CN113839586A - Decoupling detection method for three opposite electromotive forces of high-speed small-armature brushless direct current motor - Google Patents
Decoupling detection method for three opposite electromotive forces of high-speed small-armature brushless direct current motor Download PDFInfo
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- CN113839586A CN113839586A CN202111144528.2A CN202111144528A CN113839586A CN 113839586 A CN113839586 A CN 113839586A CN 202111144528 A CN202111144528 A CN 202111144528A CN 113839586 A CN113839586 A CN 113839586A
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- 238000001514 detection method Methods 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000005070 sampling Methods 0.000 claims abstract description 12
- 238000001914 filtration Methods 0.000 claims abstract description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
Abstract
The invention discloses a decoupling detection method for three opposite electromotive forces of a high-speed small-armature brushless direct current motor, which comprises the following steps of I, offline detection; step two, calibrating the temperature drift of the motor stator; step three, optimizing a motor back electromotive force detection circuit; step four, decoupling detection; firstly, performing off-line detection, and detecting three-phase stator parameters of the motor by adopting a three-phase LRC (line replaceable reference) meter before wiring of the high-speed small-armature brushless direct current motor; the method is safe and reliable, and the off-line high-precision detection of the resistance value of the stator of the three-phase motor and the temperature drift calibration are adopted, so that the influence of the temperature drift of the stator of the motor on the estimation of the position of the rotor is reduced; the counter electromotive force zero-crossing detection circuit is optimized, and the influence of the detection circuit on the estimation of the rotor position is reduced by designing a three-phase decoupling filtering sampling circuit; the three-phase counter electromotive force decoupling detection and the phase change position error compensation are realized through the timer and the counter, and the motor control precision is improved.
Description
Technical Field
The invention relates to the technical field of back electromotive force detection of a direct current brushless motor, in particular to a three-back electromotive force decoupling detection method of a high-speed small-armature brushless direct current motor.
Background
In order to improve the energy density, the stator resistance of the high-speed brushless direct current motor is two orders of magnitude smaller than that of the traditional motor, when the motor is driven by adopting a non-position control method based on back electromotive force detection, a low-pass filter of a three-phase sampling circuit has great influence on the rotor position detection, and the resistance precision of the three-phase low-pass filter determines the rotor position detection precision of the motor, so that the traditional three-phase back electromotive force detection method is difficult to be applied to the brushless direct current motor with high-speed small stator resistance, and at present, the control method of the high-speed small-stator resistance brushless direct current motor without a position sensor has the following schemes:
(1) high-frequency pulse injection method: injecting high-frequency current into a three-phase winding of the motor, detecting non-conducting phase current and estimating the position of the rotor; the method has the advantages that a motor rotor is required to have a salient pole effect, the size and the frequency of the injected current of the small armature motor are difficult to determine, and starting and phase compensation parameters are required to be determined through multiple off-line tests;
(2) the closed loop correction method comprises the following steps: the commutation precision is high, certain robustness is achieved, however, extra current or torque sensors need to be added, three-phase stator parameters are coupled, the sensor precision restricts the motor control precision, and the requirement on a system is high;
(3) the open-loop off-line compensation method comprises the following steps: the structure is simple, hardware does not need to be added, the application is more on a small-torque motor, but parameters need to be readjusted when the load changes, the control precision is low, and the disturbance rejection capability of the system is poor;
therefore, it is very necessary to invent a decoupling detection method for three opposite electromotive forces of a high-speed small-armature brushless dc motor in the present stage.
Disclosure of Invention
The invention aims to provide a decoupling detection method for three opposite electromotive forces of a high-speed small-armature brushless direct current motor, and aims to solve the problems that the traditional three opposite electromotive force detection method is difficult to apply to the brushless direct current motor with high-speed small stator resistance and the existing detection method has larger defects.
In order to achieve the purpose, the invention provides the following technical scheme: the decoupling detection method of three opposite electromotive forces of the brushless direct current motor of high speed small armature comprises the steps of I, off-line detection; step two, calibrating the temperature drift of the motor stator; step three, optimizing a motor back electromotive force detection circuit; step four, decoupling detection;
firstly, performing off-line detection, and detecting three-phase stator parameters of the motor by adopting a three-phase LRC (line replaceable reference) meter before wiring of the high-speed small-armature brushless direct current motor;
in the second step, the temperature is physically raised to 150 ℃, and in the process of temperature rise, the resistance value of the motor stator at different temperatures is detected, and the resistance change curve of the motor stator at different temperatures is calibrated and used for compensating the temperature drift of the motor stator;
in the third step, a three-phase counter electromotive force zero-crossing detection circuit is designed, and parameters of a low-pass filter are configured according to the difference of the three-phase stator resistance of the motor;
and in the fourth step, the position of the motor rotor is estimated according to the three-phase back electromotive force of the motor, then the detection error of the three-phase rotor is estimated, the three-phase position error is respectively adjusted, the three-phase decoupling compensation is realized, and the detection precision of the position of the motor rotor is improved.
Preferably, in the third step, the sampling resistance value in the low-pass filter is 0.01 Ω -1M Ω.
Preferably, in the third step, on the premise of ensuring the filtering effect, the sampling resistance value is reduced, and the influence of the sampling circuit on the rotor position detection is reduced.
Preferably, in the fourth step, the three-phase rotor detection error is estimated by using a three-phase timer and a counter.
Preferably, in the fourth step, when the commutation is not accurate, a commutation compensation strategy is executed, and then commutation is performed.
Compared with the prior art, the invention has the beneficial effects that: the method is safe and reliable, and the off-line high-precision detection of the resistance value of the stator of the three-phase motor and the temperature drift calibration are adopted, so that the influence of the temperature drift of the stator of the motor on the estimation of the position of the rotor is reduced; the counter electromotive force zero-crossing detection circuit is optimized, and the influence of the detection circuit on the estimation of the rotor position is reduced by designing a three-phase decoupling filtering sampling circuit; the three-phase counter electromotive force decoupling detection and the phase change position error compensation are realized through the timer and the counter, and the motor control precision is improved.
Drawings
FIG. 1 is a flow chart of the working principle of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
The technical solutions in 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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, an embodiment of the present invention is shown: the decoupling detection method of three opposite electromotive forces of the brushless direct current motor of high speed small armature comprises the steps of I, off-line detection; step two, calibrating the temperature drift of the motor stator; step three, optimizing a motor back electromotive force detection circuit; step four, decoupling detection; the method is characterized in that:
firstly, performing off-line detection, and detecting three-phase stator parameters of the motor by adopting a three-phase LRC (line replaceable reference) meter before wiring of the high-speed small-armature brushless direct current motor;
in the second step, the temperature is physically raised to 150 ℃, and in the process of temperature rise, the resistance value of the motor stator at different temperatures is detected, and the resistance change curve of the motor stator at different temperatures is calibrated and used for compensating the temperature drift of the motor stator;
in the third step, a three-phase counter electromotive force zero-crossing point detection circuit is designed, parameters of a low-pass filter are configured according to the difference of three-phase stator resistance of the motor, and a sampling resistance value in the low-pass filter is 0.01-1M omega, so that the sampling resistance value is reduced and the influence of the sampling circuit on the rotor position detection is reduced on the premise of ensuring the filtering effect;
and in the fourth step, the position of the motor rotor is estimated according to the three-phase back electromotive force of the motor, then the detection error of the three-phase rotor is estimated through a three-phase timer and a counter, the three-phase position error is respectively adjusted, three-phase decoupling compensation is realized, and the detection precision of the position of the motor rotor is improved.
Based on the above, compared with the traditional three-phase electromotive force detection method of the high-speed small-armature brushless direct current motor, the method has the advantages that the resistance value of the stator of the three-phase motor is detected in an off-line high-precision mode, the temperature drift is calibrated, and the influence of the temperature drift of the stator of the motor on the estimation of the position of the rotor is reduced; by optimizing a back electromotive force zero-crossing detection circuit, low-pass filter parameters are configured according to the resistance difference of three-phase stators of the motor, so that the influence of the detection circuit on the estimation of the position of the rotor is reduced; when three-phase back electromotive force decoupling detection and commutation position error compensation are carried out, the motor control precision is improved through the timer and the counter, and the motor control device is convenient to popularize and use.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (5)
1. The decoupling detection method of three opposite electromotive forces of the brushless direct current motor of high speed small armature comprises the steps of I, off-line detection; step two, calibrating the temperature drift of the motor stator; step three, optimizing a motor back electromotive force detection circuit; step four, decoupling detection; the method is characterized in that:
firstly, performing off-line detection, and detecting three-phase stator parameters of the motor by adopting a three-phase LRC (line replaceable reference) meter before wiring of the high-speed small-armature brushless direct current motor;
in the second step, the temperature is physically raised to 150 ℃, and in the process of temperature rise, the resistance value of the motor stator at different temperatures is detected, and the resistance change curve of the motor stator at different temperatures is calibrated and used for compensating the temperature drift of the motor stator;
in the third step, a three-phase counter electromotive force zero-crossing detection circuit is designed, and parameters of a low-pass filter are configured according to the difference of the three-phase stator resistance of the motor;
and in the fourth step, the position of the motor rotor is estimated according to the three-phase back electromotive force of the motor, then the detection error of the three-phase rotor is estimated, the three-phase position error is respectively adjusted, the three-phase decoupling compensation is realized, and the detection precision of the position of the motor rotor is improved.
2. The decoupling detection method for three opposite electromotive forces of the high-speed small-armature brushless direct-current motor according to claim 1, characterized in that: in the third step, the sampling resistance value in the low-pass filter is 0.01-1M omega.
3. The decoupling detection method for three opposite electromotive forces of the high-speed small-armature brushless direct-current motor according to claim 1, characterized in that: and in the third step, on the premise of ensuring the filtering effect, the sampling resistance value is reduced, and the influence of the sampling circuit on the rotor position detection is reduced.
4. The decoupling detection method for three opposite electromotive forces of the high-speed small-armature brushless direct-current motor according to claim 1, characterized in that: in the fourth step, the three-phase rotor detection error is estimated by a three-phase timer and a counter.
5. The decoupling detection method for three opposite electromotive forces of the high-speed small-armature brushless direct-current motor according to claim 1, characterized in that: in the fourth step, when the commutation is not accurate, a commutation compensation strategy is executed, and then commutation is performed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111144528.2A CN113839586A (en) | 2021-09-28 | 2021-09-28 | Decoupling detection method for three opposite electromotive forces of high-speed small-armature brushless direct current motor |
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| CN202111144528.2A CN113839586A (en) | 2021-09-28 | 2021-09-28 | Decoupling detection method for three opposite electromotive forces of high-speed small-armature brushless direct current motor |
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Citations (5)
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|---|---|---|---|---|
| CN106655918A (en) * | 2016-11-09 | 2017-05-10 | 北京航空航天大学 | Sensorless brushless DC motor commutation deviation fast correction control system |
| CN109546903A (en) * | 2018-11-14 | 2019-03-29 | 哈尔滨工程大学 | A kind of compensation method of brushless DC motor without position sensor voltage sample offset |
| CN112352377A (en) * | 2018-05-07 | 2021-02-09 | 法国大陆汽车公司 | Method for determining an estimated current of a three-phase electric motor in degraded mode |
| CN112366989A (en) * | 2020-11-19 | 2021-02-12 | 北京信息科技大学 | Brushless direct current motor control method based on parameter identification |
| CN112865619A (en) * | 2021-03-22 | 2021-05-28 | 哈尔滨理工大学 | Brushless direct current motor control method improved based on back electromotive force method |
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2021
- 2021-09-28 CN CN202111144528.2A patent/CN113839586A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106655918A (en) * | 2016-11-09 | 2017-05-10 | 北京航空航天大学 | Sensorless brushless DC motor commutation deviation fast correction control system |
| CN112352377A (en) * | 2018-05-07 | 2021-02-09 | 法国大陆汽车公司 | Method for determining an estimated current of a three-phase electric motor in degraded mode |
| CN109546903A (en) * | 2018-11-14 | 2019-03-29 | 哈尔滨工程大学 | A kind of compensation method of brushless DC motor without position sensor voltage sample offset |
| CN112366989A (en) * | 2020-11-19 | 2021-02-12 | 北京信息科技大学 | Brushless direct current motor control method based on parameter identification |
| CN112865619A (en) * | 2021-03-22 | 2021-05-28 | 哈尔滨理工大学 | Brushless direct current motor control method improved based on back electromotive force method |
Non-Patent Citations (2)
| Title |
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| SHAOHUA CHEN: "Sensorless Control Strategy of a 315 kW High-Speed BLDC Motor Based on a Speed-Independent Flux Linkage Function" * |
| 赵云龙等: "无刷直流电机无位置传感器换相补偿方法研究" * |
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Application publication date: 20211224 |