CN112491319A - Vector control current compensation algorithm and vector control model of direct-current brushless motor - Google Patents

Vector control current compensation algorithm and vector control model of direct-current brushless motor Download PDF

Info

Publication number
CN112491319A
CN112491319A CN202011392574.XA CN202011392574A CN112491319A CN 112491319 A CN112491319 A CN 112491319A CN 202011392574 A CN202011392574 A CN 202011392574A CN 112491319 A CN112491319 A CN 112491319A
Authority
CN
China
Prior art keywords
motor
brushless
axis
coordinate system
vector control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011392574.XA
Other languages
Chinese (zh)
Other versions
CN112491319B (en
Inventor
王松
郑宇赛
王丽
俞军涛
宋玉美
李雪莲
王挺挺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University
Original Assignee
Shandong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong University filed Critical Shandong University
Priority to CN202011392574.XA priority Critical patent/CN112491319B/en
Publication of CN112491319A publication Critical patent/CN112491319A/en
Application granted granted Critical
Publication of CN112491319B publication Critical patent/CN112491319B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Abstract

The utility model provides a brushless DC motor vector control current compensation algorithm and vector control model, relates to brushless DC motor's control field, and the current compensation algorithm is: i isde＝Idt，Iqe＝KcIqt，
Figure DDA0002810662990000011
Wherein, IdtFor stator currents of brushless DC motors on the d-axis of a two-phase rotating coordinate system, IqtThe stator current of the brushless DC motor on the q axis of the two-phase rotating coordinate system is shown. The control model is as follows:
Figure DDA0002810662990000012
wherein the content of the first and second substances,
Figure DDA0002810662990000013
the invention is convenient to realize and easy to program, the hardware control structure is the same as the vector control structure of the traditional permanent magnet synchronous motor, and the vector control structure does not need to be the same as the vector control structure of the traditional permanent magnet synchronous motorAnd the additional hardware support is easy to popularize in factory enterprises, and the rotating speed fluctuation is small.

Description

Vector control current compensation algorithm and vector control model of direct-current brushless motor
Technical Field
The invention relates to the field of control of direct current brushless motors, in particular to a vector control current compensation algorithm and a vector control model of a direct current brushless motor, which are convenient to implement and easy to program, have the same hardware control structure as the vector control structure of a traditional permanent magnet synchronous motor, do not need additional hardware support, are easy to popularize in factories and enterprises, and have small rotation speed fluctuation.
Background
As is known, the dc brushless motor is widely used in household appliances, servers, electric vehicles, etc. due to its advantages of high efficiency, etc. However, the disadvantages of torque and rotational speed oscillation in the dc brushless motor limit its popularization in high precision applications. The traditional commutation method of a brushless dc motor is 2-2 commutation or 3-3 commutation, which is discrete and discontinuous.
Documents t.tarczewski, and l.m.grzesiak, "Constrained State Feedback Speed Control of PMSM Based on Model Predictive application," IEEE Transactions on Industrial Electronics, vol.63, No.6, pp.3867-3875, 2016.
The motor classical book document b.k.bose, "Modern Power Electronics and AC drives," 1987 specifies 2-2 commutation or 3-3 commutation and proposes the classical dynamic model of a dc brushless motor when vector control is not considered:
Figure BDA0002810662970000011
although the direct current brushless motor model is accurate, the direct current brushless motor model is relatively complex and has large rotation speed oscillation. The discontinuity of commutation is one of the reasons for the Torque and Speed oscillation of the dc brushless Motor, so there are many documents in which efforts are made to improve commutation, and reference may be made to the journal of Design of Speed Control and Reduction of Torque Ripple Factor in BLdc Motor Using spacer Based Controller in the IEEE database.
Due to the shortcomings of conventional commutation of dc brushless motors, technicians have attempted to apply vector control to dc brushless motors. The vector control has a decoupling characteristic in the motor control. The decoupling characteristic means that independent control of electromagnetic torque and excitation of the motor can be realized by controlling torque current and excitation current respectively. Meanwhile, vector control can improve the efficiency of the motor, promote energy conservation and emission reduction, reduce the complexity of a motor model and reduce the torque and rotation speed fluctuation of the motor, so the vector control method is widely used in induction motors (asynchronous motors) and sine wave permanent magnet synchronous motors. Document a.v. sant, and k.r. rajagopal, "PM Synchronous Motor Speed Control Using Hybrid Fuzzy-PI With Novel Switching Functions," IEEE Transactions on Magnetics, vol.45, No.10, pp.4672-4675, 2009, and document k.d. carey, n.zimmerman, and c.ababei, "Hybrid field oriented and direct torque Control for sensor BLDC motors used in analog loops," IET Power Electronics, vol.12, No.3, pp.438-449, 2019, and li k, wu, song, "STM based dc Motor vector Control system 32", electronic and package, pp.29, pp.09-29, and dc Motor vector Control Using brushless motors as vector Control (vector Control under brushless Motor vector Control) are described:
Figure BDA0002810662970000021
documents a.g.d.castro, w.c.a.pereira, t.e.p.d.almeida, c.m.r.d.oliveira, j.r.b.d.a.monteiiro, and a.a.d.oliveira, "Improved fine Control-Set Model-Based Direct Power Control of BLDC Motor With Reduced Torque Ripple," IEEE Transactions on Industry Applications, vol.54, No.5, pp.4476-4484, 2018. However, the method needs to collect the back electromotive force of the brushless direct current motor, so that the structure is more complex than the traditional structure, the cost is high, and the method is not suitable for application.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides a vector control current compensation algorithm and a vector control model of a direct current brushless motor, which are convenient to implement, easy to program, the hardware control structure of which is the same as that of the traditional permanent magnet synchronous motor, do not need additional hardware support, are easy to popularize in factories and enterprises, and have small rotation speed fluctuation.
The technical scheme adopted by the invention for solving the defects of the prior art is as follows:
the vector control current compensation algorithm of the direct current brushless motor is characterized in that equivalent stator current I of the direct current brushless motor on a two-phase rotating coordinate system d axisde＝IdtEquivalent stator current I of the DC brushless motor on the q axis of the two-phase rotating coordinate systemqe＝
Figure BDA0002810662970000022
Wherein, IdtFor stator currents of brushless DC motors on the d-axis of a two-phase rotating coordinate system, IqtThe stator current of the brushless DC motor on the q axis of the two-phase rotating coordinate system is shown. I.e. IdtIs the stator current, I, of the DC brushless motor on the d axis of a two-phase rotating coordinate system in the traditional vector control method of the DC brushless motorqtThe method is a stator current of a brushless direct current motor on a q axis of a two-phase rotating coordinate system in a traditional brushless direct current motor vector control method.
A vector control model of a brushless DC motor is characterized in that the model is as follows:
Figure BDA0002810662970000023
wherein the content of the first and second substances,
Figure BDA0002810662970000024
in the above formula, IdeEquivalent stator current I of the improved DC brushless motor on the d axis of a two-phase rotating coordinate systemqeThe equivalent stator current, omega, of the improved DC brushless motor in the q axis of the two-phase rotating coordinate systemeSynchronous electrical angular velocity, R, for a brushless DC motorsIs the stator resistance of the brushless DC motor, L is the equivalent phase inductance of the stator of the brushless DC motor, psirIs the rotor flux linkage of the DC brushless motor, p is the pole pair number of the DC brushless motor, J is the rotational inertia of the DC countless motor, UdFor the stator voltage, U, of the brushless DC motor on the d-axis of a two-phase rotating coordinate systemqFor the stator voltage, T, of a brushless DC motor on the q-axis of a two-phase rotating coordinate systemLFor loading torque of DC brushless motor, IdtFor stator currents of a conventional DC brushless motor on the d-axis of a two-phase rotating coordinate system, IqtThe stator current of a traditional DC brushless motor on the q axis of a two-phase rotating coordinate system is shown.
A vector control model of a brushless DC motor is characterized in that the model is as follows:
Figure BDA0002810662970000031
wherein
Figure BDA0002810662970000032
Figure BDA0002810662970000033
In the above formula, IdtFor stator currents of a conventional DC brushless motor on the d-axis of a two-phase rotating coordinate system, IqtFor the stator current, omega, of the traditional DC brushless motor on the q axis of a two-phase rotating coordinate systemeSynchronous electrical angular velocity, R, for a brushless DC motorsIs the stator resistance of the brushless DC motor, L is the equivalent phase inductance of the stator of the brushless DC motor, psirIs the rotor flux linkage of the DC brushless motor, p is the pole pair number of the DC brushless motor, J is the rotational inertia of the DC countless motor, UdFor the stator voltage, U, of the brushless DC motor on the d-axis of a two-phase rotating coordinate systemqFor the stator voltage, T, of a brushless DC motor on the q-axis of a two-phase rotating coordinate systemLFor the purpose of loading the torque of the dc brushless motor,
Figure BDA0002810662970000034
after the current obtained in the traditional vector control method of the direct current brushless motor is compensated, the direct current brushless motor can reduce the rotating speed oscillation under the condition that the difference between the output torque and the target torque is smaller, and the method is more suitable for being applied to the industries with higher requirements on the rotating speed oscillation, such as robot control, electric vehicles and the like. The method has the advantages of simple algorithm, convenient realization and easy programming, the hardware control structure is the same as the vector control structure of the traditional permanent magnet synchronous motor, no additional hardware support is needed, and the method is easy to popularize in factories and enterprises.
Drawings
Fig. 1 is a diagram illustrating four different motor models for controlling the same dc brushless motor, which outputs electromagnetic torque.
Fig. 2 is an enlarged view of a period from 0 to 0.0432s in fig. 1, and is an enlarged view of a start interval of each dc brushless motor.
Fig. 3 is an enlarged view of the period from 0.4742 s to 0.4939s in fig. 1, and is an enlarged view of the electromagnetic torque when the load of each dc brushless motor is stable.
Fig. 4 is a diagram illustrating an error between an actual output rotation speed and a predetermined rotation speed of each dc brushless motor in three different model-based dc brushless motor control methods.
Fig. 5 is a diagram of actual output rotation speed of each dc brushless motor in three different model-based dc brushless motor control methods.
Detailed Description
The theory of the invention is as follows:
the dynamic model of the dc brushless motor obeys the following assumptions: iron loss and magnetic saturation are negligible; the stator windings are centralized, symmetrical and wye connected.
In addition, it is assumed that the back electromotive force of the dc brushless motor is a trapezoidal wave with respect to the rotor position:
Figure BDA0002810662970000041
equation (1) shows that A is the counter electromotive force, and B and C are similarly derived from equation (1), except that the phase shifts are respectively
Figure BDA0002810662970000049
And
Figure BDA00028106629700000410
from M.P.Maharajan, and S.A.E.Xavier, "Design of Speed Control and Reduction of Torque Ripple Factor in BLdc Motor Using Spider Based Controller," IEEE Transactions on Power Electronics, vol.34, No.8, pp.7826-7837, 2019.
Theoretically, the stator current of the direct current brushless motor is trapezoidal wave; the a-phase stator current should therefore conform to equation (2):
Figure BDA0002810662970000042
the stator currents of the B-phase and the C-phase can be derived from the equation (2), and the difference between them is that the phase offsets are respectively
Figure BDA0002810662970000043
And
Figure BDA0002810662970000044
if the trapezoidal wave Ta (θ) in the formula (2) can be converted into the sine wave sa (t), the vector control can be applied to the dc brushless motor. First, the square wave and sine wave can be viewed as two separate subspaces of the Hilbert space. Then, the connection between them can be established by L2 norm [0, 2 π ] isomorphism:
Figure BDA00028106629700000411
Figure BDA0002810662970000045
substituting the formula (2, 3) into the formula (4), ItrpAnd IsinThe relationship between can be deduced:
Figure BDA0002810662970000046
considering that the back electromotive force and the stator current of the dc brushless motor are both trapezoidal waves, we can obtain formula (6) according to the classical mechanical equation of the dc brushless motor and formula (5):
Figure BDA0002810662970000047
equation (6) illustrates I that we can obtain on the vector control of the conventional DC brushless motorqtMultiplied by a compensation factor
Figure BDA0002810662970000048
A novel vector control of the dc brushless motor can be realized. Since the conversion from trapezoidal waves to sine waves is performed in the L2 space, the conversion between them is reversible. In other words, the transformation between them is a linear transformation, which ensures that the trapezoidal wave contains the same power as the sinusoidal wave. Considering that the electromagnetic torque of the machine is electromagnetic workThe derivative of the rate with respect to the electrical angle θ, and therefore the trapezoidal and sinusoidal waves, contain the same power and electromagnetic torque in the novel transformation, which is also the significance of the transformation proposed by the present invention.
By combining the derivation of the above formula, a current compensation algorithm in vector control of a brushless DC motor, namely, the equivalent stator current I of the brushless DC motor on the d axis of a two-phase rotating coordinate systemde＝IdtEquivalent stator current of DC brushless motor on q axis of two-phase rotating coordinate system
Figure BDA0002810662970000051
Wherein, IdtFor stator currents of brushless DC motors on the d-axis of a two-phase rotating coordinate system, IqtThe stator current of the brushless DC motor on the q axis of the two-phase rotating coordinate system is shown. I.e. IdtIs the stator current, I, of the DC brushless motor on the d axis of a two-phase rotating coordinate system in the traditional vector control method of the DC brushless motorqtThe method is a stator current of a brushless direct current motor on a q axis of a two-phase rotating coordinate system in a traditional brushless direct current motor vector control method.
The Clarke and Park transformation equations in classical vector control are as follows:
Figure BDA0002810662970000052
Figure BDA0002810662970000053
when the compensation coefficient is adjusted
Figure BDA0002810662970000054
In conjunction with equation (8), the compensated Park is transformed into:
Figure BDA0002810662970000055
the motor differential equation of the traditional direct current brushless motor under the vector control is as follows:
Figure BDA0002810662970000056
according to the formula (9), the d-q axis equivalent current in the dc brushless motor is:
Figure BDA0002810662970000057
wherein IdAnd IqRepresenting d-q axis current of the dc brushless motor before compensation.
The compensation method in formula (11) of the present invention is very simple, practical and easy to implement.
Obtaining the vector control model of the brushless direct current motor according to the formula (10) and the formula (11):
Figure BDA0002810662970000058
and the vector control model of the traditional direct current brushless motor is as follows:
Figure BDA0002810662970000059
from equations (11) and (13), equation (12) can be rewritten as:
Figure BDA0002810662970000061
Figure BDA0002810662970000062
Figure BDA0002810662970000063
wherein
Figure BDA0002810662970000064
Figure BDA0002810662970000065
When K iscWhen 1, equation (14) is the same as equation (13). Considering that the counter electromotive force and the current of the DC brushless motor are both trapezoidal waves, and the counter electromotive force and the current of the permanent magnet synchronous motor are both sine waves, the formula (13) which is obtained by directly applying vector control to the DC brushless motor and is the same as the motor equation applied to the permanent magnet synchronous motor by the vector control is obviously inaccurate, and the new DC brushless motor vector control motor equation (14) provided by the invention considers the relation between the trapezoidal waves and the sine waves on the basis of the motor equation (13) (the motor equation is embodied by increasing delta1And Δ2) Therefore, the new DC brushless motor vector control model is more accurate than the traditional DC brushless motor vector control model.
The method for the vector control current compensation algorithm of the direct current brushless motor, which is provided by the invention, is specifically applied to the vector control of the direct current brushless motor, and comprises the following steps:
for speed servo, the vector control system of the DC brushless motor is a double closed-loop structure comprising a rotating speed loop and an exciting current IdeRing and an electromagnetic torque current IqeA ring; although there are three closed loops in total, the overall structure can be divided into a rotation speed loop and a current loop, so that the control structure is also called a double closed loop structure; the controllers in the dual closed loop configuration are typically PID controllers.
In the vector control system of the brushless direct current motor, the given rotating speed of the rotating speed ring is an external given rotating speed which is related to actual needs and can be manually changed; the exciting current of the exciting current loop is also given externally, the given value is 0 under the normal condition, and if weak magnetism is needed, a negative value can be given; i of electromagnetic torque current loopqeThe given is connected with the output of the rotating speed ring; the regulation of PID controller parameters is well known.
The rotating speed of the rotating speed loop and the current of the current loop in the vector control system of the direct current brushless motor need feedback quantity besides the given numerical values; the feedback of the rotating speed loop requires a rotating speed sensor to measure the rotating speed of the direct current brushless motor, or the position information of the rotor is derived according to the encoder to obtain the rotating speed of the direct current brushless motor, or the position information obtained according to the non-inductive technology is derived to obtain the rotating speed; the feedback steps of the two current loops are as follows: firstly, a current sensor is used for measuring three-phase current I of a stator of the direct current brushless motora，IbAnd IcThen, Clarke transformation and Park transformation are carried out on the I and the I is obtaineddtAnd IqtFinally, the I of the equivalent stator current on the d-q axis of the improved two-phase rotating coordinate system is calculated by using the vector control current compensation algorithm of the brushless DC motor provided by the inventiondeAnd Iqe，
Figure BDA0002810662970000071
Figure BDA0002810662970000072
Handle IdeAnd IqeRespectively fed back to an excitation current loop and an electromagnetic torque current loop for feedback.
The outputs of the three controllers in the double closed loop in the dc brushless motor vector control system are introduced as follows: the output of the rotating speed ring is connected to the electromagnetic torque current ring as IqeA given value of (d); the output of the exciting current loop is UdThe output of the electromagnetic torque current loop is Uq。UdAnd UqAfter coordinate transformation and SVPWM processing, a PWM signal is sent out to drive an inverter to obtain a three-phase voltage signal Ua，UbAnd UcThey are respectively connected into three phases of the stator of the brushless DC motor, and the process is known.
The vector control model of the brushless direct current motor can be applied to the design of some brushless direct current motor controllers, for example, the design of a prediction controller needs to use the brushless direct current motor model, but the traditional brushless direct current motor model is difficult to use in the design of the controller, and at the moment, the vector control model of the brushless direct current motor provided by the invention can be used for designing the controller.
The vector control model of the direct current brushless motor can be applied to direct current brushless motor simulation and used as a mathematical model of the direct current brushless motor, and if the traditional model is inconvenient to build, the vector control model of the direct current brushless motor can be used for simulating the direct current brushless motor and used as a control object.
When using vector control, the classical dynamic model of a dc brushless motor is:
Figure BDA0002810662970000073
wherein E isa，Eb，EcIs a back electromotive force of a trapezoidal wave, and they have each other
Figure BDA0002810662970000075
The angle difference of (a).
Comparing equation (12) with equation (15), equation (12) is more concise and clearer, and we proceed further comparisons below in MATLAB/Simulink simulations for better comparison of them and some other approaches to dc brushless motor modeling.
MATLAB/SIMULINK simulation analysis
The parameters of the brushless DC motor in the simulation are as follows:
table 1: parameters of a DC brushless motor
Figure BDA0002810662970000074
In order to avoid the influence of a closed-loop controller on the validity of a verification motor model, different direct current brushless motor models are verified in an open-loop mode. From these models, we need to consider not only their accuracy but also complexity, and then choose the optimal motor model from them.
At 0.3 seconds, a load of 10N.M was applied to the dc brushless motor.
As shown in fig. 1 to 3, the electromagnetic torque Tel of the standard dc brushless motor is obtained according to the formula (15), which is used to simulate the actual torque of the dc brushless motor.
Documents a.g.d.castro, w.c.a.pereira, t.e.p.d.almeida, c.m.r.d.oliveira, j.r.b.d.a.monteiiro, and a.a.d.oliveira, "Improved fine Control-Set Model-Based Direct Power Control of BLDC Motor With Reduced Torque Ripple," IEEE Transactions on Industry Applications, vol.54, No.5, pp.4476-4484, 2018, propose a method Based on active Power P and reactive Power Q to Model and Control a brushless dc Motor, the equivalent electromagnetic Torque of the brushless dc Motor calculated by this method being Te 2.
The electromagnetic torque Te3 is calculated by the formula (13), and is an electromagnetic torque obtained by a conventional dc brushless motor vector control model.
The electromagnetic torque Te4 is calculated by the formula (12), and is the electromagnetic torque obtained by using the vector control model of the dc brushless motor according to the present invention.
Comparative figures of Te1, Te2, Te3 and Te4 are shown in FIGS. 1-3.
As can be seen by comparing Te3 and Tel in fig. 1-3, the difference between them is relatively large, which means that the motor model obtained by using vector control directly for the dc brushless motor cannot accurately reflect the actual dc brushless motor operation performance (dynamic time and loading time). The difference between Te2 and Te1 is minimal, but this approach adds cost in practical applications in view of the additional sensors and peripheral circuitry required and the complex calculations required. The difference between Te4 and Te1 is small.
The specific control mode is different for different models of the dc brushless motor. Taking the rotation speed control as an example, for a traditional direct current brushless motor model, the rotation speed current double closed-loop control based on 2-2 phase commutation or 3-3 phase commutation is a known control mode, and is marked as C1; for a model obtained by directly using vector control to a direct current brushless motor, the control mode is the same as the known vector control double closed-loop control structure of the permanent magnet synchronous motor and is marked as C2; for the dc brushless motor vector control model of the present invention, the control method refers to the aforementioned "method in which the dc brushless motor vector control current compensation algorithm is specifically applied to the dc brushless motor vector control", which is denoted as C3.
Fig. 4 and 5 are graphs comparing the effects of the three different dc brushless motor speed controls, and are graphs of the output speed data of the dc brushless motor and the error data between the output speed and the predetermined speed.
It can be seen from fig. 4 and 5 that when the C2 control method is used, there is a large error between the stable rotation speed of the motor and the given rotation speed of 600rpm, and when the improved C3 method and the conventional C1 method are used to control the dc brushless motor, the error between the stable rotation speed and the given rotation speed is small, but after amplification, it can be seen that when the C3 method is used, the rotation speed oscillation is obviously smaller than that of the conventional C1 method.
Description of the symbols
Figure BDA0002810662970000081

Claims (3)

1. The vector control current compensation algorithm of the direct current brushless motor is characterized in that equivalent stator current I of the direct current brushless motor on a two-phase rotating coordinate system d axisde＝IdtEquivalent stator current I of the DC brushless motor on the q axis of the two-phase rotating coordinate systemqe＝KcIqt，
Figure FDA0002810662960000011
Wherein, IdtFor stator currents of brushless DC motors on the d-axis of a two-phase rotating coordinate system, IqtThe stator current of the DC brushless motor on the q axis of the two-phase rotating coordinate system is obtained; i.e. IdtFor the traditional vector control method of the DC brushless motor, the DC brushless motor is in two phasesStator current on d-axis of rotating coordinate system, IqtThe method is a stator current of a brushless direct current motor on a q axis of a two-phase rotating coordinate system in a traditional brushless direct current motor vector control method.
2. A vector control model of a brushless DC motor is characterized in that the model is as follows:
Figure FDA0002810662960000012
wherein the content of the first and second substances,
Figure FDA0002810662960000013
in the above formula, IdeEquivalent stator current I of the improved DC brushless motor on the d axis of a two-phase rotating coordinate systemqeThe equivalent stator current, omega, of the improved DC brushless motor in the q axis of the two-phase rotating coordinate systemeSynchronous electrical angular velocity, R, for a brushless DC motorsIs the stator resistance of the brushless DC motor, L is the equivalent phase inductance of the stator of the brushless DC motor, psirIs the rotor flux linkage of the DC brushless motor, p is the pole pair number of the DC brushless motor, J is the rotational inertia of the DC countless motor, UdFor the stator voltage, U, of the brushless DC motor on the d-axis of a two-phase rotating coordinate systemqFor the stator voltage, T, of a brushless DC motor on the q-axis of a two-phase rotating coordinate systemLFor loading torque of DC brushless motor, IdtFor stator currents of a conventional DC brushless motor on the d-axis of a two-phase rotating coordinate system, IqtThe stator current of a traditional DC brushless motor on the q axis of a two-phase rotating coordinate system is shown.
3. A vector control model of a brushless DC motor is characterized in that the model is as follows:
Figure FDA0002810662960000014
wherein
Figure FDA0002810662960000015
Figure FDA0002810662960000016
Figure FDA0002810662960000017
In the above formula, IdtFor stator currents of a conventional DC brushless motor on the d-axis of a two-phase rotating coordinate system, IqtFor the stator current, omega, of the traditional DC brushless motor on the q axis of a two-phase rotating coordinate systemeSynchronous electrical angular velocity, R, for a brushless DC motorsIs the stator resistance of the brushless DC motor, L is the equivalent phase inductance of the stator of the brushless DC motor, psirIs the rotor flux linkage of the DC brushless motor, p is the pole pair number of the DC brushless motor, J is the rotational inertia of the DC countless motor, UdFor the stator voltage, U, of the brushless DC motor on the d-axis of a two-phase rotating coordinate systemqFor the stator voltage, T, of a brushless DC motor on the q-axis of a two-phase rotating coordinate systemLAnd loading torque for the DC brushless motor.
CN202011392574.XA 2020-12-01 2020-12-01 Vector control current compensation algorithm and vector control model of direct-current brushless motor Active CN112491319B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011392574.XA CN112491319B (en) 2020-12-01 2020-12-01 Vector control current compensation algorithm and vector control model of direct-current brushless motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011392574.XA CN112491319B (en) 2020-12-01 2020-12-01 Vector control current compensation algorithm and vector control model of direct-current brushless motor

Publications (2)

Publication Number Publication Date
CN112491319A true CN112491319A (en) 2021-03-12
CN112491319B CN112491319B (en) 2022-09-09

Family

ID=74939704

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011392574.XA Active CN112491319B (en) 2020-12-01 2020-12-01 Vector control current compensation algorithm and vector control model of direct-current brushless motor

Country Status (1)

Country Link
CN (1) CN112491319B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1264212A (en) * 1999-01-27 2000-08-23 松下电器产业株式会社 No-position sensor motor control device
CN102201771A (en) * 2010-03-23 2011-09-28 株式会社东芝 Motor control device and electrical equipment with motor controlled thereby
CN103414427A (en) * 2013-08-12 2013-11-27 南京工程学院 Brushless direct current motor control method
CN104767435A (en) * 2015-04-27 2015-07-08 山东大学 Real-time sensorless brushless motor phase change phase correction method based on voltage of neutral points
CN107659230A (en) * 2016-07-26 2018-02-02 广州极飞科技有限公司 motor vector control method, device and aircraft

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1264212A (en) * 1999-01-27 2000-08-23 松下电器产业株式会社 No-position sensor motor control device
CN102201771A (en) * 2010-03-23 2011-09-28 株式会社东芝 Motor control device and electrical equipment with motor controlled thereby
CN103414427A (en) * 2013-08-12 2013-11-27 南京工程学院 Brushless direct current motor control method
CN104767435A (en) * 2015-04-27 2015-07-08 山东大学 Real-time sensorless brushless motor phase change phase correction method based on voltage of neutral points
CN107659230A (en) * 2016-07-26 2018-02-02 广州极飞科技有限公司 motor vector control method, device and aircraft

Also Published As

Publication number Publication date
CN112491319B (en) 2022-09-09

Similar Documents

Publication Publication Date Title
Wu et al. A permanent magnet motor drive without a shaft sensor
CN111431460B (en) Permanent magnet synchronous motor sensorless model prediction flux linkage control method
Jung et al. Diminution of current-measurement error for vector-controlled AC motor drives
CN110022106B (en) Permanent magnet synchronous motor position sensorless control method based on high-frequency signal injection
CN101615876B (en) Timing control system and method for non-salient pole permanent magnet synchronous motor
CN101557193B (en) Vector control method of non-sinusoidal counter-electromotive-force surface AC magnetoelectric machine
Kumar et al. An enhanced linear active disturbance rejection controller for high performance pmbldcm drive considering iron loss
CN104852658A (en) Permanent magnet synchronous motor decoupling vector control device in two-phase stationary coordinate system and method thereof
Chou et al. Development of robust current 2-DOF controllers for a permanent magnet synchronous motor drive with reaction wheel load
Yan et al. Sensorless control of PMSMs based on parameter-optimized MRAS speed observer
CN112491319B (en) Vector control current compensation algorithm and vector control model of direct-current brushless motor
CN114157193B (en) Optimization interpolation type synchronous motor torque pulsation suppression control method and system
CN116365937A (en) Control method for high-speed permanent magnet synchronous motor without position sensor
Liu et al. A new sliding mode control for permanent magnet synchronous motor drive system based on reaching law control
Qian et al. Periodic torque ripples minimization in PMSM using learning variable structure control based on a torque observer
Prajapati et al. Sensor-less control of permanent magnet synchronous motor
CN114465543A (en) Permanent magnet synchronous motor position sensorless control method
Shen et al. Seamless transition strategy for wide speed-range sensorless IPMSM drives with a virtual q-axis inductance
Jing et al. Optimization of speed loop control technology for permanent magnet synchronous motor servo system
Chiricozzi et al. An integrated electromechanical actuator for high dynamic pump application
CN117081448B (en) High-precision dynamic modeling method for built-in permanent magnet synchronous motor
CN114400935B (en) Induction motor compound control method based on rapid finite time control
CN113765456B (en) Voltage stabilizing control method for double three-phase permanent magnet synchronous generator
Kari et al. Super-twisting strategy based indirect field oriented control without using the currents sensor: application to IM
Xing et al. Sensorless control of three-phase permanent magnet synchronous motor based on fundamental wave mathematical model

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant