CN110212819B - Commutation error compensation method for high-speed brushless direct current motor - Google Patents
Commutation error compensation method for high-speed brushless direct current motor Download PDFInfo
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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
- H02P6/12—Monitoring commutation; Providing indication of commutation failure
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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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Abstract
The invention provides a commutation error compensation method for a high-speed brushless direct current motor, which is characterized in that a phase voltage expression of the motor is acquired according to a voltage sensor, and the line back electromotive force of the motor is calculatedAnd the difference expression is an objective function, and the corresponding objective function is set for 6 conduction modes of the motor. Determining two conduction modes before and after a pre-estimated phase change point of the motor and target functions corresponding to the two conduction modes, and selecting the same electrical angle range around the pre-estimated phase change point to perform integral operation on the target functions to obtain corresponding integral values S in the two conduction modes before and after1And S2And the difference Δ S between the two. The relation between the delta S and the error delta theta of the angle of the pre-estimated commutation point and the angle of the actual commutation point can be obtained through the expression of the delta S, so that the commutation error angle is compensated. The invention only needs to know phase voltage information, reduces the number of passive devices and reduces the complexity of the system.
Description
Technical Field
The invention relates to a commutation error compensation method. In particular to a commutation error compensation method for a high-speed brushless direct current motor, which is suitable for the driving control of the high-speed brushless direct current motor.
Background
With the improvement of the performance of power electronic devices and the reduction of the cost, the application of high-performance permanent magnet materials, the development of computer technology and the like, the high-speed brushless direct current motor is widely applied to occasions with high rotating speed, high transmission precision and higher requirements on equipment quality and space, such as a centrifugal air compressor, a vacuum pump, a turbo molecular pump, a flywheel energy storage system, a spindle motor, attitude control and the like.
In order to make the high-speed brushless direct current motor operate smoothly and normally, the position information of the rotor needs to be acquired in real time. The position information of the high-speed brushless direct current motor mainly has two acquisition modes: position sensor-based methods and position sensor-less methods. The position sensor method generally uses a sensor mounted on a rotor shaft, such as an encoder, a resolver, a hall sensor, and the like, to detect position information, but since a high-speed motor rotates at a high speed, the detection accuracy of the sensor is reduced, resulting in an error in position information extraction. The method without the position sensor obtains the position information through the calculation of the voltage, the current and other information when the motor operates through an algorithm in the controller, but the current control method without the position sensor cannot ensure that the obtained position information is absolutely accurate. Therefore, the position information obtained by the two methods has phase errors in different degrees, so that the phase of the commutation point extracted from the position information has errors.
The phase deviation of the commutation point of the high-speed brushless direct current motor causes torque fluctuation, the stable operation of the motor is influenced, and the loss of the motor is increased, so that a proper compensation strategy needs to be selected to correct the phase of the commutation point in the operation process of the motor, and the commutation precision is improved. In order to improve the commutation precision, scholars at home and abroad research and provide effective methods. Among them, there is a method in which a difference between voltages of motor phases before and after a non-commutation phase is used as error information of a commutation point, but this method requires a virtual neutral point to be constructed to obtain a phase voltage, thereby increasing hardware devices of a system. In order to reduce hardware equipment, a learner obtains error information of a commutation point by using a motor phase current, the method analyzes the influence of a leading commutation phase current and a lagging commutation phase current, points out the phenomenon that a non-commutation phase current has sudden change before and after the commutation point under the leading commutation condition and the lagging commutation condition, and therefore, the method can effectively improve the commutation precision but needs a current sensor with higher precision by taking the difference value of the phase currents before and after the commutation point as the deviation value of a system and taking a phase compensation angle as a controlled quantity to establish an adaptive compensation regulator to correct the phase of the commutation point.
Disclosure of Invention
The invention aims to solve the technical problem of providing a commutation error compensation method for a high-speed brushless direct current motor, which can reduce the number of passive devices and the complexity of a system.
The technical scheme adopted by the invention is as follows: a commutation error compensation method for a high-speed brushless DC motor includes the following steps:
1) the method comprises the steps that a high-speed brushless direct current motor system obtains three-phase voltage of a motor by using a voltage sensor at a normal operation stage, a line back electromotive force expression of the brushless direct current motor is constructed, one electrical angle period of the high-speed brushless direct current motor is divided into 6 sectors, each sector corresponds to a conduction mode, a set line back electromotive force is selected to be differenced under each conduction mode to obtain a line back electromotive force difference value function under the conduction mode, and the line back electromotive force difference value function is called as a target function;
2) pre-estimating each phase change point of the motor, determining two conduction modes before and after each pre-estimated phase change point, respectively obtaining corresponding target functions according to the conduction states of three phases under the two conduction modes, selecting equal electric angle ranges around the pre-estimated phase change point for the two conduction modes before and after the pre-estimated phase change point, respectively performing integral operation on the target functions to obtain an integral value difference value delta S of the two target functions, wherein when the error delta theta between the angle of the pre-estimated phase change point and the angle of the actual phase change point is less than 0, the integral value difference value delta S of the target functions is increased along with the increase of the error delta theta between the angle of the pre-estimated phase change point and the angle of the actual phase change point, and the delta S is less than 0; when the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point is greater than 0, the difference value delta S of the integral value of the objective function is increased along with the increase of the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point, and then the difference value delta S is greater than 0;
3) the phase relation between the difference value of the integral values of the two objective functions and the advance or lag between the pre-estimated commutation point and the actual commutation point is obtained by comparing the difference value of the integral values of the two objective functions, so that the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point is determined through the difference value delta S of the integral values of the objective functions, and the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point is compensated through the PI regulator.
Obtaining a line back electromotive force difference value function in the conduction mode in the step 1), firstly, obtaining a three-phase voltage expression by a brushless direct current motor system through a voltage sensor, and subtracting the three-phase voltage expressions two by two to obtain a line back electromotive force expression of the motor; then, for 6 conduction modes corresponding to 6 sectors, selecting a set line back potential expression to construct an objective function, and for 6 conduction modes in one electrical angle period, determining the objective function in each conduction mode as follows:
(1) when the motor is in b+a-，a+b-In the on mode, the objective function is determined to be ebcca；
(2) When the motor is in c+a-，a+c-When in the on mode, the objective function is determined to be eabbc；
(3) When the motor is in b+c-，c+b-When in the on mode, the objective function is determined to be ecaab；
Where, + represents a positive conducting phase and-represents a negative conducting phase.
Step 2) selecting equal electrical angle ranges around the pre-estimated commutation point for the two conduction modes before and after the pre-estimated commutation point, performing integral operation on the target functions respectively, comparing the difference of the integral values of the two target functions, integrating the target functions in the equal electrical angle ranges before and after the pre-estimated commutation point of the motor, and obtaining the integral values S before and after the pre-estimated commutation point respectively1And S2And obtaining the difference value Delta S of the integral value of the target function under the condition that the motor pre-estimation commutation point is advanced as follows:
in the formula, delta theta represents the error between the angle of the pre-estimated phase change point and the angle of the actual phase change point, and E represents the amplitude of the opposite potential; at this time, the difference value deltaS of the integral values of the objective functions is increased along with the increase of delta theta, and deltaS is less than 0;
the difference value delta S between the two values obtained under the condition that the motor pre-estimation commutation point lags is as follows:
at this time, the difference Δ S of the integrated values of the objective functions increases as Δ θ increases, and Δ S > 0.
In step 3), the sign of the difference value Δ S of the integral values of the objective functions reflects the advance or lag condition of the pre-estimated commutation point, and when the sign of the difference value Δ S of the integral values of the objective functions is negative, the pre-estimated commutation point is in the advance condition; when the sign of the difference value delta S of the integral values of the objective functions is positive, pre-estimating a phase change point as a lagging condition; the absolute value of the difference value Delta S of the integral values of the objective functions reflects the phase difference between the pre-estimated phase change point and the actual phase change point, so that the difference value Delta S of the integral values of the objective functions is in a direct proportion relation with the error Delta theta of the angle of the pre-estimated phase change point and the angle of the actual phase change point, and the compensation work of the phase change points is carried out according to the direct proportion relation.
The phase change error compensation method for the high-speed brushless direct current motor has the following beneficial effects:
(1) the method can effectively compensate the commutation error of the high-speed brushless direct current motor and is independent of the acquisition mode of the motor commutation point. Compared with a method for constructing a virtual neutral point, the method can reduce the number of passive devices and reduce the complexity of a system.
(2) Compared with a method of opposite potential, the amplitude of the line back electromotive force difference value is increased by three times compared with the opposite potential, and a line back electromotive force difference value function can be directly obtained by using the voltage sensor in a specific conduction mode without obtaining current information, so that a high-precision current sensor is avoided.
Drawings
FIG. 1 is a block diagram showing the phase commutation error compensation method for a high speed brushless DC motor according to the present invention;
FIG. 2 is an equivalent circuit diagram of a three-phase inverter bridge and a high-speed brushless DC motor;
FIG. 3 is a schematic diagram of the reverse potential, phase current and conduction pattern of a high speed brushless DC motor;
FIG. 4 shows the conduction pattern b in the case of the actual leading commutation point+c-Phase change to+a-；
FIG. 5 shows the conduction pattern b in the case of lagging of the actual commutation point+c-Phase change to+a-。
Detailed Description
The following describes a commutation error compensation method for a high-speed brushless dc motor according to the present invention in detail with reference to the following embodiments and accompanying drawings.
Fig. 1 shows a control block diagram of a high-speed brushless dc motor used in a commutation error compensation method for the high-speed brushless dc motor according to the present invention, and a system hardware portion includes a dc power supply, a high-speed brushless dc motor, a three-phase inverter bridge, and a microcontroller. The microcontroller is responsible for obtaining rotor position information and commutation point signals and further compensating commutation point phases.
The invention discloses a commutation error compensation method for a high-speed brushless direct current motor, which comprises the following steps:
1) the method comprises the steps that a high-speed brushless direct current motor system obtains three-phase voltage of a motor by using a voltage sensor at a normal operation stage, a line back electromotive force expression of the brushless direct current motor is constructed, one electrical angle period of the high-speed brushless direct current motor is divided into 6 sectors, each sector corresponds to a conduction mode, a set line back electromotive force is selected to be differenced under each conduction mode to obtain a line back electromotive force difference value function under the conduction mode, and the line back electromotive force difference value function is called as a target function;
firstly, obtaining a three-phase voltage expression by the brushless direct current motor system through a voltage sensor, and subtracting the three-phase voltage expressions two by two to obtain a line back electromotive force expression of the motor;
as shown in fig. 2, in the equivalent circuit of the three-phase inverter bridge and the brushless dc motor, Si(i is 1,2,3,4,5,6) is an inverter bridge switching tube; di(i is 1,2,3,4,5,6) is a switch tube antiparallel diode; u shapeinIs a direct current power supply. Assuming the motor three-phase stator winding is symmetrical, each phase winding may be equivalently resistive, inductive, and opposing potential series. The terminal voltage equation of brushless DC motor can be expressed as
In the formula ua、ub、ucRespectively the terminal voltages of the three-phase winding; i.e. ia、ib、icRespectively three-phase winding phase currents; e.g. of the typea、eb、ecRespectively are three-phase winding opposite potentials; r, L are winding phase resistance and phase inductance respectively; u. ofNIs the motor neutral voltage.
The line back electromotive force equation of the motor is obtained by subtracting the three formulas in the formula (1) in pairs
In the formula uab、ubc、ucaLine voltages among the three-phase windings are respectively; e.g. of the typeab、ebc、ecaRespectively, the back-emf of the wire between the three phase windings.
For a high-speed brushless DC motor, the phase inductance L is extremely small, so that the differential term containing the phase inductance in the formula (2) is negligible, and the back electromotive force of the wire can be expressed as
As can be seen from equation (3), the line back-emf is not only related to the line voltage, but also to the phase current. To eliminate the current containing term in equation (3), the conduction pattern in one electrical angle period during the operation of the high-speed brushless dc motor is analyzed as follows. The high-speed brushless direct current motor generally adopts a pairwise conduction driving mode, namely, only two phase windings are electrified at each moment, and the third phase winding is suspended.
Secondly, for 6 conduction modes corresponding to 6 sectors, selecting a set line back potential expression to construct an objective function, and determining the objective function under each conduction mode as follows for the 6 conduction modes under one electrical angle period:
(1) when the motor is in b+a-，a+b-In the on mode, the objective function is determined to be ebcca；
(2) When the motor is in c+a-，a+c-When in the on mode, the objective function is determined to be eabbc；
(3) When the motor is in b+c-，c+b-When in the on mode, the objective function is determined to be ecaab；
Where, + represents a positive conducting phase and-represents a negative conducting phase.
As described below, as shown in FIG. 3, one electrical angle period is divided into 6 conduction modes, each with a+b-、a+c-、b+c-、b+a-、c+a-、c+b-And (4) showing. Where "+" indicates that the phase is a positive conducting phase and "-" indicates that the phase is a negative conducting phase. With a+b-The conduction mode is for example, as shown in FIG. 3, ia＝-ib,icIn any of the formulae (3), the current cannot be eliminated at 0. For a high-speed brushless direct current motor, the amplitude of the counter electromotive force is determined by the position of the rotor under steady operation, namely, the waveform of the counter electromotive force can reflect the rotor position information of the motor. As can be seen from the expressions (1) and (3), the motor has a complicated structure because the counter potential and the line counter potential of the motor are related to the voltage and the current of the motor. The following objective function is then constructed:
in the formula eabbc、ebcca、ecaabIs the constructed objective function; u. ofabbc、ubcca、ucaabRespectively the difference of the voltages of the three phase lines.
Also for a+b-For the conducting mode, ia＝-ib,icThe second formula in formula (4) can be substituted by 0
ebcca＝ubcca(5)
As can be seen from equation (5), for a certain conduction mode, the current factor can be eliminated by selecting an appropriate objective function, as shown in table 1. For the objective function, as shown in equation (5), in a certain conduction mode, a specific objective function is only related to voltage, and the objective function can be obtained through the collected voltage, and there is no strict requirement on whether the back electromotive force is ideal, so that it is simple to reflect the magnitude of the commutation error by using the objective function.
TABLE 1 target function selection under different conduction modes
2) Since the method of the present invention does not depend on whether the counter potential waveform is ideal or not, as shown in fig. 4, it is assumed that the counter potential waveform of the high-speed brushless dc motor is a trapezoidal wave. Fig. 4 is a waveform diagram of an objective function in an electrical angle period, where the conduction mode and the objective function before and after each commutation point are different. In conducting mode b+c-Phase change to conduction mode b+a-For example, the analysis is carried out, wherein delta theta is the error between the angle of the pre-estimated phase change point and the angle of the actual phase change point, when delta theta is<When 0, the motor carries out phase change in advance; when Δ θ>0, the motor is switched over. Assuming the current motor leading commutation, θ in FIG. 40To the ideal commutation point, θ-At an electrical angle of 30 degrees before the ideal phase change point, theta+At an electrical angle of 30 deg. after the ideal commutation point. ThetacTo pre-estimate the commutation point, θ1For pre-estimating the electrical angle theta 30 DEG before the phase-change point2For pre-estimating the phase inversion point at 30 electrical degrees. At theta1～θ+Insofar as the brushless motor of fig. 3 has a function of the counter potential of
Wherein E is the magnitude of the opposite potential; theta is the current rotor position angle.
According to the formula (6), b can be obtained+c-、b+a-The equation for the objective function in the two conduction modes is
According to formula (7) at θ1～θcAnd thetac～θ2Respectively integrating the objective function in the two sections of electric angle intervals to obtain
The two conduction modes before and after the pre-estimated commutation point select equal electrical angle ranges around the pre-estimated commutation point, respectively perform integral operation on the target function, compare the difference of the integral values of the two target functions, integrate the target function in the equal electrical angle ranges before and after the pre-estimated commutation point of the motor, respectively obtain the integral values S before and after the pre-estimated commutation point1And S2From equations (8) and (9), the relationship between the integral difference of the objective function before and after the leading commutation and the commutation error angle can be obtained, that is, the integral difference Δ S of the objective function obtained in the case of the motor pre-estimated commutation point leading is:
in the formula, delta theta represents the error between the angle of the pre-estimated phase change point and the angle of the actual phase change point, and E represents the amplitude of the opposite potential;
from the equation (10), when the commutation error does not exceed the estimated commutation point commutation of 120 degrees of electrical angle, the difference value deltaS of the integral value of the objective function increases along with the increase of delta theta, and deltaS is less than 0; and deltas is equal to zero when the motor is commutated at the ideal commutation point.
For the same reason, as shown in the figureShown in 5, in the conducting mode b+c-Phase change to conduction mode b+a-The predicted commutation point of the motor lags behind the actual commutation point Δ θ (Δ θ)>0) In electrical terms, the expression of the objective function is
According to equation (11), at θ1～θcAnd thetac～θ2Respectively integrating the objective function in the two sections of electric angle intervals to obtain
The relation between the integral difference of the objective function before and after the lagging commutation and the error between the angle of the pre-estimated commutation point and the angle of the actual commutation point can be obtained by the formula (12) and the formula (13), that is, the difference value deltaS between the two obtained under the lagging condition of the pre-estimated commutation point of the motor is as follows:
it can be seen from equation (14) that when the error between the angle at the pre-estimated commutation point and the angle at the actual commutation point does not exceed the estimated commutation point of 120 ° electrical angle, the difference Δ S of the integral values of the objective functions increases with the increase of Δ θ, and Δ S >0, and when the motor is in the actual commutation point, Δ S is equal to zero, so that the commutation error of the motor can be compensated by controlling Δ S to converge to zero, thereby implementing accurate commutation.
The method comprises the steps of pre-estimating each phase change point of a motor, determining two conduction modes before and after each pre-estimated phase change point, respectively obtaining corresponding objective functions according to the conduction states of three phases in the two conduction modes, selecting equal electric angle ranges around the pre-estimated phase change point for the two conduction modes before and after the pre-estimated phase change point, respectively performing integral operation on the objective functions to obtain an integral value difference value delta S of the two objective functions, wherein when an error delta theta between an angle of the pre-estimated phase change point and an angle of an actual phase change point is less than 0, the integral value difference value delta S of the objective functions is increased along with the increase of the error delta theta between the angle of the pre-estimated phase change point and the angle of the actual phase change point, and the delta S is less than 0; when the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point is greater than 0, the difference value delta S of the integral value of the objective function is increased along with the increase of the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point, and then the difference value delta S is greater than 0;
3) the phase relation between the difference value of the integral values of the two objective functions and the advance or lag between the pre-estimated commutation point and the actual commutation point is obtained by comparing the difference value of the integral values of the two objective functions, so that the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point is determined through the difference value delta S of the integral values of the objective functions, and the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point is compensated through the PI regulator. Wherein the sign of the difference Δ S of the integral values of the objective functions reflects the advance or retard condition of the pre-estimated commutation point, and when the sign of the difference Δ S of the integral values of the objective functions is negative, the pre-estimated commutation point is in the advance condition; when the sign of the difference value delta S of the integral values of the objective functions is positive, pre-estimating a phase change point as a lagging condition; the absolute value of the difference value Delta S of the integral values of the objective functions reflects the phase difference between the pre-estimated phase change point and the actual phase change point, so that the difference value Delta S of the integral values of the objective functions is in a direct proportion relation with the error Delta theta of the angle of the pre-estimated phase change point and the angle of the actual phase change point, and the compensation work of the phase change points is carried out according to the direct proportion relation.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. A commutation error compensation method for a high-speed brushless DC motor is characterized by comprising the following steps:
1) the method comprises the steps that a high-speed brushless direct current motor system obtains three-phase voltage of a motor by using a voltage sensor at a normal operation stage, a line back electromotive force expression of the brushless direct current motor is constructed, one electrical angle period of the high-speed brushless direct current motor is divided into 6 sectors, each sector corresponds to a conduction mode, a set line back electromotive force is selected to be differenced under each conduction mode to obtain a line back electromotive force difference value function under the conduction mode, and the line back electromotive force difference value function is called as a target function;
2) pre-estimating each phase change point of the motor, determining two conduction modes before and after each pre-estimated phase change point, respectively obtaining corresponding target functions according to the conduction states of three phases under the two conduction modes, selecting equal electric angle ranges around the pre-estimated phase change point for the two conduction modes before and after the pre-estimated phase change point, respectively performing integral operation on the target functions to obtain an integral value difference value delta S of the two target functions, wherein when the error delta theta between the angle of the pre-estimated phase change point and the angle of the actual phase change point is less than 0, the integral value difference value delta S of the target functions is increased along with the increase of the error delta theta between the angle of the pre-estimated phase change point and the angle of the actual phase change point, and the delta S is less than 0; when the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point is greater than 0, the difference value delta S of the integral value of the objective function is increased along with the increase of the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point, and then the difference value delta S is greater than 0;
3) the phase relation between the difference value of the integral values of the two objective functions and the advance or lag between the pre-estimated commutation point and the actual commutation point is obtained by comparing the difference value of the integral values of the two objective functions, so that the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point is determined through the difference value delta S of the integral values of the objective functions, and the error delta theta between the angle of the pre-estimated commutation point and the angle of the actual commutation point is compensated through the PI regulator.
2. The commutation error compensation method for a high-speed brushless direct current motor according to claim 1, wherein the step 1) of obtaining the line back electromotive force difference function in the conduction mode comprises the steps of obtaining three-phase voltage expressions by a voltage sensor of the brushless direct current motor system, and subtracting the three-phase voltage expressions two by two to obtain the line back electromotive force expression of the motor; then, for 6 conduction modes corresponding to 6 sectors, selecting a set line back potential expression to construct an objective function, and for 6 conduction modes in one electrical angle period, determining the objective function in each conduction mode as follows:
(1) when the motor is in b+a-，a+b-In the on mode, the objective function is determined to be ebcca；
(2) When the motor is in c+a-，a+c-When in the on mode, the objective function is determined to be eabbc；
(3) When the motor is in b+c-，c+b-When in the on mode, the objective function is determined to be ecaab；
Where, + represents a positive conducting phase and-represents a negative conducting phase.
3. The commutation error compensation method of claim 1, wherein the step 2) comprises selecting equal electrical angle ranges around the pre-estimated commutation point for the two conduction patterns around the pre-estimated commutation point, performing an integration operation on the objective function, comparing the difference between the integral values of the two objective functions, and integrating the objective function within the equal electrical angle ranges around the pre-estimated commutation point to obtain the integral values S before and after the pre-estimated commutation point1And S2And obtaining the difference value Delta S of the integral value of the target function under the condition that the motor pre-estimation commutation point is advanced as follows:
in the formula, delta theta represents the error between the angle of the pre-estimated phase change point and the angle of the actual phase change point, and E represents the amplitude of the opposite potential; s1And S2The integral values before and after the phase change point are pre-estimated; at this time, the difference Δ S of the integral values of the objective functions increases with an increase in Δ θ, and Δ S<0；
The difference value delta S between the two values obtained under the condition that the motor pre-estimation commutation point lags is as follows:
at this time, the difference Δ S of the integrated values of the objective functions increases as Δ θ increases, and Δ S > 0.
4. The commutation error compensation method of claim 1, wherein in step 3), the sign of the difference Δ S reflects the lead or lag of the pre-estimated commutation point, and when the sign of the difference Δ S is negative, the pre-estimated commutation point is a lead; when the sign of the difference value delta S of the integral values of the objective functions is positive, pre-estimating a phase change point as a lagging condition; the absolute value of the difference value Delta S of the integral values of the objective functions reflects the phase difference between the pre-estimated phase change point and the actual phase change point, so that the difference value Delta S of the integral values of the objective functions is in a direct proportion relation with the error Delta theta of the angle of the pre-estimated phase change point and the angle of the actual phase change point, and the compensation work of the phase change points is carried out according to the direct proportion relation.
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| CN111064396B (en) * | 2019-12-24 | 2022-09-02 | 西北工业大学 | Brushless direct current motor power factor correction method based on virtual neutral point voltage |
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| CN113630047B (en) * | 2021-09-13 | 2024-05-10 | 北京航空航天大学 | Commutation error compensation system and commutation error compensation method for brushless direct current motor |
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