CN112564556B - Demagnetizing braking device and method based on three-phase current of brushless direct current motor - Google Patents
Demagnetizing braking device and method based on three-phase current of brushless direct current motor Download PDFInfo
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- 230000005389 magnetism Effects 0.000 abstract description 3
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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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a braking device and a braking method for exiting weak magnetism of a brushless direct current motor, which belong to the technical field of brushless direct current motors and comprise the following steps: the motor comprises a driving module, a three-phase stator winding of a brushless direct current motor, a controller and a braking module; the driving module is connected with the braking module and used for smooth braking control of the brushless direct current motor; the driving module is connected with the three-phase stator winding of the brushless direct current motor through the braking module and is used for driving the motor; IO interfaces P1-P6 of the controller are respectively connected with 6 grid inputs of the driving module and are used for sending PWM to the grids of the 6 MOS tubes so that the motor can normally rotate; IO interfaces P7-P9 of the controller are connected with 3 grid inputs of the braking module and are used for sending PWM to the grids of 3 MOS tubes, so that a channel is provided for energy release during motor braking, and smooth braking of the motor is realized. The beneficial effects of the invention are as follows: only three MOS tubes used during braking are added, and only different IO interfaces of the controller are used for sending PWM, so that the purpose of smooth braking is realized.
Description
Technical Field
The invention belongs to the technical field of brushless direct current motors, and particularly relates to a demagnetizing braking device and method based on three-phase current of a brushless direct current motor.
Background
In recent years, with the development of new energy automobiles, the application range of the permanent magnet synchronous motor is further expanded, and as the voltage of the storage battery pack is limited, the current regulator reaches a saturated state with the increase of the rotating speed of the permanent magnet synchronous motor, so that the rotating speed of the motor cannot be increased continuously, and the requirement of high-speed running cannot be met. To continue to increase the rotational speed, the direct-axis demagnetizing current is increased only by adjusting the magnitude and the phase of the stator current vector to equivalently weaken the magnetism so as to increase the rotational speed of the motor.
The realization of the field weakening control of the permanent magnet synchronous motor can lead the motor to have a wider speed regulation range, and the motor can be operated at any rotating speed within the speed regulation range according to actual requirements. At this moment, if the speed is reduced by braking, the energy release channel is needed, and because the battery of the electric bicycle is mainly an aluminum-decomposed battery, the energy feedback mode has a smaller application range, and the efficient braking mode is particularly important.
In order to solve the problem, the weak magnetic braking of the existing brushless direct current motor is very difficult to realize the effect of reducing the braking feel and realizing smooth braking. Therefore, the MOS tube and the brake resistor can be respectively connected in parallel on the three-phase line of the brushless direct current motor, the duty ratio of the MOS tube is controlled by software through detecting the current on the three-phase line, and the energy of the brushless direct current motor in the flux weakening process is released gently, so that the smooth brake of the brushless direct current motor is realized.
Disclosure of Invention
The invention provides a demagnetizing braking device and method based on three-phase current of a brushless direct current motor.
The invention provides a brushless direct current motor exit flux weakening braking device, which comprises: the motor comprises a driving module, a three-phase stator winding of a brushless direct current motor, a controller and a braking module;
the driving module is connected with the braking module and used for controlling smooth braking control of the brushless direct current motor; the driving module is connected with the three-phase stator winding of the brushless direct current motor through the braking module and is used for connecting the driving module and the brushless direct current motor in a non-braking state to realize motor driving; the 6 IO interfaces P1-P6 of the controller are respectively connected with 6 grid inputs of the driving module and are used for sending PWM to the grids of the 6 MOS tubes, so that the motor can normally rotate; the 3 IO interfaces P7-P9 of the controller are respectively connected with 3 grid inputs of the braking module and are used for sending PWM to the grids of the 3 MOS tubes, so that a channel can be provided for energy release during motor braking, and smooth braking of the motor is realized.
Optionally, the driving module includes: direct current power supply VDC, MOS tube S1, MOS tube S2, MOS tube S3, MOS tube S4, MOS tube S5 and MOS tube S6; the negative electrode of the direct-current power supply VDC is respectively connected with the source electrode of the MOS tube S4, the source electrode of the MOS tube S6 and the source electrode of the MOS tube S2; the positive electrode of the direct-current power supply VDC is respectively connected with the drain electrode of the MOS tube S1, the drain electrode of the MOS tube S3 and the drain electrode of the MOS tube S5; the source electrode of the MOS tube S1 is connected with the drain electrode of the MOS tube S4; the source electrode of the MOS tube S3 is connected with the drain electrode of the MOS tube S6; the source electrode of the MOS tube S5 is connected with the drain electrode of the MOS tube S2.
Optionally, the controlling includes: interfaces P1, P2, P3, P4, P5, P6, P7, P8, P9; the grid electrode of the MOS tube S1 is connected with the interface P1 of the controller; the grid electrode of the MOS tube S2 is connected with the interface P2 of the controller; the grid electrode of the MOS tube S3 is connected with the interface P3 of the controller; the grid electrode of the MOS tube S4 is connected with the interface P4 of the controller; the grid electrode of the MOS tube S5 is connected with the interface P5 of the controller; the grid electrode of the MOS tube S6 is connected with the interface P6 of the controller; the grid electrode of the MOS tube S7 is connected with the interface P7 of the controller; the grid electrode of the MOS tube S8 is connected with the interface P8 of the controller; the grid electrode of the MOS tube S9 is connected with the interface P9 of the controller.
Optionally, the braking module includes: MOS tube S7, MOS tube S8, MOS tube S9, brake resistor R1, brake resistor R2, brake resistor R3; the drain electrode of the MOS tube S7 is connected with the source electrode of the MOS tube S1, the drain electrode of the MOS tube S7 is connected with the A phase line of the brushless direct current motor, and the grid electrode of the MOS tube S7 is connected with the interface P7 of the controller; the drain electrode of the MOS tube S8 is connected with the source electrode of the MOS tube S3, the drain electrode of the MOS tube S8 is connected with the B phase line of the brushless direct current motor, and the grid electrode of the MOS tube S8 is connected with the interface P8 of the controller; the drain electrode of the MOS tube S9 is connected with the source electrode of the MOS tube S5, the drain electrode of the MOS tube S9 is connected with the C phase line of the brushless direct current motor, and the grid electrode of the MOS tube S9 is connected with the interface P9 of the controller; the source electrode of the MOS tube S7 is connected with the brake resistor R1 and grounded; the source electrode of the MOS tube S8 is connected with the brake resistor R2 and grounded; the source electrode of the MOS tube S9 is connected with the brake resistor R3 and grounded.
The method for controlling the demagnetizing braking device based on the three-phase current of the brushless direct current motor comprises the following specific steps:
step 1: setting a PWM period of an MOS tube in a brake module;
step 2: in the process of exiting the field weakening, the current in the three phase lines is detected, a conducting signal is sent to the MOS tube in the brake module through the IO port of the controller, and the time for sending the high-level pulse is 10% -90% of the PWM period. With the difference of the current in the three phase lines, the pulse width of a conduction signal sent to the MOS tube in the braking module by the IO port is different, so that the stable release of the current is realized, and the smooth braking of the motor is realized;
alternatively, the duty cycle of the emitted PWM may be calculated by the following formula:
wherein ,
for the braking power of the braking resistor R, i s For the current of the phase line connected with the corresponding braking resistor, k 1 The PWM duty ratio of three MOS tubes in the brake module.
Optionally, when the power of the braking resistor reaches 10% -90% of the maximum power of the braking resistor, the duty ratio of the MOS tube in the braking module can be changed by detecting the current of the three phase lines, so that the stable release of braking energy is realized. Therefore, when the rotating speed is high and the weak magnetic degree is deep, the weak magnetic state is exited, the three-phase line current is large, the generated energy is large, and the duty ratio of the MOS tube in the braking module is adjusted, so that the energy is released through the corresponding braking resistor. When the rotating speed is high, the weak magnetic state is exited, the duty ratio of the MOS tube in the braking module is adjusted, and when the rotating speed is high, the duty ratio is small, so that energy is released through the corresponding braking resistor.
The invention at least comprises the following beneficial effects:
1. according to the invention, only three MOS tubes used during braking are added, and only different IO interfaces of the controller are used for sending PWM, so that the motor can realize the purpose of smooth braking in the process of exiting weak magnetism;
2. by utilizing the current of three phase lines and combining the maximum braking power of the braking resistor, the effect is realized as follows: the higher the rotating speed is, the larger the duty ratio of the MOS tube in the braking module is in the process of exiting the field weakening, and the braking process is continuously reduced along with the continuous reduction of the three-phase line current, so that the duty ratio of the MOS tube in the braking module is reduced in a self-adaptive manner, and the smooth braking of the motor is realized.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
FIG. 1 is a schematic circuit diagram of a demagnetizing braking device based on three-phase current of a brushless DC motor according to an embodiment of the present invention;
FIG. 2 is a flow chart of an indication method of a demagnetizing braking device based on three-phase current of a brushless DC motor according to an embodiment of the present invention;
FIG. 3 is a graph showing the relationship between PWM active time and current condition A of one electrical cycle of a demagnetizing braking device based on three-phase current of a brushless DC motor according to an embodiment of the present invention;
fig. 4 is a graph showing a relationship between PWM effective time and current condition B of one electrical cycle of a demagnetizing braking device based on three-phase current of a brushless dc motor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that those skilled in the art can implement the embodiments according to the description.
The invention provides a demagnetizing braking device based on three-phase current of a brushless direct current motor, which is shown in figure 1 and comprises: the brushless direct current motor comprises a driving module, a three-phase stator winding of the brushless direct current motor, a controller and a braking module, wherein the driving module is connected with the braking module and used for controlling smooth braking control of the brushless direct current motor; the driving module is connected with a three-phase stator winding of the brushless direct current motor through the braking module and is used for connecting the driving module and the brushless direct current motor in a non-braking state to realize motor driving; the 6 IO interfaces P1-P6 of the controller are respectively connected with 6 grid inputs of the driving module and are used for sending PWM to the grids of the 6 MOS tubes, so that the motor can normally rotate; the 3 IO interfaces P7-P9 of the controller are respectively connected with the 3 grid inputs of the braking module and are used for sending PWM to the grids of the 3 MOS tubes, so that a channel can be provided for energy release during motor braking, and smooth braking of the motor is realized.
Optionally, the driving module includes: direct current power supply VDC, MOS tube S1, MOS tube S2, MOS tube S3, MOS tube S4, MOS tube S5 and MOS tube S6; the negative electrode of the direct current power supply VDC is respectively connected with the source electrode of the MOS tube S4, the source electrode of the MOS tube S6 and the source electrode of the MOS tube S2; the positive electrode of the direct current power supply VDC is respectively connected with the drain electrode of the MOS tube S1, the drain electrode of the MOS tube S3 and the drain electrode of the MOS tube S5; the source electrode of the MOS tube S1 is connected with the drain electrode of the MOS tube S4; the source electrode of the MOS tube S3 is connected with the drain electrode of the MOS tube S6; the source electrode of the MOS tube S5 is connected with the drain electrode of the MOS tube S2.
Optionally, controlling includes: interfaces P1, P2, P3, P4, P5, P6, P7, P8, P9; the grid electrode of the MOS tube S1 is connected with an interface P1 of the controller; the grid electrode of the MOS tube S2 is connected with an interface P2 of the controller; the grid electrode of the MOS tube S3 is connected with an interface P3 of the controller; the grid electrode of the MOS tube S4 is connected with an interface P4 of the controller; the grid electrode of the MOS tube S5 is connected with an interface P5 of the controller; the grid electrode of the MOS tube S6 is connected with an interface P6 of the controller; the grid electrode of the MOS tube S7 is connected with an interface P7 of the controller; the grid electrode of the MOS tube S8 is connected with an interface P8 of the controller; the grid electrode of the MOS tube S9 is connected with an interface P9 of the controller.
Optionally, the braking module includes: MOS tube S7, MOS tube S8, MOS tube S9, brake resistor R1, brake resistor R2, brake resistor R3; the drain electrode of the MOS tube S7 is connected with the source electrode of the MOS tube S1, the drain electrode of the MOS tube S7 is connected with the A phase line of the brushless direct current motor, and the grid electrode of the MOS tube S7 is connected with the interface P7 of the controller; the drain electrode of the MOS tube S8 is connected with the source electrode of the MOS tube S3, the drain electrode of the MOS tube S8 is connected with the B phase line of the brushless direct current motor, and the grid electrode of the MOS tube S8 is connected with the interface P8 of the controller; the drain electrode of the MOS tube S9 is connected with the source electrode of the MOS tube S5, the drain electrode of the MOS tube S9 is connected with the C phase line of the brushless direct current motor, and the grid electrode of the MOS tube S9 is connected with the interface P9 of the controller; the source electrode of the MOS tube S7 is connected with the brake resistor R1 and grounded; the source electrode of the MOS tube S8 is connected with the brake resistor R2 and grounded; the source of the MOS transistor S9 is connected with the brake resistor R3 and grounded.
As shown in fig. 2, the present disclosure further provides a method for controlling a demagnetizing braking device based on three-phase current of a brushless dc motor, taking a conduction of an a-phase current and a braking MOS tube S7 connected in parallel with the a-phase as an example, and selecting a braking resistor R1 with a size of 78Ω, and introducing a specific operation procedure with a maximum power of 750W:
step A1: setting a PWM period of an MOS tube in a brake module;
step A2: in the process of exiting the field weakening, the current in the three phase lines is detected, a conducting signal is sent to the MOS tube in the brake module through the IO port of the controller, and the time for sending the high-level pulse is 10% -90% of the PWM period. With the difference of the current in the three phase lines, the pulse width of a conduction signal sent to the MOS tube in the braking module by the IO port is different, so that the stable release of the current is realized, and the smooth braking of the motor is realized;
alternatively, the duty cycle of the emitted PWM may be calculated by the following formula:
wherein ,
for the braking power of the braking resistor R, i s For the current of the phase line connected with the corresponding braking resistor, k 1 The PWM duty ratio of three MOS tubes in the brake module.
Optionally, when the power of the braking resistor reaches 10% -90% of the maximum power of the braking resistor, the duty ratio of the MOS tube in the braking module can be changed by detecting the current of the three phase lines, so that the stable release of braking energy is realized. Therefore, when the rotating speed is high and the weak magnetic degree is deep, the weak magnetic state is exited, the three-phase line current is large, the generated energy is large, and the duty ratio of the MOS tube in the braking module is adjusted, so that the energy is released through the corresponding braking resistor. When the rotating speed is high, the weak magnetic state is exited, the duty ratio of the MOS tube in the braking module is adjusted, and when the rotating speed is high, the duty ratio is small, so that energy is released through the corresponding braking resistor.
As shown in fig. 3, the current value of the a-phase line of the demagnetizing braking device based on the three-phase current of the brushless dc motor according to the present embodiment is plotted against the pulse condition a given through the interface P7. At the moment, the A-phase current value is-4A, the PWM period selected by the rotating speed is 0.1ms, the S7 duty ratio is 0.6 according to calculation in the braking module, the PWM effective time is 0.06ms, the ineffective time is 0.04ms, and at the moment, the motor is enabled to realize slow release of energy by conducting S7 and conducting time is 0.06 ms.
As shown in fig. 4, the current value of the a-phase line of the demagnetizing braking device based on the three-phase current of the brushless dc motor according to the present embodiment is plotted against the pulse condition B given through the interface P7. At the moment, the current value of the phase A is-1.5A, the PWM period selected by the rotating speed is 0.1ms, the duty ratio of S7 is 0.4 according to calculation in the braking module, the PWM effective time is 0.04ms, the ineffective time is 0.06ms, and at the moment, the motor can realize slow release of energy by conducting S7 and conducting time is 0.04 ms.
Therefore, according to the current value of the phase A, the magnitude of the PWM duty ratio is controlled through formula calculation, so that the energy is released in the conduction time of the MOS tube of the braking module, the current value of the three phase line is monitored in real time, the magnitude of the PWM duty ratio is dynamically controlled, the self-adaptive slow release of the energy is realized, and the smooth braking of the brushless direct current motor in the flux weakening exiting process is finally realized through the release of the resistor in a heat energy form.
Although embodiments of the present invention have been disclosed above, it is not limited to the use of the description and embodiments, it is well suited to various fields of use for the invention, and further modifications may be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the particular details without departing from the general concepts defined in the claims and the equivalents thereof.
Claims (3)
1. A control method of a demagnetizing braking device based on three-phase current of a brushless direct current motor is characterized by comprising the following steps:
step 1: setting a PWM period of an MOS tube in a brake module;
step 2: in the process of exiting the field weakening, detecting the current in the three phase lines, and sending a conducting signal to an MOS tube in the brake module through an IO port of the controller, wherein the time for sending high-level pulse is 10% -90% of the PWM period; with the difference of the current in the three phase lines, the pulse width of a conduction signal sent to the MOS tube in the braking module by the IO port is different, so that the stable release of the current is realized, and the smooth braking of the motor is realized;
the braking device comprises: the brushless direct current motor comprises a driving module, a three-phase stator winding of the brushless direct current motor, a controller and a braking module, wherein the driving module is connected with the braking module and used for controlling smooth braking control of the brushless direct current motor; the driving module is connected with the three-phase stator winding of the brushless direct current motor through the braking module and is used for connecting the driving module and the brushless direct current motor in a non-braking state to realize motor driving; the 6 IO interfaces P1-P6 of the controller are respectively connected with 6 grid inputs of the driving module and are used for sending PWM to the grids of the 6 MOS tubes, so that the motor can normally rotate; the 3 IO interfaces P7-P9 of the controller are respectively connected with 3 grid inputs of the braking module and are used for sending PWM to the grids of the 3 MOS tubes, so that a channel can be provided for energy release during motor braking, and smooth braking of the motor is realized; the driving module includes: direct current power supply VDC, MOS tube S1, MOS tube S2, MOS tube S3, MOS tube S4, MOS tube S5 and MOS tube S6; the negative electrode of the direct-current power supply VDC is respectively connected with the source electrode of the MOS tube S4, the source electrode of the MOS tube S6 and the source electrode of the MOS tube S2; the positive electrode of the direct-current power supply VDC is respectively connected with the drain electrode of the MOS tube S1, the drain electrode of the MOS tube S3 and the drain electrode of the MOS tube S5; the source electrode of the MOS tube S1 is connected with the drain electrode of the MOS tube S4; the source electrode of the MOS tube S3 is connected with the drain electrode of the MOS tube S6; the source electrode of the MOS tube S5 is connected with the drain electrode of the MOS tube S2; the controller includes: interfaces P1, P2, P3, P4, P5, P6, P7, P8, and P9; the grid electrode of the MOS tube S1 is connected with the interface P1 of the controller; the grid electrode of the MOS tube S2 is connected with the interface P2 of the controller; the grid electrode of the MOS tube S3 is connected with the interface P3 of the controller; the grid electrode of the MOS tube S4 is connected with the interface P4 of the controller; the grid electrode of the MOS tube S5 is connected with the interface P5 of the controller; the grid electrode of the MOS tube S6 is connected with the interface P6 of the controller; the grid electrode of the MOS tube S7 is connected with the interface P7 of the controller; the grid electrode of the MOS tube S8 is connected with the interface P8 of the controller; the grid electrode of the MOS tube S9 is connected with the interface P9 of the controller; the braking module includes: MOS tube S7, MOS tube S8, MOS tube S9, brake resistor R1, brake resistor R2, brake resistor R3; the drain electrode of the MOS tube S7 is connected with the source electrode of the MOS tube S1, the drain electrode of the MOS tube S7 is connected with the A phase line of the brushless direct current motor, and the grid electrode of the MOS tube S7 is connected with the interface P7 of the controller; the drain electrode of the MOS tube S8 is connected with the source electrode of the MOS tube S3, the drain electrode of the MOS tube S8 is connected with the B phase line of the brushless direct current motor, and the grid electrode of the MOS tube S8 is connected with the interface P8 of the controller; the drain electrode of the MOS tube S9 is connected with the source electrode of the MOS tube S5, the drain electrode of the MOS tube S9 is connected with the C phase line of the brushless direct current motor, and the grid electrode of the MOS tube S9 is connected with the interface P9 of the controller; the source electrode of the MOS tube S7 is connected with the brake resistor R1 and grounded; the source electrode of the MOS tube S8 is connected with the brake resistor R2 and grounded; the source electrode of the MOS tube S9 is connected with the brake resistor R3 and grounded.
2. The method for controlling a demagnetizing braking device based on three-phase current of a brushless DC motor according to claim 1, wherein,
in step 2, the duty cycle of PWM can be calculated by the following formula:
wherein ,
for the braking power of the braking resistor R, i s For the current of the phase line connected with the corresponding braking resistor, k 1 The PWM duty ratio of three MOS tubes in the brake module.
3. The control method of the demagnetizing braking device based on the three-phase current of the brushless direct current motor is characterized in that when the power of a braking resistor reaches 10% -90% of the maximum power of the braking resistor, the duty ratio of an MOS tube in a braking module is changed by detecting the current of the three-phase line, so that the stable release of braking energy is realized.
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| CN106130418B (en) * | 2016-06-27 | 2019-01-29 | 天津大学 | Steady electromagnetic braking method and apparatus suitable for brshless DC motor |
| EP3569440B1 (en) * | 2018-04-27 | 2023-11-01 | Transportation IP Holdings, LLC | Control system and method for vehicles with dynamic eclectric braking |
| CN109449995B (en) * | 2018-12-29 | 2023-07-21 | 北京天诚同创电气有限公司 | Method and system for controlling braking loop of wind power converter |
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| CN201309426Y (en) * | 2008-11-20 | 2009-09-16 | 北京东风机车电器厂 | Electric control device for electric wheel car |
| RU148658U1 (en) * | 2014-02-06 | 2014-12-10 | Барский Виктор Алексеевич | VEHICLE POWER ELECTRIC DRIVE |
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