CN113992075B - Compensation circuit and control method for phase delay of brushless direct current motor - Google Patents
Compensation circuit and control method for phase delay of brushless direct current motor Download PDFInfo
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- CN113992075B CN113992075B CN202111387131.6A CN202111387131A CN113992075B CN 113992075 B CN113992075 B CN 113992075B CN 202111387131 A CN202111387131 A CN 202111387131A CN 113992075 B CN113992075 B CN 113992075B
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- 230000001105 regulatory effect Effects 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims 5
- 230000000694 effects Effects 0.000 abstract description 6
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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
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
Abstract
The invention discloses a compensation circuit for phase delay of a brushless direct current motor, which comprises: the device comprises a voltage division module, an RC filtering module and an adjusting module; the voltage dividing module is connected with the RC filter module and converts the acquired motor end voltage into voltage which can be detected by the singlechip after dividing the acquired motor end voltage; the RC filter module is used for filtering high-frequency interference signals in terminal voltage signals and delaying an electric angle of 30 degrees; the RC filter module is connected with the adjusting module, and the adjusting module is used for adjusting the phase delay in the RC filter module. The invention can well improve the effect of the filter circuit and solve the problem that the fluctuation range of the frequency of the three-phase terminal voltage is larger in different running states such as motor starting, low speed, medium speed and high speed.
Description
Technical Field
The invention relates to the technical field of brushless direct current motors, in particular to a compensation circuit and a control method for phase delay of a brushless direct current motor.
Background
The brushless DC motor is a new type motor which uses no mechanical structure reversing brush but instead uses electronic reverser. The brushless DC motor is based on Faraday's law of electromagnetic induction, and has the characteristics of high-speed dynamic response, high efficiency, long service life, low noise, high rotating speed, no reversing spark, reliable operation, easy maintenance and the like.
The zero crossing of the back emf of the brushless dc motor winding reflects the position of the rotor poles. Therefore, the critical position of the rotor can be judged as long as the zero crossing point signal of the counter electromotive force of the winding can be accurately detected. After 30-degree electrical angle delay treatment, the current can be used as a reversing point of a winding, and then the reversing operation of the brushless direct current motor is realized according to the conduction sequence of 6 power tubes. At present, in practical application, the frequency of the three-phase terminal voltage has larger fluctuation range in different running states of motor starting, low speed, medium speed, high speed and the like, and the original filter circuit cannot achieve accurate delay of 30 degrees, so that the running state of the motor can become extremely unstable at different rotating speeds.
Disclosure of Invention
The invention provides a compensation circuit and a control method for phase delay of a brushless direct current motor, which are used for solving the problem that in the prior art, the running state of the motor can become extremely unstable under different rotating speeds due to the fact that the fluctuation range of the frequency of three-phase terminal voltage is larger under different running states such as motor starting, low speed, medium speed and high speed.
The invention provides a compensation circuit for phase delay of a brushless direct current motor, which comprises: the device comprises a voltage division module, an RC filtering module and an adjusting module; the voltage dividing module is connected with the RC filter module and converts the acquired motor end voltage into voltage which can be detected by the singlechip after dividing the acquired motor end voltage; the RC filter module is used for filtering high-frequency interference signals in terminal voltage signals and delaying an electric angle of 30 degrees; the RC filter module is connected with the adjusting module, and the adjusting module is used for adjusting the phase delay in the RC filter module.
Further, the voltage dividing module includes: a first resistor and a second resistor; the RC filter module includes: a third resistor, a first capacitor;
one end of the first resistor is connected with one end of the brushless direct current motor, and the other end of the first resistor is connected with one end of the second resistor and one end of the third resistor respectively; the other end of the second resistor is respectively connected with one end of the first capacitor and the analog ground; the other end of the third resistor is respectively connected with the other end of the first capacitor and the input end of the MUC; the adjusting module is connected in parallel with two ends of the third resistor.
Further, the adjustment module includes: the fourth resistor and the first triode; one end of the fourth resistor is connected with one end of the first resistor, one end of the second resistor and one end of the third resistor respectively, and the other end of the fourth resistor is connected with the collector electrode of the first triode; the base electrode of the first triode is connected with the PWM signal end, and the emitter electrode of the first triode is connected with the other end of the third resistor.
Further, the adjustment module includes: a fifth resistor and a first optocoupler; one end of the fifth resistor is connected with one end of the first resistor, one end of the second resistor and one end of the third resistor respectively, and the other end of the fourth resistor is connected with a collector electrode of a triode in the first optocoupler; the emitter of the triode in the first optocoupler is connected with the other end of the third resistor, the cathode of the light emitting diode in the first optocoupler is grounded, and the anode of the light emitting diode in the first optocoupler is connected with the PWM signal end.
The invention also provides a control method for the phase delay of the brushless direct current motor, which comprises the following steps:
step 1: obtaining the pole pair number of the brushless direct current motor and the rotating speed of the current brushless direct current motor;
step 2: obtaining the pole pair number and the rotating speed of the brushless direct current motor through the step 1, and calculating the commutation frequency;
step 3: judging whether the commutation frequency is larger than a second preset value, and executing the step 6 when the commutation frequency is larger than the second preset value; when the preset value is smaller than the second preset value, executing the step 4;
step 4: judging whether the commutation frequency is larger than a first preset value, and executing the step 5 when the commutation frequency is larger than the first preset value; when the preset value is smaller than the first preset value, executing the step 2;
step 5: the adjusting module enters a half-working state, the PWM duty ratio needed in the adjusting module is calculated, and the compensation of the phase delay angle is carried out by adjusting the PWM duty ratio in real time;
step 6: the regulating module enters a full working state, the PWM duty ratio required in the regulating module is calculated, and the compensation of the phase delay angle is carried out by regulating the PWM duty ratio in real time.
Further, the specific calculation method of the commutation frequency in the step 2 is based on the pole pair number and the rotation speed of the brushless direct current motor, and the specific formula is as follows:
wherein "f" is the commutation frequency, "n" is the current rotational speed of the motor, and "p" is the pole pair number.
Further, the specific calculation method for the second preset value in the step 3 is as follows:
wherein "C 0 "is the capacitance value of the first capacitor C1 in the RC filter module," f 2 "is a second preset value of commutation frequency," R 0 And the resistance value of the third resistor R3 in the RC filter module, the fourth resistor R4 in the regulating module and the fifth resistor R5 is' the resistance value of the third resistor R3 in the RC filter module.
Further, the specific calculation method for the first preset value in the step 4 is as follows:
wherein "C 0 "is the capacitance value of the first capacitor C1 in the RC filter module," f 1 "is the first preset value of the commutation frequency.
Further, the specific formula of the PWM duty ratio required in the adjustment module in step 5 is as follows:
wherein "C 0 "is the capacitance value of the first capacitor C1 in the RC filter module," f "is the commutation frequency," R 0 And the resistance value of the third resistor R3 in the RC filter module, the fourth resistor R4 in the regulating module and the fifth resistor R5 is' the resistance value of the third resistor R3 in the RC filter module.
Further, the PWM duty cycle required in the adjustment module in step 6 is as follows:
PWM＝1
the invention has the beneficial effects that:
1. the invention can well improve the effect of the filter circuit by adjusting, and solves the problem that the fluctuation range of the frequency of the three-phase terminal voltage is relatively large in different running states such as motor starting, low speed, medium speed and high speed.
2. The compensation circuit and the control method of the invention lead the motor speed change process to be more stable and have real-time performance and self-adaptability.
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 circuit diagram of an embodiment of the present invention;
FIG. 2 is another circuit diagram of an embodiment of the present invention;
FIG. 3 is a flow chart of a control method embodying the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The embodiment of the invention provides an excitation control device of a synchronous motor, as shown in fig. 1, the invention provides a compensation circuit for phase delay of a brushless direct current motor, which is characterized by comprising a voltage division module, an RC filter module and an adjusting module; the voltage dividing module is connected with the RC filter module and converts the acquired motor end voltage into voltage which can be detected by the singlechip after dividing the voltage; the RC filter module is used for filtering high-frequency interference signals in terminal voltage signals and delaying an electric angle of 30 degrees, ensuring that a motor is triggered to commutate after counter potential zero crossing by delaying 30 degrees, and collecting the filtered electric signals after the electric signals collected by the voltage dividing module are filtered; the RC filter module is connected with the adjusting module, and the adjusting module is used for adjusting the phase delay problem in the RC filter module.
The voltage dividing module comprises a first resistor R1 and a second resistor R2, one end of the first resistor R1 is connected with one phase of the brushless direct current motor, the other end of the first resistor R1 is connected with one end of the second resistor R2, the other end of the first resistor R1 is used as an output end of the voltage dividing module, and the other end of the second resistor R2 is connected with the ground; the filtering module comprises a third resistor R3 and a first capacitor C1, one end of the third resistor R3 is connected with the other end of the first resistor R1, the other end of the third resistor R3 is connected with one end of the first capacitor C1, the other end of the third resistor R3 is used as an input end of a singlechip signal, and the other end of the first capacitor C1 is connected with the ground; the adjusting module comprises a fourth resistor R4 and a first triode M1, one end of the fourth resistor R4 is connected with the other end of the first resistor R1, the other end of the fourth resistor R4 is connected with the collector of the first triode M1, the emitter of the first triode M1 is connected with the other end of the third resistor R3, and the base of the first triode M1 is connected with the PWM signal end.
As shown in fig. 2, the adjusting module may further include a fifth resistor R5 and a first optocoupler T1, where the first optocoupler T1 includes a first diode D1 and a second triode M2 for converting an optical signal sent by the first diode D1 into an electrical signal, one end of the fifth resistor R5 is connected to the other end of the first resistor R1, the other end of the fifth resistor R5 is connected to a collector of the second triode M2, an emitter of the second triode M2 is connected to the other end of the third resistor R3, a cathode of the first diode D1 is connected to ground, and an anode of the first diode D1 is connected to the PWM signal end.
In the embodiment of the invention, a first resistor R1 and a second resistor R2 in the voltage division module are 100 ohms, a third resistor R3 in the RC filter module, a fourth resistor R4 and a fifth resistor R5 in the adjusting module are 50 ohms, and a first capacitor C1 in the RC filter module is 1 micro-farad.
The invention also provides a control method of the phase delay of the brushless direct current motor, which is characterized in that whether the phase delay of the brushless direct current motor is 30 degrees for phase change is realized by judging whether to be connected with an adjusting module or not by calculating the phase change frequency of the current brushless direct current motor, as shown in figure 3, and the method comprises the following steps:
step S1: obtaining the pole pair number of the brushless direct current motor and the rotating speed of the current brushless direct current motor;
step S2: step S1, obtaining the pole pair number and the rotating speed of the brushless direct current motor, and obtaining the commutation frequency through calculation;
the specific calculation method of the commutation frequency in the step S2 is based on the pole pair number and the rotating speed of the brushless direct current motor, and the specific formula is as follows:
when the commutation frequency is calculated, f is the commutation frequency, n is the current rotation speed of the motor, and p is the pole pair number.
For example, when the rotational speed of the high-speed cleaner is 18000 rpm and the pole pair number is 1, the phase inversion frequency is specifically:
step S3: judging whether the calculated commutation frequency is larger than a second preset value, and executing step S6 when the calculated commutation frequency is larger than the second preset value; if not, executing step S4;
the second preset value of the commutation frequency in step S3 is a phase angle lag caused by the reinforcement of the delay effect of the RC filtering module, and the calculation method is as follows:
wherein "C 0 "is the capacitance value of the first capacitor C1 in the RC filter module," f 2 "is a second preset value of commutation frequency," R 0 And the resistance value of the fourth resistor R4 and the fifth resistor R5 in the third resistor R3 adjusting module in the RC filtering module is.
For example, when the third resistor R3 in the RC filter module, the fourth resistor R4 and the fifth resistor R5 in the adjusting module are 50 ohms, and the first capacitor C1 in the RC filter module is 1 microfarad, the second preset value of the commutation frequency at this time is specifically:
step S4: judging whether the calculated commutation frequency is larger than a first preset value, and executing step S5 when the calculated commutation frequency is larger than the first preset value; if not, executing step S2;
the first preset value of the commutation frequency in step S4 is calculated under the condition that the RC filtering module has a delay effect strengthened to cause phase angle lag and the adjusting module does not work, and the specific calculation method is as follows:
wherein "C 0 "is the capacitance value of the first capacitor C1 in the RC filter module," f 1 "is the first preset value of the commutation frequency.
For example, when the first capacitor C1 in the RC filter module adopts 1 microfarad, the first preset value of the commutation frequency at this time is specifically:
step S5: the adjusting module starts a half working state, a PWM duty ratio required in the adjusting module is obtained through calculation, and the PWM duty ratio is adjusted in real time to compensate a phase delay angle;
in step S5, when the adjusting module starts to be in a semi-working state, the commutation frequency f is between a first preset value and a second preset value;
the PWM duty cycle to be adjusted in step S5 is calculated under the condition that the phase angle is lagged due to the reinforced delay effect of the RC filter module, and the specific formula is as follows:
wherein "C 0 "is the capacitance value of the first capacitor C1 in the RC filter module," f "is the commutation frequency," R 0 The resistance values of the third resistor R3 in the RC filter module, the fourth resistor R4 in the adjusting module and the fifth resistor R5 are shown in the specification.
For example, when the third resistor R3 in the RC filter module, the fourth resistor R4 and the fifth resistor R5 in the adjusting module adopt 50 ohms, and the first capacitor C1 in the RC filter module adopts 1 microfarad, the PWM duty ratio to be accessed at this time is specifically:
step S6: the adjusting module starts a full working state, a PWM duty ratio required in the adjusting module is obtained through calculation, and compensation of a phase delay angle is carried out by adjusting the PWM duty ratio in real time;
in the step S6, when the regulating module starts to be in a full working state, the commutation frequency f is larger than a second preset value;
the PWM duty cycle to be adjusted in step S6 is calculated under the condition that the phase angle is lagged due to the reinforced delay effect of the RC filter module, and the specific formula is as follows:
PWM＝1。
although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (6)
1. A control method of a brushless DC motor phase delay compensation circuit, wherein the brushless DC motor phase delay compensation circuit comprises: the device comprises a voltage division module, an RC filtering module and an adjusting module; the voltage dividing module is connected with the RC filter module and converts the acquired motor end voltage into voltage which can be detected by the singlechip after dividing the acquired motor end voltage; the RC filter module is used for filtering high-frequency interference signals in terminal voltage signals and delaying an electric angle of 30 degrees; the RC filter module is connected with the adjusting module, the adjusting module is used for adjusting the phase delay in the RC filter module,
wherein, the partial pressure module includes: a first resistor and a second resistor; the RC filter module includes: a third resistor, a first capacitor;
one end of the first resistor is connected with one end of the brushless direct current motor, and the other end of the first resistor is connected with one end of the second resistor and one end of the third resistor respectively; the other end of the second resistor is respectively connected with one end of the first capacitor and the analog ground; the other end of the third resistor is respectively connected with the other end of the first capacitor and the input end of the MUC; the adjusting module is connected in parallel with two ends of the third resistor;
the adjustment module includes: the fourth resistor and the first triode; one end of the fourth resistor is connected with the other end of the first resistor, one end of the second resistor and one end of the third resistor respectively, and the other end of the fourth resistor is connected with the collector electrode of the first triode; the base electrode of the first triode is connected with the PWM signal end, the emitter electrode of the first triode is connected with the other end of the third resistor,
or, the adjustment module includes: a fifth resistor and a first optocoupler; one end of the fifth resistor is connected with the other end of the first resistor, one end of the second resistor and one end of the third resistor respectively, and the other end of the fifth resistor is connected with the collector electrode of the triode in the first optocoupler; the emitter of the triode in the first optical coupler is connected with the other end of the third resistor, the cathode of the light emitting diode in the first optical coupler is grounded, the anode of the light emitting diode in the first optical coupler is connected with the PWM signal end,
the control method of the brushless direct current motor phase delay compensation circuit is characterized by comprising the following steps of:
step 1: obtaining the pole pair number of the brushless direct current motor and the rotating speed of the current brushless direct current motor;
step 2: obtaining the pole pair number and the rotating speed of the brushless direct current motor through the step 1, and calculating the commutation frequency;
step 3: judging whether the commutation frequency is larger than a second preset value, and executing the step 6 when the commutation frequency is larger than the second preset value; when the preset value is smaller than the second preset value, executing the step 4;
step 4: judging whether the commutation frequency is larger than a first preset value, and executing the step 5 when the commutation frequency is larger than the first preset value; when the preset value is smaller than the first preset value, executing the step 2;
step 5: the adjusting module enters a half-working state, the PWM duty ratio needed in the adjusting module is calculated, and the compensation of the phase delay angle is carried out by adjusting the PWM duty ratio in real time;
step 6: the regulating module enters a full working state, the PWM duty ratio required in the regulating module is calculated, and the compensation of the phase delay angle is carried out by regulating the PWM duty ratio in real time.
2. The method for controlling a phase delay compensation circuit of a brushless dc motor according to claim 1, wherein the specific calculation method of the commutation frequency in the step 2 is based on the pole pair number and the rotation speed of the brushless dc motor, and the specific formula is as follows:
wherein "f" is the commutation frequency, "n" is the current rotational speed of the motor, and "p" is the pole pair number.
3. The method for controlling a phase delay compensation circuit of a brushless dc motor as claimed in claim 1, wherein the specific calculation method for the second preset value in the step 3 is as follows:
wherein "C 0 "is the capacitance value of the first capacitor C1 in the RC filter module," f 2 "is a second preset value of commutation frequency," R 0 And the resistance value of the third resistor R3 in the RC filter module, the fourth resistor R4 in the regulating module and the fifth resistor R5 is' the resistance value of the third resistor R3 in the RC filter module.
4. The method for controlling a phase delay compensation circuit of a brushless dc motor as claimed in claim 1, wherein the specific calculation method for the first preset value in step 4 is as follows:
wherein "C 0 "is the capacitance value of the first capacitor C1 in the RC filter module," f 1 "is the first preset value of the commutation frequency.
5. The method for controlling the phase delay compensation circuit of the brushless direct current motor according to claim 1, wherein the PWM duty ratio required in the adjustment module in the step 5 is as follows:
wherein "C 0 "is the capacitance value of the first capacitor C1 in the RC filter module," f "is the commutation frequency," R 0 And the resistance value of the third resistor R3 in the RC filter module, the fourth resistor R4 in the regulating module and the fifth resistor R5 is' the resistance value of the third resistor R3 in the RC filter module.
6. The method for controlling a phase delay compensation circuit of a brushless dc motor according to claim 1, wherein the PWM duty ratio required in the adjustment module in step 6 is as follows:
PWM＝1。
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111387131.6A CN113992075B (en) | 2021-11-22 | 2021-11-22 | Compensation circuit and control method for phase delay of brushless direct current motor |
| PCT/CN2022/124998 WO2023087985A1 (en) | 2021-11-22 | 2022-10-13 | Compensation circuit and control method for phase delay of brushless direct-current electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111387131.6A CN113992075B (en) | 2021-11-22 | 2021-11-22 | Compensation circuit and control method for phase delay of brushless direct current motor |
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| CN113992075A CN113992075A (en) | 2022-01-28 |
| CN113992075B true CN113992075B (en) | 2023-09-29 |
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| CN202111387131.6A Active CN113992075B (en) | 2021-11-22 | 2021-11-22 | Compensation circuit and control method for phase delay of brushless direct current motor |
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| CN113992075B (en) * | 2021-11-22 | 2023-09-29 | 江苏科技大学 | Compensation circuit and control method for phase delay of brushless direct current motor |
| CN114094883A (en) * | 2021-11-22 | 2022-02-25 | 江苏科技大学 | Compensation circuit for collecting phase delay of switch Hall sensor and control method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203289362U (en) * | 2013-05-23 | 2013-11-13 | 利尔达科技集团股份有限公司 | Control device for brushless motor |
| CN203554345U (en) * | 2013-09-11 | 2014-04-16 | 常州信息职业技术学院 | Constant phase shifting and changing signal detector for brushless DC motor |
| CN204119096U (en) * | 2014-10-10 | 2015-01-21 | 无锡机电高等职业技术学校 | A kind of phase compensating circuit of brshless DC motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5709933B2 (en) * | 2012-12-21 | 2015-04-30 | サムソン エレクトロ−メカニックス カンパニーリミテッド． | Back electromotive force detection circuit and motor drive control device using the same |
| CN113992075B (en) * | 2021-11-22 | 2023-09-29 | 江苏科技大学 | Compensation circuit and control method for phase delay of brushless direct current motor |
| CN114094883A (en) * | 2021-11-22 | 2022-02-25 | 江苏科技大学 | Compensation circuit for collecting phase delay of switch Hall sensor and control method |
-
2021
- 2021-11-22 CN CN202111387131.6A patent/CN113992075B/en active Active
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2022
- 2022-10-13 WO PCT/CN2022/124998 patent/WO2023087985A1/en unknown
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203289362U (en) * | 2013-05-23 | 2013-11-13 | 利尔达科技集团股份有限公司 | Control device for brushless motor |
| CN203554345U (en) * | 2013-09-11 | 2014-04-16 | 常州信息职业技术学院 | Constant phase shifting and changing signal detector for brushless DC motor |
| CN204119096U (en) * | 2014-10-10 | 2015-01-21 | 无锡机电高等职业技术学校 | A kind of phase compensating circuit of brshless DC motor |
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| CN113992075A (en) | 2022-01-28 |
| WO2023087985A1 (en) | 2023-05-25 |
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