure, material, size, the processing work of component is described hereinafter
Skill and technology, to be more clearly understood that the present invention.But it just as the skilled person will understand, can not press
The present invention is realized according to these specific details.
It should be appreciated that in the following description, " circuit ", which refers to, passes through electrical connection by least one element or sub-circuit
Or the galvanic circle that electromagnetism connects and composes.When title element or another element of circuit " being connected to " or element/circuit " being connected to "
When between two nodes, it can be directly coupled or connected to another element or may exist intermediary element, between element
Connection can be physically, in logic or its combination.On the contrary, when claiming element " being directly coupled to " or " being directly connected to
To " another element when, it is meant that the two be not present intermediary element.
The structural schematic diagram of traditional motor control assembly as shown in figure 1.As shown in Figure 1, motor control assembly includes control
Circuit 110, position sensor 120 and power cell 130 processed.
Motor 300 is, for example, brushless direct current motor, without the brush and commutator of Traditional DC motor, it is therefore desirable to
The relative positional relationship between stator and rotor for passing through induction machine 300 from position sensor 120 is provided to control circuit 110
Correct commutation information, control circuit 110 provide pulsewidth tune to power cell 130 according to the feedback information of position sensor 120
Signal (Pulse Width Modulation, PWM) processed, to control the conducting and cut-off of the electronic switch in power cell 130,
Make the electric current in motor armature winding with the variation commutation in order of rotor-position, forms step-type rotary magnetic in air gap
, it is final that p-m rotor is driven continuously to rotate.
Position sensor 120 includes electromagnetic position sensor, magnetic sensitive position sensor or photoelectric type position sensing
The position signal of rotor is converted into electric signal for detecting the position of the rotor of motor 300 during the motion by device, for control
Circuit 110 processed provides correct commutation information.
Power cell 130 includes full-bridge inverter or half-bridge inverter, as shown in Figure 1, power cell 130 is by electronics
The three-phase full-bridge inverter of switch SW1-SW6 composition, is used for DC power supply VDCThe direct current of offer is converted to alternating current, and leads to
The conducting and cut-off for crossing control electronic switch SW1-SW6, to control turn-on sequence and the turn-on time of three-phase alternating current to reach
To the revolving speed of driving motor 300 and the purpose of steering.
The angle signal of motor is carried in the position signal that position sensor 120 exports, therefore with position sensor 120
The position signal of output is fixed phase.It is assumed that when sine wave phase voltage and rotor back-emf phase having the same, due to electricity
Machine is inductive element, therefore its phase current will lag the certain angle of phase voltage namely power-factor angle.As shown in Fig. 2, that is,
Phase current will be late by one power-factor angle Δ θ of back-emf, so that phase current and back-emf cannot agree with well in phase,
Keep motor delivery efficiency optimal.In order to enable motor is exported with maximal efficiency, needs to adjust phase voltage and make power factor
Angle Δ θ is equal to 0, so that phase current is synchronous with back-emf.Therefore, suitable compensation angle how is provided to be fitted back-emf and phase
Phase difference between electric current becomes the key point of leading angle control.
As Fig. 3 shows the structural schematic diagram of motor control assembly according to a first embodiment of the present invention.As shown in figure 3, electric
Machine control device 200 includes driving circuit 210 and adjusting circuit 220.Driving circuit 210 according to input voltage for instructing
Vctrl and stator angle, θsObtain three-phase output voltage Uu、UvAnd UwWith driving motor 300, wherein input voltage instructs Vctrl
For voltage signal, equal to the range value for the phase voltage for needing to export.Motor 300 is, for example, brushless direct current motor, without tradition
The brush and commutator of dc motor.Circuit 220 is adjusted for according to the phase current signal Iu for flowing through the motor 300 and instead
Potential angle, θuAdvance angle is obtained, and the stator angle, θ is adjusted according to the advance angles, so that the phase current signal Iu
With the same phase change of the back-emf signal.
Advance angle adjustment vector figure and phase voltage, back-emf according to a first embodiment of the present invention is shown respectively in Fig. 4 and Fig. 5
And the waveform diagram of phase current.It adjusts and is carried out specifically referring to advance angle of the Fig. 4 and Fig. 5 to the embodiment of the present invention
It is bright.
As shown in figure 4, not being phase voltage U, the back-emf E when advance angle adjusting using rotor-position signal as reference0It is
With phase, and phase voltage U and back-emf E0All it is ahead of mono- power-factor angle of phase current iIt is turned round to improve the output of motor
Square and voltage utilization give one advance angle α of phase voltage, namely make driving circuit 210 in the angle of flow of former control requirement
On the basis of shorting advance α angle, phase voltage U and phase current i become the position as shown in Fig. 4 dotted line, i.e. phase voltage U ' He Xiang electricity
Flow the position of i '.As shown in figure 4, phase current i and back-emf E after advance angle adjusting0Between phase angle reduce, this phase
Electric current i and back-emf E0Between phase angle becomeAnd the active power of motor 300 becomes:
Wherein, θ is back-emf E after advance angle is adjusted0Phase angle between phase current.
It is available by above formula, back-emf E0Phase angle theta between phase current is smaller, and active power is bigger, motor
300 torque is also bigger, namely the capacity usage ratio of motor is higher under same load.When phase angle theta is equal to 0, at this time
Give phase voltage U mono- advance angle φ, phase voltage U and phase current i become the position as shown in Fig. 4 chain-dotted line, i.e. phase voltage U " and
The position of phase current i ", at this time back-emf E0With the same phase change of phase current i ", as shown in Figure 5.Back-emf E0With the same phase of phase current i "
Variation not only makes motor output torque maximum, and active power is maximum, the efficiency highest of motor, and reduces making an uproar for motor
Sound.
With continued reference to Fig. 3, driving circuit 210 includes voltage generating unit 211, pwm unit 212 and power list
Member 213.Voltage generating unit 211 is used to instruct Vctrl and stator angle, θ according to input voltagesObtain three-phase voltage modulation letter
Number Ua, Ub and Uc.Pwm unit 212 is used to obtain pulse-width signal according to three-phase voltage modulated signal Ua, Ub and Uc.
Power cell 213 is used to obtain three-phase output voltage U according to pulse-width signalu、UvAnd UwWith driving motor 300.
Wherein, power cell 213 includes three phase inverter bridge.Exemplary, power cell 213 is to be made of multiple electronic switches
Three phase inverter bridge, pulse-width signal is by controlling the conducting and cut-off of multiple electronic switches, to control three-phase output electricity
Press Uu、UvAnd UwTurn-on sequence and turn-on time to achieve the purpose that revolving speed and the steering of driving motor 300.
Adjusting circuit 220 includes advance angle computing unit 221 and angle calculation unit 222.Angle calculation unit 222 is used for
Obtain back-emf angle, θu.Advance angle computing unit 221 is used for according to phase current signal Iu and back-emf angle, θuIt obtains advanced
Angle, and stator angle, θ is adjusted according to advance angles。
Exemplary, adjusting circuit 220 further includes position sensor 223, and position sensor 223 passes through induction machine 300
To provide feedback information to angle calculation unit 222, the feedback information can be with for relative positional relationship between stator and rotor
It is the electric signal of digital quantity or analog quantity, contains the information such as position, the speed of rotor.Angle calculation unit 222 is according to institute
It states feedback information and obtains the back-emf angle, θu.Position sensor 223 includes electromagnetic position sensor, Mageneto-sensitive type position biography
Sensor or photoelectric position sensor, for detecting the position of the rotor of motor 300 during the motion, by the position of rotor
Signal is converted into electric signal, to be supplied to angle calculation unit 222.
In addition, one in u phase current, v phase current and w phase current of the phase current signal.Below with u phase electricity
It is illustrated for stream signal.
Fig. 6 shows the structural schematic diagram of advance angle computing unit according to a first embodiment of the present invention.As shown in fig. 6, super
Anterior angle computing unit 221 includes error calculating module 2211, filter module 2212, Linear Control module 2213, addition module
2214 and modulo operation module 2215.
Error calculating module 2211 is used for according to phase current signal Iu and back-emf angle, θuObtain first error Err1.The
One error E rr1Are as follows:
Err1=Iu*cos (θ u)=I*sin (θ u+ Δ θ) * cos (θ u)
=I/2* [sin (2 θ u+ Δ θ)-sin (Δ θ)]
Enable Iu=I*sin (θ u+ Δ θ) *
Wherein, Iu is the instantaneous value function of phase current, and I is the range value of phase current, and θ u is the back-emf angle, Δ θ
For the phase difference between the phase current signal and the back-emf signal.
It include two components in first error Err1, one is that the exchange that frequency is 2 θ u divides sin (2 θ u+ Δ θ), another
For DC component sin (Δ θ).Filter module 2212 is, for example, low-pass filter (Low-Pass Filter, LPF), for filtering out
The first error Err1In AC compounent to obtain the second error E rr2。
Second error E rr2Are as follows:
Err2=-I/2*sin (Δ θ)
Wherein, I is the range value of phase current, phase of the Δ θ between the phase current signal and the back-emf signal
Difference.
As shown in fig. 7, sin (Δ θ) is approximately equal to Δ θ when Δ θ is smaller.Linear Control module 2213 is used for according to second
Error E rr2Obtain advance angle θLA.Linear Control module 2213 is, for example, PI controller (Proportional Integral
Controller), Linear Control module 2213 is fed back to the second error E rr2, it is referenced as 0, by the way that Linear Control module is arranged
Proportionality coefficient, integral coefficient and minimax clipping in 2213 etc., so that the second error is equal to 0 at steady state,
It realizes and the phase difference θ between phase current signal and the back-emf signal is equal to 0.Wherein, the work of PI controller
Principle is the common knowledge of those skilled in the art, and details are not described herein.
Addition module 2214 is used for advance angle θLAWith back-emf angle, θuIt is added to obtain stator angle.Modulo operation mould
Block 2215 is used to carry out modulo operation to stator angle.Finally obtain stator angle, θ s are as follows:
θ s=(θ u+ θLA) %2 π
Wherein, % is modulo operation, mainly for stator angle, θ s is limited to [0~2 π], is convenient for subsequent calculating.
The three-phase output voltage U that final power cell 213 is obtained according to pulse-width signalu、UvAnd UwIt is respectively as follows:
Uu=V*sin (θ u+ θLA)
Uv=V*sin (θ u+ θLA+120°)
Uw=V*sin (θ u+ θLA+240°)
Wherein, V is input voltage instruction, and θ u is the back-emf angle, θLAFor the advance angle.
Fig. 8 shows the motor control method provided according to a second embodiment of the present invention, as shown in figure 8, motor control method
Include the following steps.
In step s101, three-phase output voltage is obtained with driving motor according to input voltage instruction and stator angle.
Specifically, as shown in figure 3, voltage generating unit 211 instructs Vctrl and stator angle, θ according to input voltagesIt obtains
Three-phase voltage modulated signal Ua, Ub and Uc.Pwm unit 212 obtains arteries and veins according to three-phase voltage modulated signal Ua, Ub and Uc
Wide modulated signal.Power cell 213 obtains three-phase output voltage U according to pulse-width signalu、UvAnd UwWith driving motor 300.
Wherein, power cell 213 includes three phase inverter bridge.Exemplary, power cell 213 is to be made of multiple electronic switches
Three-phase full-bridge inverter, pulse-width signal is by controlling the conducting and cut-off of multiple electronic switches, so that it is defeated to control three-phase
Voltage U outu、UvAnd UwTurn-on sequence and turn-on time to achieve the purpose that revolving speed and the steering of driving motor 300.
In step s 102, advance angle is obtained according to the phase current signal and back-emf angle that flow through motor, and according to super
Anterior angle adjusts stator angle, so that the phase current signal and the same phase change of the back-emf signal.
Specifically, as shown in fig. 6, error calculating module 2211 is according to phase current signal Iu and back-emf angle, θuObtain
One error E rr1.First error Err1Are as follows:
Err1=Iu*cos (θ u)=I*sin (θ u+ Δ θ) * cos (θ u)
=I/2* [sin (2 θ u+ Δ θ)-sin (Δ θ)]
Wherein, Iu is the instantaneous value function of phase current, and I is the range value of phase current, and θ u is the back-emf angle, Δ θ
For the phase difference between the phase current signal and the back-emf signal.
First error Err1In include two components, one be frequency be 2 θ u exchange divide sin (2 θ u+ Δ θ), another
For DC component sin (Δ θ).Filter module 2212 is, for example, low-pass filter (Low-Pass Filter, LPF), is filtered out described
First error Err1In AC compounent to obtain the second error E rr2。
Second error E rr2Are as follows:
Err2=-I/2*sin (Δ θ)
Wherein, I is the range value of phase current, phase of the Δ θ between the phase current signal and the back-emf signal
Difference.
Linear Control module 2213 is, for example, PI controller (Proportional Integral Controller).Linearly
Control module 2213 is fed back to the second error E rr2, it is referenced as 0, passes through the ratio system in setting Linear Control module 2213
Number, integral coefficient and minimax clipping etc. so that the second error is equal to 0 at steady state, namely are realized mutually electricity
The phase difference θ flowed between signal and the back-emf signal is equal to 0.Wherein, the working principle of PI controller is this field skill
The common knowledge of art personnel, details are not described herein.
Addition module 2214 is by advance angle θLAWith back-emf angle, θu.It is added to obtain stator angle.Modulo operation module
2215 pairs of stator angles carry out modulo operation.Finally obtain stator angle, stator angle, θ s are as follows:
θ s=θ u+ θLA%2 π
Wherein, % is modulo operation, mainly for stator angle, θ s is limited to [0~2 π], is convenient for subsequent calculating.
The three-phase output voltage U that final power cell 213 is obtained according to pulse-width signalu、UvAnd UwIt is respectively as follows:
Uu=V*sin (θ u+ θLA)
Uv=V*sin (θ u+ θLA+120°)
Uw=V*sin (θ u+ θLA+240°)
Wherein, V is input voltage instruction, and θ u is the back-emf angle, θLAFor the advance angle.
In conclusion the motor control assembly and control method of the embodiment of the present invention include driving circuit and adjusting circuit.
It adjusts circuit and advance angle is obtained according to the phase current signal and back-emf angle that flow through motor by automatic advance angle calculation method,
And stator angle is adjusted according to advance angle, so that phase current signal and back-emf signal realize same phase change automatically.Not only make
It is maximum to obtain motor output torque, active power is maximum, the efficiency highest of motor, and reduces the noise of motor.This hair simultaneously
The motor control assembly and control method of bright embodiment also achieve the leading angle control in wide operating range, so that motor
Realization realizes efficiency optimization under different loads, different rotating speeds.
In addition, the motor control assembly of the embodiment of the present invention and the leading angle control process of control method do not need in motor
The parameters such as resistance, inductance, therefore be the motor of controllable different parameters with circuit kit, reduce the control cost of motor；
In addition, the operation of this control mode is simple, does not need to can be realized using expensive control chip, further decrease and be produced into
This.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
It is as described above according to the embodiment of the present invention, these embodiments details all there is no detailed descriptionthe, also not
Limiting the invention is only the specific embodiment.Obviously, as described above, can make many modifications and variations.This explanation
These embodiments are chosen and specifically described to book, is principle and practical application in order to better explain the present invention, thus belonging to making
Technical field technical staff can be used using modification of the invention and on the basis of the present invention well.The present invention is only by right
The limitation of claim and its full scope and equivalent.
Claims (24)
1. a kind of motor control assembly, comprising:
Driving circuit, for obtaining three-phase output voltage according to input voltage instruction and stator angle with driving motor；And
Circuit is adjusted, for according to flowing through the phase current signal of the motor and counter electromotive force angle obtains advance angle, and according to
The advance angle adjusts the stator angle, so that the phase current signal and the same phase change of the back-emf signal.
2. motor control assembly according to claim 1, wherein the adjusting circuit includes:
Angle calculation unit, for obtaining the back-emf angle；And
Advance angle computing unit, for obtaining the advance angle, and root according to the phase current signal and the back-emf angle
The stator angle is adjusted according to the advance angle.
3. motor control assembly according to claim 2, wherein the advance angle computing unit includes:
Error calculating module, for obtaining first error according to the phase current signal and the back-emf angle；
Filter module, for filtering out the AC compounent in the first error to obtain the second error；
Linear Control module, for obtaining the advance angle according to second error；And
Addition module, for being added the advance angle with the back-emf angle to obtain the stator angle.
4. motor control assembly according to claim 3, wherein the advance angle computing unit further includes modulo operation mould
Block, for carrying out modulo operation to the stator angle.
5. motor control assembly according to claim 3, wherein the first error Err1Are as follows:
Err1=I/2* [sin (2 θ u+ Δ θ)-sin (Δ θ)]
Wherein, I is the range value of phase current, and θ u is the back-emf angle, and Δ θ is the phase current signal and the back-emf
Phase difference between signal.
6. motor control assembly according to claim 5, wherein the second error E rr2Are as follows:
Err2=-I/2*sin (Δ θ)
Wherein, I is the range value of phase current, phase difference of the Δ θ between the phase current signal and the back-emf signal.
7. motor control assembly according to claim 6, wherein the Linear Control module is missed for adjusting described second
Difference, so that Δ θ=0.
8. motor control assembly according to claim 7, wherein the Linear Control module includes PI controller.
9. motor control assembly according to claim 1, wherein the phase current signal is selected from u phase current, v phase current
And one in w phase current.
10. motor control assembly according to claim 9, wherein the phase current signal is selected from u phase current, described fixed
Subangle θ s=θ u+ θLA, the three-phase output voltage is respectively as follows:
Uu=V*sin (θ u+ θLA)
Uv=V*sin (θ u+ θLA+120°)
Uw=V*sin (θ u+ θLA+240°)
Wherein, V is input voltage instruction, and θ u is the back-emf angle, θLAFor the advance angle.
11. motor control assembly according to claim 2, wherein the adjusting circuit further includes position sensor, is used for
Feedback information is provided to the angle calculation unit according to the rotor-position of the motor, the angle calculation unit is according to
Feedback information obtains the back-emf angle.
12. motor control assembly according to claim 11, wherein the position sensor includes Magnetic position sensing
Device, magnetic sensitive position sensor or photoelectric position sensor.
13. motor control assembly according to claim 1, wherein the driving circuit includes:
Voltage generating unit, for obtaining three-phase voltage modulated signal according to input voltage instruction and the stator angle；
Pwm unit, for obtaining pulse-width signal according to the three-phase voltage modulated signal；And
Power cell, for obtaining the three-phase output voltage according to the pulse-width signal.
14. motor control assembly according to claim 13, wherein the power cell includes three phase inverter bridge.
15. a kind of motor control method, comprising:
Three-phase output voltage is obtained according to input voltage instruction and stator angle with driving motor；And
Advance angle is obtained according to the phase current signal and back-emf angle that flow through the motor, and institute is adjusted according to the advance angle
Stator angle is stated, so that the phase current signal and the same phase change of the back-emf signal.
16. motor control method according to claim 15, wherein the basis flows through the phase current signal of the motor
Advance angle is obtained with back-emf angle, and the stator angle is adjusted according to the advance angle and includes:
First error is obtained according to the phase current signal and the back-emf angle；
The AC compounent in the first error is filtered out to obtain the second error；
The advance angle is obtained according to second error；And
The advance angle is added with the angle of the counter electromotive force to obtain the stator angle.
17. motor control method according to claim 16, wherein the basis flows through the phase current signal of the motor
Advance angle is obtained with back-emf angle, and the stator angle is adjusted according to the advance angle further include: to the stator angle
Carry out modulo operation.
18. motor control method according to claim 16, wherein the first error Err1Are as follows:
Err1=I/2* [sin (2 θ u+ Δ θ)-sin (Δ θ)]
Wherein, I is the range value of phase current, and θ u is the back-emf angle, and Δ θ is the phase current signal and the back-emf
Phase difference between signal.
19. motor control method according to claim 18, wherein the second error E rr2Are as follows:
Err2=-I/2*sin (Δ θ)
Wherein, I is the range value of phase current, phase difference of the Δ θ between the phase current signal and the back-emf signal.
20. motor control method according to claim 19, wherein it is described obtained according to second error it is described advanced
Angle includes: to adjust second error so that Δ θ=0.
21. motor control method according to claim 15, wherein the phase current signal is selected from u phase current, v phase electricity
One in stream and w phase current.
22. motor control method according to claim 21, wherein the phase current signal is selected from u phase current, described fixed
Subangle θ s=θ u+ θLA, the three-phase output voltage is respectively as follows:
Uu=V*sin (θ u+ θLA)
Uv=V*sin (θ u+ θLA+120°)
Uw=V*sin (θ u+ θLA+240°)
Wherein, V is input voltage instruction, and θ u is the back-emf angle, θLAFor the advance angle.
23. motor control method according to claim 16, wherein according to the phase current signal and the back-emf angle
Before degree obtains first error further include:
Feedback information is obtained according to the rotor-position of the motor, the back-emf angle is obtained according to the feedback information.
24. motor control method according to claim 15, wherein described to be obtained according to input voltage instruction and stator angle
Include: to three-phase output voltage
Three-phase voltage modulated signal is obtained according to input voltage instruction and the stator angle；
Pulse-width signal is obtained according to the three-phase voltage modulated signal；And
The three-phase output voltage is obtained according to the pulse-width signal.
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