CN110957949B - Commutation point position correction method of brushless direct current motor without position sensor based on end voltage method - Google Patents

Commutation point position correction method of brushless direct current motor without position sensor based on end voltage method Download PDF

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CN110957949B
CN110957949B CN201911210988.3A CN201911210988A CN110957949B CN 110957949 B CN110957949 B CN 110957949B CN 201911210988 A CN201911210988 A CN 201911210988A CN 110957949 B CN110957949 B CN 110957949B
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commutation
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direct current
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马瑞卿
张煜辰
彭家勇
李添幸
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Northwestern Polytechnical University
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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 discloses a commutation point position correction method of a sensorless brushless direct current motor based on a terminal voltage method, which is used for solving the technical problem of poor practicability of the commutation point position correction method of the conventional sensorless brushless direct current motor. The technical scheme is that the end voltage is detected in real time, the waveform symmetry of the end voltage is kept, the correction of a phase change point of the motor is realized, the accurate phase change of the motor is ensured, the running performance of the motor is improved, and the leading or lagging phase change and step-out faults of the motor are prevented. The invention does not need to add extra circuits and does not increase the hardware cost of the system. The invention also does not need complex mathematical and logic calculation in software, and has no high requirement on the calculation speed of a microprocessor. Therefore, the method is easy to realize and beneficial to engineering application. The invention is not only suitable for the high-voltage and high-power brushless direct current motor control system, but also suitable for other brushless direct current motor control systems, and has good practicability.

Description

Commutation point position correction method of brushless direct current motor without position sensor based on end voltage method
Technical Field
The invention relates to a method for correcting the phase change point position of a brushless direct current motor without a position sensor, in particular to a method for correcting the phase change point position of a brushless direct current motor without a position sensor based on a terminal voltage method.
Background
The brushless direct current motor (BLDCM) has the advantages of simple control, good speed regulation performance and the like of a direct current motor, and also has the advantages of reliable operation, convenient maintenance and the like of an alternating current motor, so that the application range of the BLDCM extends to various fields of aviation, aerospace, traffic, household appliances and the like.
However, the rotor position sensor, which is the highest probability component of the brushless dc motor, not only reduces the reliability of the brushless dc motor, increases the cost of the motor, but also increases the size of the motor. Therefore, a position sensorless brushless dc motor and a control technique thereof have become hot research in recent years. Although the control technology of the brushless dc motor without the position sensor is mature, the phase-changing process is not as accurate as the brushless dc motor with the position sensor. When the brushless direct current motor is inaccurate in phase conversion, the jitter, the current fluctuation and the system efficiency of the motor are aggravated, and the out-of-step fault of the motor is caused in serious conditions, so that the normal operation of the motor is influenced. Therefore, the proposal of the high-precision commutation control method has important practical significance for improving the running performance of the brushless direct current motor without the position sensor.
The commutation control precision of the brushless DC motor without the position sensor is influenced by the detection precision of the rotor position and the compensation precision of the rotor position. The end voltage method is the most mature and commonly used method for detecting the position of the rotor of the brushless direct current motor without the position sensor. The detection of the zero crossing point of the three-phase voltage of the motor directly determines the accurate judgment of the position of the motor rotor, and further determines whether the motor can be accurately controlled in a phase change manner.
Article of literature "Position signal phase correction of position-sensorless brushless direct current motor based on terminal voltage symmetry[J]Wu minor junction, cycle, Song Fei, report of electrotechnical Commission 2009 (04)' proposes a method for correcting the phase-changing position of a brushless direct current motor without a position sensor based on terminal voltage, and corrects a motor position signal by comparing the terminal voltage at the time of phase-changing point. The literature has problems: (1) when the brushless direct current motor carries out phase conversion in a leading or lagging mode, phase current and terminal voltage have phase difference. (2) Only the magnitude of the terminal voltages at the time of the two commutation points are compared. Because the brushless direct current motor adopts PWM chopping control, the voltage change in a chopping period is extremely large, and the voltage of two points is only measured, so that errors are easy to occur. (3) The torque ripple is large by adopting an HPWM-LPWM modulation mode.
Disclosure of Invention
In order to overcome the defect that the existing correction method for the phase change point position of the brushless direct current motor without the position sensor is poor in practicability, the invention provides a correction method for the phase change point position of the brushless direct current motor without the position sensor based on a terminal voltage method. The method keeps the waveform symmetry of the terminal voltage by detecting the terminal voltage in real time, realizes the correction of the phase change point of the motor, ensures the accurate phase change of the motor, improves the running performance of the motor, and prevents the leading or lagging phase change and step-out faults of the motor. The invention does not need to add extra circuits and does not increase the hardware cost of the system. The invention also does not need complex mathematical and logic calculation in software, and has no high requirement on the calculation speed of a microprocessor. Therefore, the method is easy to realize and beneficial to engineering application. The invention is not only suitable for the high-voltage and high-power brushless direct current motor control system, but also suitable for other brushless direct current motor control systems, and has good practicability.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for correcting the commutation point position of a brushless direct current motor without a position sensor based on a terminal voltage method is characterized by comprising the following steps:
the first step is as follows: in the initialization of system digital control software, initializing an AD module of a DSP;
the second step is that: and reading the AD sampling value at the time when three-quarter duty cycle time is counted in each chopping cycle, and obtaining the three-phase voltage (U) of the motor through calculationa、Ub、Uc) The actual value of (c);
thirdly, the rotating speed of the motor and the bus current are detected in real time, and the duration time t of the terminal voltage spike process caused by the commutation follow current of the motor is calculated through table lookup0And the corresponding electrical angle β;
the fourth step: t passing after the previous commutation to avoid the voltage spike of commutation0After the time, detecting the time when the counter potential of the non-conducting phase in the three phases passes through the zero point, namely the zero crossing point; then a delay of 30 electrical degrees is started to prepare for commutation.
The fifth step: record any one-phase terminal voltage UbU in the interval of 60 degrees +/-alpha + beta-120 degrees +/-alpha + beta and the interval of 240 degrees +/-alpha + beta-300 degrees +/-alpha + beta in each commutation periodbA value; will UbObtaining U by averaging in the range of 60 degrees +/-alpha + beta-120 degrees +/-alpha + betab1In the range of 240 DEG +/-alpha + beta-300 DEG +/-alpha + beta, U is obtained by the same methodb2And calculating to obtain the voltage deviation delta U of the phase B endb＝Ub2-Ub1；
And a sixth step: voltage deviation delta U of phase-B terminalbThe phase error of the position signal of the brushless direct current motor without the position sensor can be reflected. When exactly phase-converted, Δ UbShould be equal to zero; when the phase is advanced, Δ UbIs greater than zero; when lagging commutation, Δ UbIs less than zero; and is delta UbThe magnitude of the absolute value varies with the magnitude of the position signal phase error. Adjusting the compensation angle theta by adopting PI adjustment to obtain the detected motor passing conditionThe actual delay angle required from zero to commutation is 30 deg. -theta. Therefore, the accurate commutation regulation of the brushless direct current motor without position sensor control is realized.
The invention has the beneficial effects that: the method keeps the waveform symmetry of the terminal voltage by detecting the terminal voltage in real time, realizes the correction of the phase change point of the motor, ensures the accurate phase change of the motor, improves the running performance of the motor, and prevents the leading or lagging phase change and step-out faults of the motor. The invention does not need to add extra circuits and does not increase the hardware cost of the system. The invention also does not need complex mathematical and logic calculation in software, and has no high requirement on the calculation speed of a microprocessor. Therefore, the method is easy to realize and beneficial to engineering application. The invention is not only suitable for the high-voltage and high-power brushless direct current motor control system, but also suitable for other brushless direct current motor control systems, and has good practicability.
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is a flow chart of a method for correcting the commutation point position of a brushless dc motor without a position sensor based on an end voltage method according to the present invention.
FIG. 2 is an electrical connection diagram of the method of the present invention.
Fig. 3 shows counter potential zero crossing and phase change points of a brushless dc motor in a background art method.
Fig. 4 is the instant at which the terminal voltage is detected during each chopping cycle in the method of the invention.
Fig. 5 illustrates the voltage spike in the commutation of a brushless dc motor, which is the problem addressed by the present invention.
Fig. 6 is a waveform of terminal voltage and phase current in the case of phase commutation in the related art method.
Fig. 7 is a waveform of terminal voltage and phase current in the phase advance commutation in the related art method.
Fig. 8 is a waveform of terminal voltage and phase current at the time of the hysteresis commutation in the related art method.
FIG. 9 is a phase current and terminal voltage waveform leading the commutation prior to commutation point correction by the method of the present invention.
FIG. 10 is a phase current and terminal voltage waveform leading commutation after commutation point correction by the method of the present invention.
FIG. 11 is a graph of phase current and terminal voltage waveforms for a lagging commutation prior to commutation point correction by the method of the present invention.
Fig. 12 is a phase current and terminal voltage waveform for a lagging commutation after commutation point correction by the method of the present invention.
Detailed Description
The following examples refer to FIGS. 1-2, 4, 9-12.
The most commonly used driving circuit for a brushless dc motor is a three-phase full-bridge power inverter circuit composed of 6 power transistors, and is divided into three bridge arms, each of which is composed of an upper power transistor and a lower power transistor. The middle point of each bridge arm is connected with a phase winding of the three-phase motor, namely a Y-shaped connection method, and the phase change of the brushless direct current motor can be realized by changing the switching state of each switching tube.
In normal operation, the phase current conduction interval of the brushless dc motor should be in phase with the back emf waveform plateau interval in order to generate a constant electromagnetic torque. The commutation point of the brushless DC motor can be obtained by estimating the zero crossing point of the non-conduction counter potential waveform and delaying the time by 30 degrees of electric angle. And the main power inverter carries out phase change at the estimated phase change moment according to the six-step phase change logic, so that the phase change control of the brushless direct current motor without the position sensor is realized.
1. In each chopping cycle, voltage is collected at 3/4 duty cycle.
The method for detecting the voltage of the motor generally comprises the steps of collecting a voltage signal through a voltage division or voltage sensor, filtering the voltage signal, and then sending the filtered voltage signal to an AD port of a DSP for sampling, wherein the interruption of AD sampling is generally triggered by a PWM (pulse width modulation) comparison event. The smaller the electrical time constant of the brushless direct current motor and the driving circuit system is, the faster the terminal voltage changes, that is, the voltage changes greatly in each chopping cycle, which brings great difficulty to detection. The method for detecting the voltage of the motor terminal by using software is to sample the voltage signal of the motor terminal by a sampling resistor or a voltage sensor, filter the voltage signal and send the filtered voltage signal to an AD port of a microprocessor for sampling. Taking the 28xx series of DSPs by Ti as an example, ADC sampling interrupts are typically triggered by PWM compare events. The DSP samples the current of the motor each time when a PWM comparison event occurs, and the current is converted into total delay time t by considering the delay time of AD sampling, the running time of a program and the like, and the real sampling point is at A. Through multiple experiments, the three-quarter duty cycle time is counted in each chopping cycle, and the three-phase voltage U of the motor is measured and recordeda、UbAnd UcThe voltage value of (2).
2. Avoiding the peak voltage in the phase change stage.
During the operation of the brushless direct current motor, peak voltage is easy to appear in the phase change stage, and misjudgment of motor zero crossing point monitoring is easy to cause. And the terminal voltage waveform of the A-phase winding of the brushless direct current motor.
The reason for this voltage spike is because the motor windings behave as resistive-inductive loads. When the power switch tube is turned off, the current in the winding cannot be turned off immediately due to the action of inductance and can be reduced to zero after a period of time, and the current flows in the diode which is connected with the upper bridge arm power tube in the inverter circuit in an anti-parallel mode, so that the voltage of the winding end of the motor is equivalent to the voltage of a bus at the moment; if the power tube diode of the lower bridge arm of the inverter circuit carries out follow current, the voltage of the winding end of the motor is equivalent to the ground. When the motor is subjected to phase change, a large voltage peak often appears, the acquisition and operation of the three-phase voltage of the motor by the DSP are affected, the detection error of a zero crossing point is caused, the error of a phase change point is further caused, the leading or lagging phase change of the motor is caused, and even the step loss is caused.
Taking the C phase of the motor as an example, a C-phase continuous current equation (1) is obtained:
Figure BDA0002298092350000041
wherein, Ua，Ub，UcFor terminal voltages of three-phase windings of electric machines, ia，ib，icIs three-phase current, E is three-phase back electromotive force, and E is equal to Ken，Ra＝Rb＝RcR is three-phase winding resistance, L is three-phase winding inductance, IdThe average value of the bus current of the motor is U, the bus voltage is T, n is the motor rotating speed, p is the number of pole pairs of the motor, and T is the motor commutation period.
When the free-wheeling current of the C-phase falls to zero icObtaining the time t of current drop as 00Is the duration of the spike voltage during commutation freewheeling.
Wherein i is when the free-wheeling current of the C-phase falls to zerocObtaining the time t of current drop as 00Since E is equal to Ken is the same as the formula (I). The fall time of the freewheel current, i.e., the time at which the back emf is likely to be erroneously determined, is determined from the load current and the rotational speed, and is converted into an electrical angle.
Figure BDA0002298092350000051
When the brushless direct current motor runs at high power and high rotating speed, the bus current of the motor is large, the rotating speed is high, and the terminal voltage peak duration caused by follow current is long when the motor is in phase change, so that counter potential zero crossing point detection errors are easily caused, and further the motor phase change errors and even step loss are caused.
3. And correcting the commutation position.
Through the analysis of the relation between the phase of the rotor position signal and the voltage of the non-conducting phase end, the following conclusion is obtained: under the modulation mode of H _ PWM-L _ ON (upper chopping and lower chopping), the voltage deviation of the non-conducting phase end can more accurately reflect the phase deviation of the position signal of the rotor of the brushless direct current motor without the position sensor. The method can be divided into accurate commutation, leading commutation and lagging commutation according to whether the commutation point position of the brushless DC motor is accurate. Where β is the electrical angle at which the above-mentioned peak voltage of the commutation phase lasts, and α is the electrical angle at which the motor commutation leads or lags. Due to inaccurate commutation (leading or lagging), the terminal voltage waveform changes from an approximately trapezoidal waveform to a misshapen, asymmetric waveform.
According to the conclusion, a novel rotor position phase correction method is provided. The method is characterized in that the terminal voltage of the non-conducting phase is controlled to maintain pertinence to be called a control target, the deviation value of the terminal voltage of the non-conducting phase is used as a feedback quantity, the PI regulator is used for regulating, and the zero-crossing point signal delay angle is adjusted in time, so that the purpose of automatically correcting the position signal phase is achieved. The control strategy can effectively correct the rotor position phase deviation in real time, improve the rotor position precision of the brushless direct current motor without the position sensor and improve the running performance of the motor.
A position sensorless brushless direct current motor control system with working voltage of 30V is taken as a target for experimental verification.
In a bus current detection circuit of a three-phase six-state brushless direct current motor, three-phase voltage of the motor passes through a voltage sensor, is filtered and amplified, and is sent to an AD port of a DSP for detection. It is particularly emphasized that the filtering herein only filters out high frequency noise above the chopping frequency.
The control period of the control system software is 25uS (40kHz), the PWM chopping frequency is 10kHz, and TMS320F28335 of TI company is used by the DSP. The electrical connection diagram of the experimental system is shown in fig. 2. The invention relates to a method for correcting the commutation point position of a brushless direct current motor without a position sensor based on a terminal voltage method, which comprises the following steps:
the first step is as follows: inputting three-phase winding resistance and inductance of the motor, obtaining duration of commutation follow current under different rotating speeds and bus currents through program operation, and obtaining a table of commutation follow current duration determined by the rotating speed and the bus current.
The second step is that: initializing an ADC module in the initialization of system control software; setting the A path of PWM and the B path of PWM into a synchronous mode; setting a B-path PWM comparison event as an interrupt trigger event of the ADC: adctrl2.bit. epwm _ ENA _ SEQ1 ═ 1.
The third step: the TMS320F28335 control chip samples the motor terminal voltage, the bus voltage Ud and the bus current Id at three-quarters of each chopping cycle as shown in FIG. 4, reads the sampling value of AD, and obtains the three-phase voltage U of the motor through calculationa、Ub、UcThe actual value of (c).
The fourth step: to avoid the peak voltage caused by the follow current during the phase change of the motor, as shown in fig. 5, a first-order filtering operation is performed on the bus current Id to obtain a filtered bus current Id _ filter, and the duration time t of the terminal voltage peak process caused by the phase change follow current of the motor is calculated by looking up a table according to the bus current Id _ filter and the motor speed n0And calculating to obtain a corresponding electrical angle beta;
the fifth step: and calculating to obtain the average value of the inner end voltage values in the interval of 60 degrees +/-alpha + beta-120 degrees +/-beta 0+ beta 1 and the interval of 240 degrees +/-alpha + beta-300 degrees +/-alpha + beta in each commutation period. Taking phase B as an example, according to the graph shown in FIG. 6, FIG. 7 or FIG. 8, the terminal voltage value U collected in the range of 60 ° ± α + β to 120 ° ± α + β is obtainedbCalculating to obtain an average value Ub _ average 1; then the terminal voltage value U collected in the range of 240 degrees +/-alpha + beta to 300 degrees +/-alpha + beta is measuredbCalculating to obtain an average value Ub _ average 2;
and a sixth step: and obtaining a difference value between Ub _ average2 and Ub _ filter1 to obtain a deta _ Ub, and obtaining an actual delay angle of 30-theta required by the motor from the detected zero crossing point to the commutation by using a compensation angle theta of a PI function PI _ MACRO () which needs to be increased or decreased to correct the commutation position of the motor.
FIGS. 9 and 10 show waveforms of phase current and terminal voltage at the time of leading commutation before and after the method of the present invention; fig. 11 and 12 show waveforms of phase current and terminal voltage at the time of the hysteresis commutation before and after the method of the present invention is used. It can be seen from the figure that the voltage waveform of the terminal of the brushless DC motor control system adopting the method of the invention approaches to trapezoidal wave.

Claims (1)

1. A method for correcting the commutation point position of a brushless direct current motor without a position sensor based on a terminal voltage method is characterized by comprising the following steps:
the first step is as follows: in the initialization of system digital control software, initializing an AD module of a DSP;
the second step is that: and reading the AD sampling value at the time when three-quarter duty cycle time is counted in each chopping cycle, and obtaining the three-phase voltage (U) of the motor through calculationa、Ub、Uc) In factA value;
thirdly, the rotating speed of the motor and the bus current are detected in real time, and the duration time t of the terminal voltage spike process caused by the commutation follow current of the motor is calculated through table lookup0And the corresponding electrical angle β;
the fourth step: after the previous commutation, at t, in order to avoid the commutation voltage spike0After the time, detecting the time when the counter potential of the non-conducting phase in the three phases passes through the zero point, namely the zero crossing point; then, delaying by 30 degrees for electric angle preparation and phase change;
the fifth step: record any one-phase terminal voltage UbU in the interval of 60 degrees +/-alpha + beta-120 degrees +/-alpha + beta and the interval of 240 degrees +/-alpha + beta-300 degrees +/-alpha + beta in each commutation periodbA value; will UbObtaining U by averaging in the range of 60 degrees +/-alpha + beta-120 degrees +/-alpha + betab1In the range of 240 DEG +/-alpha + beta-300 DEG +/-alpha + beta, U is obtained by the same methodb2And calculating to obtain the voltage deviation delta U of the phase B endb＝Ub2-Ub1(ii) a Wherein alpha is the electric angle of the motor phase change lead or lag;
and a sixth step: voltage deviation delta U of phase-B terminalbThe phase error of the position signal of the brushless direct current motor without the position sensor can be reflected; when exactly phase-converted, Δ UbShould be equal to zero; when the phase is advanced, Δ UbIs greater than zero; when lagging commutation, Δ UbIs less than zero; and is delta UbThe magnitude of the absolute value varies with the magnitude of the position signal phase error; adjusting a compensation angle theta by adopting PI adjustment to obtain an actual delay angle of 30-theta required by the motor from the detection of a zero crossing point to commutation; therefore, the accurate commutation regulation of the brushless direct current motor without position sensor control is realized.
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