CN113437907A - Method for restraining commutation torque fluctuation of permanent magnet brushless direct current motor by DC-DC converter - Google Patents
Method for restraining commutation torque fluctuation of permanent magnet brushless direct current motor by DC-DC converter Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
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Abstract
A method for restraining commutation torque fluctuation of a permanent magnet brushless direct current motor by a DC-DC converter comprises the following steps: designing a switching circuit, and forming a front-end voltage regulating circuit together with a direct-current power supply and a DC-DC converter; analyzing the effect of different working states of the switching circuit on the output voltage of the front-end voltage regulating circuit; when the motor runs in a normal conduction period, the direct-current power supply provides energy for the motor, and PWM chopping is adopted to regulate the input voltage of the three-phase inverter circuit; during the low-speed phase change period, the working state is unchanged, the output voltage of the direct-current power supply is higher than the voltage required by the motor, and PWM chopping is carried out on the non-phase change switching tube; during high-speed phase change, the working state is changed, the DC-DC converter is connected with the direct-current power supply in series to output voltage equal to the voltage required by the motor, and the switching tube of the three-phase inverter circuit does not chop, so that phase change torque fluctuation in a full-speed range is inhibited. The invention does not need to change the PWM modulation mode, improves the stability and the dynamic response capability of the system and reduces the system loss.
Description
Technical Field
The present invention relates to a DC-DC converter. In particular to a method for restraining commutation torque fluctuation of a permanent magnet brushless direct current motor by a DC-DC converter suitable for high-performance operation control of the permanent magnet brushless direct current motor.
Background
The permanent magnet brushless direct current motor has the advantages of high power density, small volume, high power factor and the like, and is widely applied to the fields and equipment of high-altitude aircrafts, medical equipment, national defense industry, modern industrial production and the like. Because the stator winding of the motor has inductance and limited input voltage of the three-phase inverter circuit, the rapid change of phase current in the phase commutation process is prevented, so that large torque fluctuation is generated in the phase commutation process, noise and machine body vibration are generated when the motor runs, the service life of the motor is shortened, and the application of the motor in a high-performance system is limited.
In recent years, researchers at home and abroad have conducted intensive research on commutation torque fluctuation suppression methods. Common methods for suppressing commutation torque fluctuation of a permanent magnet brushless direct current motor include the following two types: (1) pulse Width Modulation (PWM), the basic idea of the method is to control the phase current change rate of the on phase and the off phase to be equal, thereby realizing the suppression of the phase change torque fluctuation. (2) The method is characterized in that a front-end DC-DC converter (a direct current-direct current converter) is added, the method has the basic idea that the DC-DC converter works in different output modes by designing a mode selection circuit, and when a motor runs in a phase commutation period, the DC-DC converter in a boosting mode is adopted to boost the input voltage of a three-phase inverter circuit, so that the phase commutation torque fluctuation is effectively inhibited.
However, the existing methods still have some problems: for the pulse width modulation method, different modulation modes are adopted when the motor runs in a low-speed region and a high-speed region, when the motor runs near a high-speed and low-speed switching condition, the system stability is reduced, and the design of a modulator and a control algorithm is complex; during the commutation period in the high-speed region, even if the three-phase inverter circuit switching tubes do not perform PWM chopping, commutation torque ripple due to insufficient input voltage of the three-phase inverter circuit cannot be effectively suppressed. For the method of adding the front-end DC-DC converter, when the motor runs in a normal conduction period, the DC-DC converter in the step-up and step-down mode is adopted to adjust the input voltage of the three-phase inverter circuit, so that the dynamic response capability of the motor is reduced, and in the normal conduction period, the DC-DC converter in the step-up and step-down mode increases the system loss.
Disclosure of Invention
The invention aims to provide a method for restraining commutation torque fluctuation of a permanent magnet brushless direct current motor by a DC-DC converter, which can improve the dynamic response capability of the motor and reduce the system loss.
The technical scheme adopted by the invention is as follows: a method for restraining commutation torque fluctuation of a permanent magnet brushless direct current motor by a DC-DC converter comprises the following steps:
1) designing a brushless direct current motor control circuit with a front-end voltage regulating circuit capable of controlling output voltage, wherein the front-end voltage regulating circuit is arranged at the front end of a three-phase inverter circuit;
2) determining that the switching circuit is in different working states and acting on the output voltage of the front-end voltage regulating circuit;
3) detecting the running state of the permanent magnet brushless direct current motor, and correspondingly adjusting the input voltage of the three-phase inverter circuit according to different running states of the permanent magnet brushless direct current motor; wherein,
when the permanent magnet brushless direct current motor is detected to be operated in the normal conduction period, the direct current power supply provides energy for the permanent magnet brushless direct current motor according to the working state of the switching circuit, and the input voltage of the three-phase inverter circuit is constantly equal to the direct current power supply voltage (U)dc) Regulating input voltage of the three-phase inverter circuit by PWM chopping;
when the phase change period of the permanent magnet brushless direct current motor running in a low-speed area is detected, the working state of the switching circuit is unchanged, and the input voltage of the three-phase inverter circuit is still equal to the direct current power supply voltage (U)dc) And the voltage is higher than the voltage required by the permanent magnet brushless direct current motor, PWM chopping is carried out on a non-commutation switching tube of the three-phase inverter circuit, and therefore commutation torque fluctuation of the permanent magnet brushless direct current motor in a low-speed area is restrained;
when the phase change period that the permanent magnet brushless direct current motor operates in a high-speed area is detected, the working state of the switching circuit is changed, the DC-DC converter and the direct current power supply jointly provide energy for the permanent magnet brushless direct current motor, the input voltage of the three-phase inverter circuit is equal to the voltage obtained by connecting the output end of the DC-DC converter and the direct current power supply in series and is equal to the voltage required by the permanent magnet brushless direct current motor, and the switching tube of the three-phase inverter circuit does not carry out PWM chopping at the moment, so that the phase change torque fluctuation of the permanent magnet brushless direct current motor in the high-speed area is inhibited.
The invention relates to a method for restraining commutation torque fluctuation of a permanent magnet brushless direct current motor by a DC-DC converter, which is characterized in that PWM chopping is carried out on a non-commutation switch tube of a three-phase inverter circuit during commutation in a low-speed area to restrain commutation torque fluctuation; and during the phase change in the high-speed area, the input voltage of the three-phase inverter circuit is increased by using the DC-DC converter and is equal to the voltage required by the motor, and at the moment, PWM chopping is not performed on a switching tube of the three-phase inverter circuit, so that the phase change torque fluctuation in a full-speed range is restrained. Compared with the pulse width modulation method adopting different modulation modes in different rotating speed areas, the modulation mode of the three-phase inverter circuit is not changed in the full-speed range of the motor operation, the program design of the controller is simplified, and the system stability is improved. Compared with the method using different output modes of the DC-DC converter, when the motor runs in the normal conduction period, the input voltage of the three-phase inverter circuit is constantly equal to the voltage of the DC power supply, PWM chopping is adopted to adjust the input voltage of the three-phase inverter circuit, the dynamic response capability of the motor is improved, and in the normal conduction period, the DC power supply is adopted to directly provide energy for the motor, so that the system loss is reduced.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a method for suppressing commutation torque ripple of a permanent magnet brushless DC motor by a DC-DC converter;
FIG. 2a is a diagram showing the output state of the front-end voltage regulating circuit during the phase commutation period in the normal conduction and low-speed region of the motor in the embodiment 1;
FIG. 2b is a diagram showing the output state of the front-end voltage-regulating circuit during the phase change in the high-speed region of the motor operation in embodiment 1;
FIG. 3a is a diagram showing the output state of the front-end voltage regulating circuit during the phase commutation period of the motor in the normal conduction and low-speed region in the embodiment 2;
FIG. 3b is a diagram showing the output state of the front-end voltage-regulating circuit during the phase change in the high-speed region of the motor operation in embodiment 2;
FIG. 4a is a current flow diagram when a non-commutation switch tube is on during commutation;
FIG. 4b is a current flow diagram when the non-commutation switch tube is turned off during commutation;
FIG. 5a is a schematic diagram of a low-speed region modulation method for suppressing phase change torque fluctuation of a permanent magnet brushless DC motor by a DC-DC converter;
FIG. 5b is a schematic diagram of high-speed region modulation of a method for suppressing phase change torque fluctuation of a permanent magnet brushless DC motor by a DC-DC converter.
Detailed Description
The method for suppressing the commutation torque ripple of the permanent magnet brushless DC motor by the DC-DC converter according to the present invention is described in detail with reference to the following embodiments and the accompanying drawings.
The invention discloses a method for restraining commutation torque fluctuation of a permanent magnet brushless direct current motor by a DC-DC converter, which comprises the following steps:
1) designing a brushless direct current motor control circuit with a front-end voltage regulating circuit A capable of controlling output voltage, wherein the front-end voltage regulating circuit A is arranged at the front end of a three-phase inverter circuit 3;
as shown in FIG. 1, the front-end voltage regulating circuit A comprises a DC power supply, a DC-DC converter 1 and a switching circuit 2, wherein the switching circuit 2 is composed of a switching tube TcAnd a diode D9Wherein, the switch tube TcDrain electrode of and diode D9And the switching tube T is connected with the negative pole end of the three-phase inverter circuit 3 of the permanent magnet brushless DC motor 4 at the input end and the output endcIs connected to the negative output of the DC-DC converter 1, the diode D9Respectively connected to the positive output of the DC-DC converter 1 and the DC power supply voltage UdcNegative pole, DC supply voltage UdcThe positive pole is connected to the positive pole end of the three-phase inverter circuit 3, and the switch tube TcIs connected to the output of a switching signal 5 controlling the commutation signal.
2) Determining that the switching circuit 2 is in different working states and acting on the output voltage of the front-end voltage regulating circuit A; wherein,
when the switch tube TcTurn-off, diode D9Conducting, the front-end voltage regulating circuit A outputs a direct-current power supply voltage UdcThe direct-current power supply directly provides energy for the permanent magnet brushless direct-current motor 4, and the permanent magnet brushless direct-current motor 4 operates in a normal conduction period or a phase change period of a low-speed area; when the switch tube TcOn, diode D9And when the phase-change period is cut off, the front-end voltage regulating circuit A outputs a voltage obtained by connecting the output end of the DC-DC converter 1 and the direct-current power supply in series, the DC-DC converter 1 and the direct-current power supply jointly provide energy for the permanent magnet brushless direct-current motor 4, and the permanent magnet brushless direct-current motor 4 operates in the phase-change period of a high-speed area.
3) Detecting the running state of the permanent magnet brushless direct current motor 4, and correspondingly adjusting the input voltage of the three-phase inverter circuit according to different running states of the permanent magnet brushless direct current motor 4; wherein,
(1) when the permanent magnet brushless direct current motor 4 is detected to be operated in the normal conduction period through the phase change end, the direct current power supply provides energy for the permanent magnet brushless direct current motor 4 according to the working state of the switching circuit 2, and the input voltage of the three-phase inverter circuit 3 is constantly equal to the direct current power supply voltage UdcRegulating input voltage of the three-phase inverter circuit by PWM chopping;
the permanent magnet brushless direct current motor 4 operates in the normal conduction period, and the working state of the switching circuit 2 is a switching tube TcTurn-off, diode D9Conducting, at the moment, the input voltage U of the three-phase inverter circuit 3inComprises the following steps:
Uin＝Uout1＝Udc (1)
in the formula of Uout1Is a switch tube TcTurn-off, diode D9Output voltage U of front-end voltage regulating circuit A when conductingdcIs a direct current power supply voltage;
at this time, the duty ratio d of the switching tube of the three-phase inverter circuit 3ncomComprises the following steps:
wherein E is the amplitude of the trapezoidal counter electromotive force, R is the phase resistance of the permanent magnet brushless DC motor, incomThe non-commutation phase current.
(2) When the Hall sensor 6 detects that the permanent magnet brushless DC motor 4 operates in the phase change period of the low-speed area, the working state of the switching circuit 2 is unchanged, and the input voltage of the three-phase inverter circuit 3 is still equal to the DC power supply voltage UdcAnd is higher than the voltage required by the permanent magnet brushless direct current motor 4, PWM chopping is carried out on a non-commutation switching tube of the three-phase inverter circuit 3, so that commutation torque fluctuation of the permanent magnet brushless direct current motor 4 in a low-speed area is inhibited;
the permanent magnet brushless DC motor 4 operates in the phase change period of the low-speed area, when the phase change starts, the working state of the switching circuit 2 is unchanged and still is a switching tube TcTurn-off, diode D9When the three-phase inverter circuit 3 is turned on, the input voltage is still the DC power supply voltage UdcAnd the voltage is higher than the voltage required by the permanent magnet brushless direct current motor 4, PWM chopping is carried out on the non-commutation switching tube of the three-phase inverter circuit 3, and the duty ratio d of the non-commutation switching tube acts during the commutation period of a low-speed areacomComprises the following steps:
wherein E is the amplitude of the trapezoidal counter electromotive force, R is the phase resistance of the permanent magnet brushless DC motor, incomNon-commutation phase current; u shapeinIs the input voltage of a three-phase inverter circuit, UdcIs a direct current power supply voltage;
when the phase change is finished, the permanent magnet brushless dc motor 4 is operated again during the normal conduction period.
(3) When the Hall sensor 6 detects that the permanent magnet brushless direct current motor 4 operates in a phase change period of a high-speed area, the working state of the switching circuit 2 is changed, the DC-DC converter 1 and the direct current power supply jointly provide energy for the permanent magnet brushless direct current motor 4, the input voltage of the three-phase inverter circuit 3 is equal to the voltage obtained by connecting the output end of the DC-DC converter 1 and the direct current power supply in series and is equal to the voltage required by the permanent magnet brushless direct current motor 4, and the switching tube of the three-phase inverter circuit 3 does not perform PWM chopping at the moment, so that the phase change torque fluctuation of the permanent magnet brushless direct current motor 4 in the high-speed area is inhibited.
The permanent magnet brushless DC motor 4 operates in the phase change period of the high-speed region, when the phase change is started, the working state of the switching circuit 2 is changed, and the switching tube T is switchedcOn, diode D9When the voltage is cut off, the input voltage of the three-phase inverter circuit 3 is the voltage obtained by connecting the output end of the DC-DC converter 1 and the DC power supply in series and is equal to the voltage required by the permanent magnet brushless DC motor 4; the output voltage of the DC-DC converter 1 is regulated in the normal conduction period and acts on the whole phase change period to maintain the stability of the output voltage; at this time, the input voltage U of the three-phase inverter circuit 3inIs composed of
Uin＝Uout2＝Uout1+Uc＝4E+3R|incom| (4)
In the formula of Uout2Is a switch tube TcOn, diode D9Output voltage, U, of front-end voltage-regulating circuit A at cut-offout1Is a switch tube TcTurn-off, diode D9Output voltage U of front-end voltage regulating circuit A when conductingcIs the output voltage of the DC-DC converter, E is the amplitude of the trapezoidal back electromotive force, R is the phase resistance of the permanent magnet brushless DC motor, incomNon-commutation phase current;
at the moment, the three-phase inverter circuit switching tube does not carry out PWM chopping; when the phase change is finished, the permanent magnet brushless dc motor 4 is operated again during the normal conduction period.
Fig. 1 shows a schematic diagram of an embodiment of the present invention, and the system is composed of six parts, namely a permanent magnet brushless DC motor 4, a three-phase inverter circuit 3, a DC power supply, a DC-DC converter 1, a switching circuit 2 and a switching signal 5. The DC-DC converter 1, the DC power supply and the switching circuit 2 together form a front-end voltage regulating circuit A, which is arranged at the front end of the three-phase inverter circuit 3, and the output voltage of the front-end voltage regulating circuit A is used as the input voltage U of the three-phase inverter circuit 3inThe purpose of the switching circuit 2 being to modify the front-end voltage-regulating circuit AAnd outputting the voltage.
Fig. 2a and 2b show an embodiment of the proposed method implemented with a Cuk converter, hereinafter referred to as embodiment 1.
In embodiment 1, a Cuk converter is selected, and the Cuk converter, the switching circuit 2 and a dc power supply together form a front-end voltage regulating circuit a, and the converter is composed of two inductors L1And L2Two capacitors C1And C2A switch tube T7And a diode D8Is composed of a DC power supply voltage U as input voltagedcWith an output voltage of Uc(ii) a Six switching tubes of the three-phase inverter circuit 3 and anti-parallel diodes thereof are respectively TiAnd DiWhere i ∈ {1,2, …,6 }; i.e. iA、iB、iCA, B, C, respectively, three phases of phase current.
Fig. 3a and 3b show an embodiment of the proposed method implemented with a Buck-Boost converter, hereinafter referred to as embodiment 2.
In embodiment 2, a Buck-Boost converter is selected to form a front-end voltage regulating circuit A together with a switching circuit 2 and a direct-current power supply, and the converter comprises an inductor L1A capacitor C1A switch tube T7And a diode D8Is composed of a DC power supply voltage U as input voltagedcWith an output voltage of Uc(ii) a Six switching tubes of three-phase inverter circuit and anti-parallel diodes thereof are respectively TiAnd DiWhere i ∈ {1,2, …,6 }; i.e. iA、iB、iCA, B, C, respectively, three phases of phase current.
The switching circuit 2 in embodiments 1 and 2 includes: switch tube TcAnd diode D9. Switch tube TcAnd diode D9Is connected to the negative end of the three-phase inverter circuit, and a switching tube TcThe source of the diode is connected with the negative output of the Cuk converter (or Buck-Boost converter), and the diode D9The negative pole of the direct current power supply is respectively connected with the positive pole output of the Cuk converter (or the Buck-Boost converter) and the negative pole of the direct current power supply.
The controller comprises a front-end voltage regulating circuit output voltage control module, a Cuk converter (or Buck-Boost converter) output voltage control module, a double closed-loop control module, a duty ratio calculation module during phase commutation and a detection module. The output voltage control of the front-end voltage regulating circuit is realized by a switching circuit.
During normal conduction, the input voltage of the three-phase inverter circuit 3 is constantly equal to the voltage of a direct-current power supply, PWM chopping is adopted to adjust the input voltage of the three-phase inverter circuit, and the speed regulation requirement of the permanent magnet brushless direct-current motor 4 is met through the rotating speed-current double closed-loop control duty ratio. The commutation duty ratio calculation is used for meeting the voltage requirement of the permanent magnet brushless direct current motor 4 during commutation, the input voltage of the low-speed area three-phase inverter circuit 3 is higher than the voltage required by the permanent magnet brushless direct current motor 4, and PWM chopping is carried out on a non-commutation switch tube of the three-phase inverter circuit 3; the input voltage of the three-phase inverter circuit 3 in the high-speed area is equal to the voltage required by the permanent magnet brushless direct current motor 4, the duty ratio of a switching tube of the three-phase inverter circuit 3 is equal to one, and the three-phase inverter circuit 3 does not carry out PWM chopping, so that the phase change torque fluctuation in a full-speed range is restrained. The detection module is used for judging the starting time and the ending time of the phase change period, the phase change starts when the Hall sensor 6 detects that the signal jumps, and the phase change ends when the phase-off current is zero.
The output voltage of the front-end regulator circuit a is changed by the switching circuit 2 shown in fig. 1. Switching tube T in switching circuit 2cAnd diode D9In a complementary conducting state, TcOff D9The voltage regulating circuit A at the front end is conducted to output the DC power supply voltage Udc，TcOpening D9The voltage obtained by connecting the output end of the DC-DC converter 1 and a DC power supply in series is output by the cut-off front-end voltage regulating circuit A, so that the input voltage U of the three-phase inverter circuit 3inTwo different voltage values are obtained. T iscWhen the power is on, the output voltage of the front-end voltage regulating circuit A is always greater than the voltage U of the direct-current power supplydcAnd is equal to the voltage required during commutation of the permanent magnet brushless dc motor 4.
The permanent magnet brushless DC motor 4 operates in the normal conduction period, and the switch tube TcSwitch-off diode D9Conducting, as shown in FIG. 2a and FIG. 3a, the output voltage of the front-end voltage-regulating circuit A is the DC power voltage Udc. Output duty cycle d by the dual closed loop control module shown in FIG. 1ncomThe voltage regulating circuit acts on a switching tube of the three-phase inverter circuit 3 to realize the regulation of the input voltage of the three-phase inverter circuit 3. Taking the normal conduction period of A + C-as an example, the two-phase voltage is conducted at this time
In the formula uA、uCA, C is the phase voltage when two phases are conducted, iA、iCA, C phase current, and satisfies iA＝-iC＝|incomL. R, L phase resistance and phase inductance of the permanent magnet brushless DC motor, E trapezoidal back electromotive force amplitude, uNIs the neutral point voltage. Then the two-phase line voltage u is conductedACIs composed of
In the formula incomThe phase current is non-commutation phase current (in this case, phase C is non-commutation phase).
Three-phase inverter circuit 3 input voltage U during normal conduction periodinIs composed of
Uin＝Uout1＝Udc
In the formula of Uout1Is a switch tube TcSwitch-off diode D9Front-end voltage regulating circuit output voltage during conduction, UdcIs a dc supply voltage.
PWM chopping is adopted to regulate the input voltage of the three-phase inverter circuit, the average voltage of a phase inductor in one modulation period is zero, and the voltage u of two conducting phase lines in a normal conducting periodACMean value UACIs composed of
In the formula (d)ncomSwitching tube of three-phase inverter circuit during normal conduction periodDuty ratio, can be obtained
In order to realize the suppression of the commutation torque fluctuation of the permanent magnet brushless direct current motor, when the commutation is started:
when the permanent magnet brushless dc motor 4 operates in a low speed region, the operating state of the switching circuit 2 is not changed, as shown in fig. 2a and 3a, the switching tube TcSwitch-off diode D9And conducting. The input voltage of the three-phase inverter circuit is still the DC power supply voltage, and PWM chopping is carried out on the non-commutation-phase switch tube of the three-phase inverter circuit. Taking the phase-change period of A + C- → B + C-as an example, the off-phase A-phase current passes through the diode D as shown in FIGS. 4a and 4B4Follow current and turn on phase B phase switch tube T3C-phase switch tube T with open-circuit and non-commutation phase2Performing PWM chopping, and acting on the duty ratio d of a non-commutation switching tube during commutation in a low-speed regioncomIs composed of
When the permanent magnet brushless DC motor 4 operates in a high speed region, the operating state of the switching circuit 2 changes, as shown in FIG. 2b and FIG. 3b, and the switching tube TcTurn-on diode D9When the three-phase inverter circuit 3 is cut off, the input voltage of the three-phase inverter circuit is the voltage obtained by connecting the output end of the Cuk converter (or the Buck-Boost converter) and a direct-current power supply in series. The output voltage of the Cuk converter (or the Buck-Boost converter) is regulated in the normal conduction period and acts on the whole phase change period to maintain the output voltage stable, and at the moment, the input voltage U of the three-phase inverter circuit 3 isinIs composed of
In the formula of Uout2Is a switch tube TcTurn-on diode D9Output of front-end voltage regulating circuit at cut-offOutput voltage, UcThe output voltage of the Cuk converter (or Buck-Boost converter) is shown, and d is the duty ratio of a switching tube of the Cuk converter. Because the voltage obtained by connecting the direct-current power supply and the output end of the Cuk converter (or the Buck-Boost converter) in series is equal to the voltage required by the permanent magnet brushless direct-current motor 4 during the phase change period, the three-phase inverter circuit 3 does not need to carry out chopping, the duty ratio of a switching tube of the three-phase inverter circuit 3 is equal to one at the moment, and PWM chopping is not carried out. Taking the phase-change period of A + C- → B + C-as an example, the off-phase A-phase current passes through diode D as shown in FIG. 4a4Follow current and turn on phase B phase switch tube T3C-phase switch tube T with open-circuit and non-commutation phase2Keep on, do not carry on PWM chopping.
When the phase change is finished, the permanent magnet brushless dc motor 4 is operated again during the normal conduction period.
Fig. 5a and 5b are modulation diagrams of the method for suppressing the commutation torque fluctuation of the permanent magnet brushless direct current motor by the DC-DC converter according to the present invention in the high and low speed regions. Switching tube T during normal conductioncSwitch-off diode D9On, the input voltage of the three-phase inverter circuit 3 is the DC power supply voltage UdcThe input voltage of the three-phase inverter circuit 3 is adjusted by PWM chopping, and the duty ratio d is controlled by a rotating speed-current double closed loopncomAnd meets the speed regulation requirement of the permanent magnet brushless DC motor 4. When the commutation is started, if the permanent magnet brushless dc motor 4 operates in the low speed region, as shown in fig. 5a, the switching circuit still operates as the switching tube T without changing the operating state of the switching circuitcSwitch-off diode D9When the three-phase inverter circuit 3 is conducted, the input voltage is still the DC power supply voltage UdcPWM chopping is carried out on a non-commutation phase switching tube of the three-phase inverter circuit 3, and the duty ratio is dcom(ii) a If the permanent magnet brushless DC motor 4 operates in the high speed region, as shown in FIG. 5b, the working state of the switching circuit 2 is changed, and the switch tube T is turned on or offcTurn-on diode D9And when the DC-DC converter is stopped, the input voltage of the three-phase inverter circuit 3 is the voltage obtained by connecting the output end of the DC-DC converter 1 and the DC power supply in series and is equal to the voltage required by the permanent magnet brushless DC motor 4, so that the three-phase inverter circuit 3 does not need to be chopped, and the duty ratio of a switching tube of the three-phase inverter circuit 3 is equal to one. When the commutation is finished, the permanent magnet is notThe brush direct current motor 4 operates again in the normal conduction period, the PWM chopping is continuously adopted to regulate the input voltage of the three-phase inverter circuit 3, and the duty ratio is dncom. The method for restraining the commutation torque fluctuation of the permanent magnet brushless direct current motor by the DC-DC converter is realized through the steps, meanwhile, the program design of the controller is simplified, the system stability and the dynamic response capability of the motor are improved, and the system loss is reduced.
Claims (6)
1. A method for restraining commutation torque fluctuation of a permanent magnet brushless direct current motor by a DC-DC converter is characterized by comprising the following steps:
1) designing a brushless direct current motor control circuit with a front-end voltage regulating circuit (A) capable of controlling output voltage, wherein the front-end voltage regulating circuit (A) is arranged at the front end of a three-phase inverter circuit (3);
2) determining that the switching circuit (2) is in different working states and acting on the output voltage of the front-end voltage regulating circuit (A);
3) detecting the running state of the permanent magnet brushless direct current motor (4), and correspondingly adjusting the input voltage of the three-phase inverter circuit (3) according to different running states of the permanent magnet brushless direct current motor (4); wherein,
when the permanent magnet brushless direct current motor (4) is detected to be operated in a normal conduction period, the direct current power supply provides energy for the permanent magnet brushless direct current motor (4) according to the working state of the switching circuit (2), and the input voltage of the three-phase inverter circuit (3) is constantly equal to the direct current power supply voltage (U)dc) Regulating input voltage of the three-phase inverter circuit by PWM chopping;
when detecting the phase change period of the permanent magnet brushless direct current motor (4) operating in a low-speed area, the working state of the switching circuit (2) is unchanged, and the input voltage of the three-phase inverter circuit (3) is still equal to the direct current power supply voltage (U)dc) And the voltage is higher than the voltage required by the permanent magnet brushless direct current motor (4), PWM chopping is carried out on a non-commutation switch tube of the three-phase inverter circuit (3), and therefore commutation torque fluctuation of a low-speed area of the permanent magnet brushless direct current motor (4) is inhibited;
when the phase change period that the permanent magnet brushless direct current motor (4) operates in a high-speed area is detected, the working state of the switching circuit (2) is changed, the DC-DC converter (1) and the direct current power supply jointly provide energy for the permanent magnet brushless direct current motor (4), the input voltage of the three-phase inverter circuit (3) is equal to the voltage obtained by connecting the output end of the DC-DC converter (1) and the direct current power supply in series and is equal to the voltage required by the permanent magnet brushless direct current motor (4), and the switching tube of the three-phase inverter circuit (3) does not carry out PWM chopping at the moment, so that the phase change torque fluctuation of the permanent magnet brushless direct current motor (4) in the high-speed area is inhibited.
2. The method for suppressing the commutation torque ripple of the permanent magnet brushless DC motor with the DC-DC converter according to claim 1, wherein the front-end voltage regulating circuit (A) of step 1) comprises a DC power supply, the DC-DC converter (1) and a switching circuit (2), and the switching circuit (2) is a switching tube (T)c) And a diode (D)9) Wherein, the switch tube (T)c) Drain electrode of (D) and diode (D)9) Is connected with the negative pole end of a three-phase inverter circuit (3) of a permanent magnet brushless direct current motor (4) and is connected with the output end of the negative pole end of the three-phase inverter circuit, and the switching tube (T)c) Is connected to the negative output of the DC-DC converter (1), the diode (D)9) Respectively connected to the positive output of the DC-DC converter (1) and the DC power supply voltage (U)dc) Negative pole, DC supply voltage (U)dc) The positive pole is connected to the positive pole end of the three-phase inverter circuit (3), and the switching tube (T)c) Is connected to the output of a switching signal (5) controlling the commutation signal.
3. The method for suppressing the commutation torque ripple of the permanent magnet brushless direct current motor by the DC-DC converter according to claim 1, wherein in the step 2): when switching tube (T)c) Turn-off, diode (D)9) Conducting, the front end voltage regulating circuit (A) outputs direct current power supply voltage (U)dc) The direct-current power supply directly provides energy for the permanent magnet brushless direct-current motor (4), and the permanent magnet brushless direct-current motor (4) operates in a normal conduction period or a phase conversion period of a low-speed area; when switching tube (T)c) Open diode (D)9) Cut off, the front end voltage regulating circuit (A) outputs a DC-DC converter (1) outputThe output end of the DC-DC converter is connected with the voltage obtained by the series connection of the DC power supply, the DC-DC converter (1) and the DC power supply jointly provide energy for the permanent magnet brushless DC motor (4), and the permanent magnet brushless DC motor (4) runs in the phase change period of a high-speed area.
4. The method for suppressing the commutation torque ripple of the pmdc converter according to claim 1, wherein the switching circuit (2) is operated in a switching tube (T) state during the normal conduction period of the pmdc (4) in step 3)c) Turn-off, diode (D)9) Is conducted, at the moment, the input voltage U of the three-phase inverter circuit (3)inComprises the following steps:
Uin＝Uout1＝Udc (1)
in the formula of Uout1Is a switch tube (T)c) Turn-off, diode (D)9) Output voltage of the front-end voltage-regulating circuit (A) when switched on, UdcIs a direct current power supply voltage;
at the moment, the duty ratio d of the switching tube of the three-phase inverter circuit (3)ncomComprises the following steps:
wherein E is the amplitude of the trapezoidal counter electromotive force, R is the phase resistance of the permanent magnet brushless DC motor, incomThe non-commutation phase current.
5. The method for suppressing the commutation torque ripple of a pmdc converter according to claim 1, wherein the pmdc (4) in step 3) is operated in a low speed region during commutation, and the switching circuit (2) is operated in a state of a switching tube (T) when commutation is startedc) Turn-off, diode (D)9) When the three-phase inverter circuit (3) is turned on, the input voltage is still the DC power supply voltage (U)dc) And the voltage is higher than the voltage required by the permanent magnet brushless direct current motor (4), PWM chopping is carried out on a non-commutation-phase switching tube of the three-phase inverter circuit (3), and the commutation is carried out in a low-speed areaDuty ratio d of switching tube acting on non-commutation phase during phasecomComprises the following steps:
wherein E is the amplitude of the trapezoidal counter electromotive force, R is the phase resistance of the permanent magnet brushless DC motor, incomNon-commutation phase current; u shapeinIs the input voltage of a three-phase inverter circuit, UdcIs a direct current power supply voltage;
when the phase change is finished, the permanent magnet brushless direct current motor (4) operates again in the normal conduction period.
6. The method for suppressing the commutation torque ripple of a pmdc converter according to claim 1, wherein the pmdc (4) in step 3) is operated in a high speed region during commutation, and when commutation is started, the operation state of the switching circuit (2) is changed and the switching tube (T) is turned on or offc) Open diode (D)9) When the voltage is cut off, the input voltage of the three-phase inverter circuit (3) is the voltage obtained by connecting the output end of the DC-DC converter (1) with the DC power supply in series and is equal to the voltage required by the permanent magnet brushless DC motor (4); the output voltage of the DC-DC converter (1) is regulated in the normal conduction period and acts on the whole phase change period to maintain the stability of the output voltage; at this time, the input voltage U of the three-phase inverter circuit (3)inIs composed of
Uin＝Uout2＝Uout1+Uc＝4E+3R|incom| (4)
In the formula of Uout2Is a switch tube (T)c) Open diode (D)9) Output voltage of front-end voltage-regulating circuit (A) at cut-off, Uout1Is a switch tube (T)c) Turn-off, diode (D)9) Output voltage of the front-end voltage-regulating circuit (A) when switched on, UcIs the output voltage of the DC-DC converter, E is the amplitude of the trapezoidal back electromotive force, R is the phase resistance of the permanent magnet brushless DC motor, incomNon-commutation phase current;
at the moment, the three-phase inverter circuit switching tube does not carry out PWM chopping; when the phase change is finished, the permanent magnet brushless direct current motor (4) operates again in the normal conduction period.
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