CN110365261A - The smooth method for starting-controlling of brshless DC motor and control system - Google Patents
The smooth method for starting-controlling of brshless DC motor and control system Download PDFInfo
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- CN110365261A CN110365261A CN201910612365.2A CN201910612365A CN110365261A CN 110365261 A CN110365261 A CN 110365261A CN 201910612365 A CN201910612365 A CN 201910612365A CN 110365261 A CN110365261 A CN 110365261A
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- motor
- brshless
- time
- commutation
- duty cycle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
Abstract
The invention discloses a kind of smooth method for starting-controlling of brshless DC motor and control systems, and wherein control method includes: to obtain the number of pole-pairs of brshless DC motor；Obtain the rated speed of brshless DC motor；It is default duty ratio that PWM duty cycle, which is arranged,；PWM duty cycle is successively increased according to predetermined period；According to PWM duty cycle, rated speed and number of pole-pairs, the commutation time is obtained.The real-time commutation time is determined according to the number of pole-pairs of PWM duty cycle, rated speed and brshless DC motor, by the way that the real-time commutation time is gradually shortened to adapt to rotation speed change, to realize the smooth starting of brshless DC motor.
Description
Technical field
The present invention relates to the brshless DC motor technical fields of no sensor, and in particular to a kind of brshless DC motor is smooth
Method for starting-controlling and control method.
Background technique
Brshless DC motor be widely used in daily life tools, auto industry, aviation, consumer electronics, medical electronic,
The devices such as industrial automation and instrument.
In the position Sensorless Control that brshless DC motor is driven by square wave, since counter electromotive force can not be detected when starting
Open-loop start can only be relied on, only the setting commutation time can be only achieved the purpose of smooth starting in due course when Open-loop start.Currently, public
The commutation time is mostly definite value in the starting method for brushless DC motor known, can not be come with the increase of revolving speed when electric motor starting
Shorten the commutation time, such starting method is vibrated larger when be easy to causeing electric motor starting, starting performance is difficult to meet the requirements, even
Will cause motor vibrating it is serious and can not Successful startup the phenomenon that, will cause the damage of electric machine controller when more serious.
Therefore, to make the smooth starting of brshless DC motor, how the commutation time is scientifically accurately adjusted, is the prior art
Middle urgent problem to be solved.
Summary of the invention
The object of the present invention is to provide a kind of smooth method for starting-controlling of brshless DC motor and control systems, use
The accurate commutation time in real time, to solve brshless DC motor position Sensorless Control under square wave driving in the prior art
The commutation time is mostly definite value in starting method, causes brushless DC electromotor start to vibrate when moving larger, starting performance is difficult to meet
It is required that or even will cause brshless DC motor shake it is serious and can not Successful startup the problem of.
The present invention provides a kind of smooth method for starting-controlling of brshless DC motor, include the following steps:
Step 1: obtaining the number of pole-pairs of brshless DC motor, the rated speed of brshless DC motor；Cycle timer is set
The triggering period be predetermined period；The PWM duty cycle that brshless DC motor is arranged is default duty ratio, the first preset value and the
Two preset values；
Step 2: the commutation time of setting commutation timer is the default commutation time, starts commutation timer and the period is fixed
When device；
Step 3: judge whether cycle timer triggers Interruption, when being, then reset period timer, PWM duty
Than being increased with default increasing value；
Step 4: the timing for calculating the real-time commutation time, and changing commutation timer is the real-time commutation time；
Step 5: judging whether PWM duty cycle is more than or equal to the first preset value, when being, then terminate to start, into closed loop
Program；When no, return step 3.
Optionally, the default increasing value is 0.5%.
Optionally, the circular that the commutation time is preset described in the step 2 is the default duty based on PWM
It is calculated than, number of pole-pairs and rated speed；The circular of real-time commutation time described in the step 4 is based on real-time
The PWM duty cycle of PWM, number of pole-pairs and rated speed calculate, specific formula is as follows:
Wherein, when calculating the default commutation time, TturnTo preset commutation time, TDutyFor the default duty ratio of PWM, p is pole
Logarithm, neFor rated speed；When calculating the real-time commutation time, TturnFor real-time commutation time, TDutyPWM for real-time PWM is accounted for
Empty ratio, p are number of pole-pairs, neFor rated speed.
Optionally, when the load of brshless DC motor is less than the 40% of brshless DC motor nominal load, duty is preset
Than being 0%~1%；
First preset value is 10%~11%；
The predetermined period is 50ms.
Optionally, it when the load of brshless DC motor is more than or equal to the 40% of brshless DC motor nominal load, presets
Duty ratio is 5%~6%；
First preset value is 10%~11%；
The predetermined period is 100ms.
It optionally, further include by magnetic field by the rotor fixed position of brshless DC motor to a before executing the step 1
Axis direction.
The present invention also provides a kind of smooth start control systems of brshless DC motor, comprising:
Number of pole-pairs obtains module, for obtaining the number of pole-pairs of brshless DC motor；
Rated speed obtains module, for obtaining the rated speed of brshless DC motor；
Default duty cycle module, for the PWM duty cycle initial value of brushless DC motor rotor to be arranged；
PWM duty cycle increases module, for successively increasing PWM duty cycle according to predetermined period；
Commutation time computing module, when presetting commutation for calculating according to duty ratio, rated speed and number of pole-pairs is preset
Between；According to PWM duty cycle, rated speed and number of pole-pairs, the real-time commutation time is calculated；
The number of pole-pairs obtains module, rated speed obtains module, default duty cycle module, PWM duty cycle increase module
Pass data to the commutation time computing module.
Beneficial effects of the present invention:
1, the commutation time is determined according to the number of pole-pairs of PWM duty cycle, rated speed and brshless DC motor, by gradually short
The commutation time is to adapt to rotation speed change, to realize the smooth starting of brshless DC motor.
2, the method for starting-controlling for changing the commutation time in real time according to the real-time condition of PWM duty cycle, with Traditional control
Method is compared, and control method of the invention makes starting process smooth, non-jitter phenomenon, starts the success rate for entering closed loop program
It is high.
Detailed description of the invention
The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, and attached drawing is schematically without that should manage
Solution is carries out any restrictions to the present invention, in the accompanying drawings:
Fig. 1 shows a kind of general flow chart of the smooth method for starting-controlling of brshless DC motor of the present invention；
Fig. 2 shows the rotor fixed position schematic diagrames of brshless DC motor of the present invention；
Fig. 3 shows the flow chart of the smooth method for starting-controlling of brshless DC motor at light load of the invention；
Fig. 4 shows the flow chart of the smooth method for starting-controlling of brshless DC motor when overloaded of the invention；
Fig. 5 shows a kind of structure chart of the smooth start control system of brshless DC motor of the present invention；
Fig. 6 shows the flow chart of commutation timer interruption of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The present invention provides a kind of smooth method for starting-controlling of brshless DC motor, as shown in Figure 1, including the following steps:
Step S1: the number of pole-pairs of brshless DC motor, the rated speed of brshless DC motor are obtained；Cycle timer is set
The triggering period be predetermined period；The PWM duty cycle that brshless DC motor is arranged is default duty ratio；
Step S2: the commutation time of setting commutation timer is the default commutation time, starts commutation timer and period
Timer；
Step S3: judging whether cycle timer triggers Interruption, when being, then reset period timer, and PWM duty
Than being increased with default increasing value；
Step S4: calculating the real-time commutation time, and the timing for changing commutation timer is the real-time commutation time；
Step S5: judging whether PWM duty cycle is more than or equal to the first preset value, when being, then terminates to start, into closed loop
Program；When no, return step 3.
Wherein, entire motor starting process, when the growth of PWM duty cycle each cycle once just calculates primary real-time commutation
Between, i.e., the real-time commutation time changes according to the size of PWM duty cycle；Motor is executed every a real-time commutation time and is once changed
Phase；When PWM duty cycle is more than or equal to the first preset value, motor terminates starting process and enters closed loop program.
Further, it is 0.5% that increasing value is preset in step S3, for the selection of revolving speed quiet climb in starting process
0.5%, and 0.5% also facilitates control system to carry out operation.
Further, the circular for presetting the commutation time is based on default duty ratio, number of pole-pairs and specified turn
Speed calculates, specific formula is as follows:
Wherein, TturnTo preset commutation time, TDutyFor the default duty ratio of PWM, p is number of pole-pairs, neFor rated speed
The circular of real-time commutation time is to be calculated based on PWM duty cycle, number of pole-pairs and rated speed, specifically
Formula is as follows:
Wherein, TturnFor real-time commutation time, TDutyFor real-time PWM duty cycle, p is number of pole-pairs, neFor rated speed.
Further, when the load of brshless DC motor is less than the 40% of brshless DC motor nominal load, i.e., brushless
The load of direct current generator belongs to light condition, and presetting duty ratio is 0%~1%；
First preset value is 10%~11%；
The predetermined period is 50ms.When brshless DC motor is in light condition, because load inertia is small when starting, speed
Degree climbs fastly, then needs the increment period of PWM duty cycle short, so setting predetermined period is 50ms.
Further, when the load of brshless DC motor is more than or equal to the 40% of brshless DC motor nominal load, i.e.,
The load of brshless DC motor belongs to heavy condition, and presetting duty ratio is 5%~6%；
First preset value is 10%~11%；
Predetermined period is 100ms.When brshless DC motor is in heavy condition, because load inertia is big when starting, speed
It climbs slow, then needs the increment period of PWM duty cycle long, so setting predetermined period is 100ms.
Wherein, the first preset value is selected as 10%~11%, be because when PWM duty cycle be 10%~11% when, can
Guarantee brshless DC motor have clearly back-emf signal enter closed loop program.
It further, further include by magnetic field by the rotor fixed position of brshless DC motor to a axis before executing step S1
Direction.The rotor-position of the fixed brshless DC motor of prestart, can be improved the success rate of starting.
The present invention also provides a kind of smooth start control systems of brshless DC motor, comprising:
Number of pole-pairs obtains module 51, for obtaining the number of pole-pairs of brshless DC motor；
Rated speed obtains module 52, for obtaining the rated speed of brshless DC motor；
Default duty cycle module 53, for the PWM duty cycle initial value of brushless DC motor rotor to be arranged；
PWM duty cycle increases module 54, for successively increasing PWM duty cycle according to predetermined period；
Commutation time computing module 55, when presetting commutation for calculating according to duty ratio, rated speed and number of pole-pairs is preset
Between；According to PWM duty cycle, rated speed and number of pole-pairs, the real-time commutation time is calculated；
Number of pole-pairs obtains module 51, rated speed obtains module 52, default duty cycle module 53, PWM duty cycle increase mould
Block 54 passes data to commutation time computing module 55.
Embodiment one:
The application process started under the conditions of brshless DC motor is lightly loaded for the present invention.
The parameter selection of brshless DC motor are as follows: 4 pairs of poles of number of pole-pairs, rated speed 3000rpm, voltage rating 24V are specified
Electric current 2.3A, rated power 30W, nominal load 0.1N.m, above-mentioned parameter can be directly from the parameter list of brshless DC motor
It obtains.Load is the aeromodelling aerocraft machine flabellum that radius is 10cm, and load is less than the 40% of brshless DC motor nominal load.
As shown in figure 3, detailed process is as follows:
Step A1: to the A phase winding galvanization of brshless DC motor, make rotor fixed position to a axis direction by magnetic field, by a
Axis direction is adjusted to direction as shown in Figure 2.
Step A2: the triggering period that cycle timer is arranged is predetermined period 50ms, presets duty ratio TDuty_int=
0.5%.
Step A3: the first preset value 10% of setting calculates the default commutation time:
The commutation time that commutation commutation timer is arranged is the default commutation time.Start commutation timer and period timing
Device.
Step A4: judging whether cycle timer triggers Interruption, when being, then enters step A5, when no, then after
It is continuous to wait timing.
Step A5: cycle timer timing value is reset, and PWM duty cycle is increased with default increasing value 0.5%.
Step A6: real-time commutation time T is calculatedcur:
Wherein, TDutyFor real-time PWM duty cycle.And the timing for changing commutation timer is the real-time commutation time.
Step A7: judging whether PWM duty cycle is more than or equal to the first preset value 10%, when being, then terminates to start, and enters
Closed loop program；When no, then return step A4.
The execution of brshless DC motor commutation is completed in the interruption of commutation timer: specific steps are as shown in fig. 6, when changing
The timing of phase timer reaches setting value, and triggering is interrupted；After entering the interrupt, interrupt flag bit is removed first, and is executed brushless straight
Motor commutation is flowed, commutation timer clocking value is removed, finally exits interruption.
As table 1 be cycle timer each time-count cycle when, the corresponding table of PWM duty cycle and commutation time.
Table 1
As shown in table 2,50 light starts are carried out to brshless DC motor using the method for the present invention, wherein 50 successes；0
Secondary failure, success rate is up to 100%.And use drive method to brshless DC motor carry out 50 light-load startings, wherein 43 times at
Function；7 failures, success rate is up to 86%.Brshless DC motor shake is serious in starting process, identification when cannot be introduced into closed loop program
Starting failure.
| Control method | Control method of the present invention | Traditional control method |
| Number of success | 50 | 43 |
| The frequency of failure | 0 | 7 |
| Success rate | 100% | 86% |
Table 2
Embodiment two:
The application process started under brshless DC motor fully loaded transportation condition for the present invention
In embodiment, brshless DC motor parameter are as follows: 2 pairs of poles of number of pole-pairs, rated speed 3000rpm, voltage rating 24V,
Rated current 8.7A, rated power 150W, nominal load 0.8N.m；Load is the industrial use fan flabellum that radius is 60cm, is born
It carries and is greater than the 40% of brshless DC motor nominal load.
As shown in figure 4, detailed process is as follows:
Step B1: to the A phase winding galvanization of brshless DC motor, make rotor fixed position to a axis direction by magnetic field, by a
Axis direction is adjusted to direction as shown in Figure 2.
Step B2: the triggering period that cycle timer is arranged is predetermined period 50ms, presets duty ratio TDuty_int=5%.
Step B3: the first preset value 10% of setting calculates the default commutation time:
The commutation time that commutation commutation timer is arranged is the default commutation time.Start commutation timer and period timing
Device.
Step B4: judging whether cycle timer triggers Interruption, when being, then enters step B5, when no, then after
It is continuous to wait timing.
Step B5: cycle timer timing value is reset, and PWM duty cycle is increased with default increasing value 0.5%.
Step B6: real-time commutation time T is calculatedcur:
Wherein, TDutyFor real-time PWM duty cycle.And the timing for changing commutation timer is the real-time commutation time.
Step B7: judging whether PWM duty cycle is more than or equal to the first preset value 10%, when being, then terminates to start, and enters
Closed loop program；When no, then return step B4.
The execution of brshless DC motor commutation is completed in the interruption of commutation timer: specific steps are as shown in fig. 6, when changing
The timing of phase timer reaches setting value, and triggering is interrupted；After entering the interrupt, interrupt flag bit is removed first, and is executed brushless straight
Motor commutation is flowed, commutation timer clocking value is removed, finally exits interruption.
As table 3 be cycle timer each time-count cycle when, the corresponding table of PWM duty cycle and commutation time.
Table 3
As shown in table 4,50 heavy-load starts are carried out to brshless DC motor using the method for the present invention, wherein 50 successes；0
Secondary failure, success rate is up to 100%.And use drive method to brshless DC motor carry out 50 heavy load startings, wherein 41 times at
Function；9 failures, success rate is up to 82%.Brshless DC motor shake is serious in starting process, identification when cannot be introduced into closed loop program
Starting failure.
| Control method | The present embodiment control method | Traditional control method |
| Number of success | 50 | 41 |
| The frequency of failure | 0 | 9 |
| Success rate | 100% | 82% |
Table 4
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case where various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (6)
1. a kind of smooth method for starting-controlling of brshless DC motor, which comprises the steps of:
Step 1: obtaining the number of pole-pairs of brshless DC motor, the rated speed of brshless DC motor；The touching of cycle timer is set
The hair period is predetermined period；The PWM duty cycle that brshless DC motor is arranged is that default duty ratio, the first preset value and second are pre-
If value；
Step 2: the commutation time of setting commutation timer is the default commutation time, starts commutation timer and period timing
Device；
Step 3: judge whether cycle timer triggers Interruption, when being, then reset period timer, PWM duty cycle with
Default increasing value increases；
Step 4: the timing for calculating the real-time commutation time, and changing commutation timer is the real-time commutation time；
Step 5: judging whether PWM duty cycle is more than or equal to the first preset value, when being, then terminate to start, into closed loop program；
When no, return step 3.
2. the smooth method for starting-controlling of brshless DC motor as described in claim 1, which is characterized in that institute in the step 3
Stating default increasing value is 0.5%.
3. the smooth method for starting-controlling of brshless DC motor as described in claim 1, which is characterized in that institute in the step 2
The circular for stating the default commutation time is to be calculated based on default duty ratio, number of pole-pairs and rated speed；The step 4
Described in real time the circular of commutation time be to be calculated based on PWM duty cycle, number of pole-pairs and rated speed, it is specific public
Formula is as follows:
Wherein, when calculating the default commutation time, TturnTo preset commutation time, TDutyFor the default duty ratio of PWM, p is extremely right
Number, neFor rated speed；When calculating the real-time commutation time, TturnFor real-time commutation time, TDutyFor the PWM duty of real-time PWM
Than p is number of pole-pairs, neFor rated speed.
4. the smooth method for starting-controlling of brshless DC motor as described in claim 1, which is characterized in that work as brshless DC motor
Load be less than brshless DC motor nominal load 40% when,
The default duty ratio is 0%~1%；
First preset value is 10%~11%；
The predetermined period is 50ms.
When the load of brshless DC motor is more than or equal to the 40% of brshless DC motor nominal load,
The default duty ratio is 5%~6%；
First preset value is 10%~11%；
The predetermined period is 100ms.
5. the smooth method for starting-controlling of brshless DC motor as described in claim 1, which is characterized in that executing the step
It further include by magnetic field by the rotor fixed position of brshless DC motor to a axis direction before 1.
6. a kind of smooth start control system of brshless DC motor, which is characterized in that including following module:
Number of pole-pairs obtains module, for obtaining the number of pole-pairs of brshless DC motor；
Rated speed obtains module, for obtaining the rated speed of brshless DC motor；
Default duty cycle module, for the PWM duty cycle initial value of brushless DC motor rotor to be arranged；
PWM duty cycle increases module, for successively increasing PWM duty cycle according to predetermined period；
Commutation time computing module, for calculating the default commutation time according to duty ratio, rated speed and number of pole-pairs is preset；Root
According to PWM duty cycle, rated speed and number of pole-pairs, the real-time commutation time is calculated；
The number of pole-pairs obtains module, rated speed obtains module, default duty cycle module, PWM duty cycle increase module will count
According to passing to the commutation time computing module.
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| CN114362603A (en) * | 2021-11-09 | 2022-04-15 | 江苏科技大学 | Control method for suppressing starting torque pulsation of brushless direct current motor |
| CN117318543A (en) * | 2023-11-28 | 2023-12-29 | 晶艺半导体有限公司 | Starting circuit, driving device and method of direct current brushless motor |
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