CN114362603A - Control method for suppressing starting torque pulsation of brushless direct current motor - Google Patents
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Abstract
The invention provides a control method for restraining starting torque pulsation of a brushless direct current motor, which comprises the following steps: setting the commutation time of the commutation timer as the preset commutation time, and starting the commutation timer and the period timer; detecting the rising or falling edge zero-crossing point moment of a position signal of the three-phase Hall sensor, and determining the conduction state and the phase-changing time sequence of the power switch tube; acquiring a corresponding electrical angle during each phase change, and determining A, B, C three-phase vector relation during each phase change; and changing the PWM duty ratio during phase conversion to ensure that the vector size synthesized before and after the two-two conduction and the three-three conduction are switched is the same. The two-two conduction mode and the three-three conduction mode are combined, the traditional six-step phase change is converted into the twelve-step phase change in one electric cycle, the Hall sensor acquires the initial position of the rotor, and the torque pulsation problem generated when the brushless direct current motor is started is restrained through multiple phase changes, so that the motor is stably started.
Description
Technical Field
The invention relates to the technical field of brushless direct current motors, in particular to a control method for suppressing starting torque pulsation of a brushless direct current motor.
Background
With the increasingly mature and rapid development of power electronic technology, the brushless direct current motor is continuously broken through in technology, has been widely applied in various fields, such as electric vehicles, household appliances and the like, and the production cost is greatly reduced due to the innovation of machining technology.
The brushless direct current motor is composed of a motor main body and a driver, is a typical electromechanical integrated product, has the characteristics of high torque, high efficiency, small volume, high reliability, simple structure and the like, has excellent speed regulation performance and smaller steady-state rotating speed error, and has better performance than frequency converters controlled by other technologies in the aspects of operating efficiency, rotating speed precision, low-speed torque and the like. The traditional brushless direct current motor adopts a two-two conduction mode, the phase is changed for six times in one electric period, and the armature winding of the motor has inductance, so that the time delay condition occurs when the winding current is switched from one phase to the next phase, and the torque pulsation is generated.
In the prior art, application publication No. CN107171605A discloses a BLDCM two-conduction and three-conduction switching method, and specifically discloses a program module for performing logical operation on a two-conduction and a three-conduction respectively by using a hall position signal of a brushless dc motor, a DSP chip, and a CPLD module, so that the brushless dc motor is switched from the two-conduction to the three-conduction operation mode at 3 s. The two-two conduction and the three-three conduction of the brushless direct current motor are switched by mainly utilizing software programming.
The control method combining the two-second conduction and the three-third conduction provided by the invention converts the traditional six-step phase conversion into the twelve-step phase conversion in one electric cycle, and the Hall sensor acquires the initial position of the rotor to inhibit the torque pulsation problem generated during the phase conversion, thereby realizing the stable starting of the brushless direct current motor.
Disclosure of Invention
The invention provides a control method for suppressing starting torque pulsation of a brushless direct current motor, which combines a two-two conduction mode and a three-three conduction mode, converts the traditional six-step phase conversion into a twelve-step phase conversion in an electric period, acquires the initial position of a rotor by a Hall sensor, suppresses the torque pulsation problem generated when the brushless direct current motor is started by multiple phase conversions, and realizes the stable starting of the motor.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention relates to a control method for suppressing starting torque pulsation of a brushless direct current motor, which comprises the following steps:
step 1: setting the commutation time of the commutation timer as the preset commutation time, and starting the commutation timer and the period timer;
step 2: detecting the rising or falling edge zero-crossing point moment of a position signal of the three-phase Hall sensor, and determining the conduction state and the phase-changing time sequence of the power switch tube;
and step 3: calculating real-time commutation time, and setting a commutation timer as the commutation time at the moment;
and 4, step 4: acquiring a corresponding electrical angle during each phase change, and determining A, B, C three-phase vector relation during each phase change;
and 5: and changing the PWM duty ratio during phase conversion to ensure that the vector size synthesized before and after the two-two conduction and the three-three conduction are switched is the same.
The invention is further improved in that: the conducting sequence of the MOS tube controlled by the phase-changing circuit of the brushless direct current motor is as follows: t1, T4 → T1, T4, T6 → T1, T6 → T1, T3, T6 → T3, T6 → T2, T3, T6 → T2, T3 → T2, T3, T5 → T2, T5 → T2, T4, T5 → T4, T5 → T1, T4, T5.
The invention is further improved in that: the specific commutation control logic is as follows: when the rising edge zero crossing point of the phase A of the Hall sensor is detected, the power switch tubes T1 and T4 are conducted, the corresponding phase A winding is electrified positively, the phase B winding is electrified negatively, the commutation time sequence is 30 degrees, the commutation time is calculated to be T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 2T, the phase change timer is set to be zero, the power switch tubes T1, T4 and T6 are conducted, the phase A winding is conducted with positive electricity, the phase B winding and the phase C winding are conducted with negative electricity, and the phase change time sequence is 60 degrees at the moment;
when the falling edge zero crossing point of the C phase of the Hall sensor is detected, the power switches T1 and T6 are switched on, the corresponding A phase winding is switched on positively, the C phase winding is switched on negatively, the commutation time sequence is 90 degrees, the commutation time at the moment is calculated to be 3T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 4T, the phase change timer is set to be zero, the power switch tubes T1, T3 and T6 are conducted, the A-phase winding and the B-phase winding are conducted with positive electricity, the C-phase winding is conducted with negative electricity, and the phase change time sequence is 120 degrees at the moment;
when the rising edge zero crossing point of the B phase of the Hall sensor is detected, the power switches T3 and T6 are switched on, the corresponding B phase winding is electrified positively, the C phase winding is electrified negatively, the commutation time sequence is 150 degrees, the commutation time at the moment is calculated to be 5T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 6T, the phase change timer is set to be zero, the power switch tubes T2, T3 and T6 are conducted, the phase B winding is conducted with positive electricity, the phase A winding and the phase C winding are conducted with negative electricity, and the phase change time sequence is 180 degrees at the moment;
when the falling edge zero crossing point of the phase A of the Hall sensor is detected, the power switches T2 and T3 are switched on, the corresponding phase B winding is switched on positively, the phase A winding is switched on negatively, the commutation time sequence is 210 degrees, the commutation time at the moment is calculated to be 7T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 8T, the phase change timer is set to be zero, the power switch tubes T2, T3 and T5 are conducted, the phase B winding and the phase C winding are conducted with positive electricity, the phase A winding is conducted with negative electricity, and the phase change time sequence is 240 degrees at the moment;
when the rising edge zero crossing point of the phase C of the Hall sensor is detected, the power switches T2 and T3 are switched on, the corresponding phase B winding is switched on positively, the phase A winding is switched on negatively, the commutation time sequence is 270 degrees, the commutation time at the moment is calculated to be 9T, and the time of the commutation timer is set to be T;
when the real-time phase change time is 10T, the phase change timer is set to be zero, the power switch tubes T2, T4 and T5 are conducted, the phase C winding is conducted with positive electricity, the phase A winding and the phase B winding are conducted with negative electricity, and the phase change time sequence is 300 degrees at the moment;
when the falling edge zero crossing point of the B phase of the Hall sensor is detected, the power switches T4 and T5 are switched on, the corresponding C phase winding is switched on positively, the B phase winding is switched on negatively, the commutation time sequence is 330 degrees, the commutation time at the moment is calculated to be 11T, and the time of the commutation timer is set to be T;
when the real-time commutation time is 12T, the commutation timer is set to zero, the power switch tubes T1, T4 and T5 are conducted, corresponding A-phase and C-phase windings are electrified positively, corresponding B-phase windings are electrified negatively, and at the moment, the commutation time sequence is 360 degrees.
The invention is further improved in that: the real-time commutation time in step 3 is calculated as follows:
wherein, TtFor the value of the real-time commutation time, TdFor presetting the duty ratio of PWM, neAnd p is the pole pair number of the brushless direct current motor, wherein the rated rotating speed of the brushless direct current motor is the rated rotating speed of the brushless direct current motor.
The invention is further improved in that: when the load of the brushless direct current motor is less than 40% of the rated load, the PWM preset duty ratio of the brushless direct current motor is 0-1%, and when the load is greater than 40%, the PWM preset duty ratio of the brushless direct current motor is 5% -6%.
The invention is further improved in that: in step 5, when the two-two conduction state is adopted, the torque generated by the current flowing into the winding is positive, the torque generated by the current flowing out of the winding is negative, and the magnitude of the resultant torque is
The resultant torque at three-three conduction is
In order to ensure that the magnitude of the resultant vector of the two conduction modes is equal, the PWM duty ratio is adjusted, so that the adjusted PWM duty ratio is switched on twice, and the two conduction modes are realized
And (4) doubling.
The invention has the beneficial effects that: 1. the control method for inhibiting the starting torque pulsation of countless direct current motors adopts a complementary combination mode of two-two conduction and three-three conduction, inhibits the torque pulsation in the two-two conduction mode, and effectively weakens the influence of noise during starting.
2. According to the scheme of the invention, the commutation time is calculated according to the rated rotating speed, the PWM duty ratio and the pole pair number of the brushless direct current motor, and the torque pulsation during commutation is suppressed by changing the commutation time, so that the brushless direct current motor is stably started.
Drawings
Fig. 1 is a flowchart of a method for controlling a brushless dc motor to suppress starting torque ripple according to the present invention.
Fig. 2 is a vector relationship diagram of three phases at each commutation timing sequence of the method for controlling the starting torque ripple suppression of the brushless dc motor according to the present invention.
Fig. 3 is a commutation circuit diagram of the control method for suppressing the starting torque ripple of the brushless dc motor according to the present invention.
Detailed Description
In order to make the objects and technical advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of protection of the present invention.
As shown in fig. 1 to 3, the present invention provides a control method for suppressing starting torque ripple of a brushless dc motor, which specifically includes the following steps:
step S1: setting the commutation time of the commutation timer as the preset commutation time, and starting the commutation timer and the period timer; the preset period value of the brushless direct current motor is 100 ms;
step S2: detecting the zero crossing time of each phase rising edge or falling edge of the Hall sensor, and determining a phase change time sequence and the conduction state of the power switch tube;
the conducting sequence of the MOS tube controlled by the brushless direct current motor phase-changing circuit is as follows: t1, T4 → T1, T4, T6 → T1, T6 → T1, T3, T6 → T3, T6 → T2, T3, T6 → T2, T3 → T2, T3, T5 → T2, T5 → T2, T4, T5 → T4, T5 → T1, T4, T5, and the specific commutation control logic is as follows:
when the rising edge zero crossing point of the phase A of the Hall sensor is detected, the power switch tubes T1 and T4 are conducted, the corresponding phase A winding is electrified positively, the phase B winding is electrified negatively, the commutation time sequence is 30 degrees, the commutation time is calculated to be T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 2T, the phase change timer is set to be zero, the power switch tubes T1, T4 and T6 are conducted, the phase A winding is conducted with positive electricity, the phase B winding and the phase C winding are conducted with negative electricity, and the phase change time sequence is 60 degrees at the moment;
when the falling edge zero crossing point of the C phase of the Hall sensor is detected, the power switches T1 and T6 are switched on, the corresponding A phase winding is switched on positively, the C phase winding is switched on negatively, the commutation time sequence is 90 degrees, the commutation time at the moment is calculated to be 3T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 4T, the phase change timer is set to be zero, the power switch tubes T1, T3 and T6 are conducted, the A-phase winding and the B-phase winding are conducted with positive electricity, the C-phase winding is conducted with negative electricity, and the phase change time sequence is 120 degrees at the moment;
when the rising edge zero crossing point of the B phase of the Hall sensor is detected, the power switches T3 and T6 are switched on, the corresponding B phase winding is electrified positively, the C phase winding is electrified negatively, the commutation time sequence is 150 degrees, the commutation time at the moment is calculated to be 5T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 6T, the phase change timer is set to be zero, the power switch tubes T2, T3 and T6 are conducted, the phase B winding is conducted with positive electricity, the phase A winding and the phase C winding are conducted with negative electricity, and the phase change time sequence is 180 degrees at the moment;
when the falling edge zero crossing point of the phase A of the Hall sensor is detected, the power switches T2 and T3 are switched on, the corresponding phase B winding is switched on positively, the phase A winding is switched on negatively, the commutation time sequence is 210 degrees, the commutation time at the moment is calculated to be 7T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 8T, the phase change timer is set to be zero, the power switch tubes T2, T3 and T5 are conducted, the phase B winding and the phase C winding are conducted with positive electricity, the phase A winding is conducted with negative electricity, and the phase change time sequence is 240 degrees at the moment;
when the rising edge zero crossing point of the phase C of the Hall sensor is detected, the power switches T2 and T3 are switched on, the corresponding phase B winding is switched on positively, the phase A winding is switched on negatively, the commutation time sequence is 270 degrees, the commutation time at the moment is calculated to be 9T, and the time of the commutation timer is set to be T;
when the real-time phase change time is 10T, the phase change timer is set to be zero, the power switch tubes T2, T4 and T5 are conducted, the phase C winding is conducted with positive electricity, the phase A winding and the phase B winding are conducted with negative electricity, and the phase change time sequence is 300 degrees at the moment;
when the falling edge zero crossing point of the B phase of the Hall sensor is detected, the power switches T4 and T5 are switched on, the corresponding C phase winding is switched on positively, the B phase winding is switched on negatively, the commutation time sequence is 330 degrees, the commutation time at the moment is calculated to be 11T, and the time of the commutation timer is set to be T;
when the real-time commutation time is 12T, the commutation timer is set to zero, the power switch tubes T1, T4 and T5 are conducted, corresponding A-phase and C-phase windings are electrified positively, corresponding B-phase windings are electrified negatively, and at the moment, the commutation time sequence is 360 degrees.
Step S3: calculating real-time commutation time, and setting a commutation timer as the commutation time at the moment;
if the load of the brushless direct current motor is less than 40% of the rated load, the preset PWM duty ratio of the brushless direct current motor is 0-1%; and if the load is more than 40%, the preset PWM duty ratio of the brushless direct current motor is 5% -6%.
The commutation time of the brushless direct current motor can be accurately calculated according to the preset PWM duty ratio, the rated rotating speed and the pole pair number of the brushless direct current motor, namely, the commutation time calculation formula of the brushless direct current motor is as follows:
in the above formula, TtFor the value of the real-time commutation time, TdFor presetting the duty ratio of PWM, neThe rated rotating speed of the brushless DC motor is p, and the number of pole pairs of the brushless DC motor is p.
Step S4: acquiring a corresponding electrical angle during each phase change, and determining A, B, C three-phase vector relation during each phase change;
step S5: and changing the PWM duty ratio during phase conversion to ensure that the vector size synthesized before and after the two-two conduction and the three-three conduction are switched is the same.
As shown in FIG. 2, the present invention provides a vector diagram of three phases at each time sequence, when the two phases are conducted, the torque generated by the current flowing into the winding is positive, and the torque generated by the current flowing out of the winding is negative, the resultant torque is equal to
Similarly, the magnitude of the resultant torque when three-three conduction is conducted is
In order to ensure that the magnitude of the resultant vector of the two conduction modes is equal, the PWM duty ratio is adjusted, so that the adjusted PWM duty ratio is switched on twice, and the two conduction modes are realized
And (4) doubling.
The invention combines the two-two conduction mode and the three-three conduction mode, and converts the traditional six-step phase change into the twelve-step phase change in one electric cycle, thereby realizing the purpose of inhibiting the torque pulsation problem generated when the brushless direct current motor is started by multiple phase changes and ensuring the stable starting of the motor.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (6)
1. The control method for suppressing the starting torque pulsation of the brushless direct current motor is characterized by comprising the following steps of: the method comprises the following steps:
step 1: setting the commutation time of the commutation timer as the preset commutation time, and starting the commutation timer and the period timer;
step 2: detecting the rising or falling edge zero-crossing point moment of a position signal of the three-phase Hall sensor, and determining the conduction state and the phase-changing time sequence of the power switch tube;
and step 3: calculating real-time commutation time, and setting a commutation timer as the commutation time at the moment;
and 4, step 4: acquiring a corresponding electrical angle during each phase change, and determining A, B, C three-phase vector relation during each phase change;
and 5: and changing the PWM duty ratio during phase conversion to ensure that the vector size synthesized before and after the two-two conduction and the three-three conduction are switched is the same.
2. The control method of suppressing the starting torque ripple of the brushless dc motor according to claim 1, wherein: the specific sequence of the conducting states of the power switch tube in the step 2 is as follows: t1, T4 → T1, T4, T6 → T1, T6 → T1, T3, T6 → T3, T6 → T2, T3, T6 → T2, T3 → T2, T3, T5 → T2, T5 → T2, T4, T5 → T4, T5 → T1, T4, T5.
3. The control method of suppressing the starting torque ripple of the brushless dc motor according to claim 2, characterized in that: the specific commutation control logic is as follows: when the rising edge zero crossing point of the phase A of the Hall sensor is detected, the power switch tubes T1 and T4 are conducted, the corresponding phase A winding is electrified positively, the phase B winding is electrified negatively, the commutation time sequence is 30 degrees, the commutation time is calculated to be T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 2T, the phase change timer is set to be zero, the power switch tubes T1, T4 and T6 are conducted, the phase A winding is conducted with positive electricity, the phase B winding and the phase C winding are conducted with negative electricity, and the phase change time sequence is 60 degrees at the moment;
when the falling edge zero crossing point of the C phase of the Hall sensor is detected, the power switches T1 and T6 are switched on, the corresponding A phase winding is switched on positively, the C phase winding is switched on negatively, the commutation time sequence is 90 degrees, the commutation time at the moment is calculated to be 3T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 4T, the phase change timer is set to be zero, the power switch tubes T1, T3 and T6 are conducted, the A-phase winding and the B-phase winding are conducted with positive electricity, the C-phase winding is conducted with negative electricity, and the phase change time sequence is 120 degrees at the moment;
when the rising edge zero crossing point of the B phase of the Hall sensor is detected, the power switches T3 and T6 are switched on, the corresponding B phase winding is electrified positively, the C phase winding is electrified negatively, the commutation time sequence is 150 degrees, the commutation time at the moment is calculated to be 5T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 6T, the phase change timer is set to be zero, the power switch tubes T2, T3 and T6 are conducted, the phase B winding is conducted with positive electricity, the phase A winding and the phase C winding are conducted with negative electricity, and the phase change time sequence is 180 degrees at the moment;
when the falling edge zero crossing point of the phase A of the Hall sensor is detected, the power switches T2 and T3 are switched on, the corresponding phase B winding is switched on positively, the phase A winding is switched on negatively, the commutation time sequence is 210 degrees, the commutation time at the moment is calculated to be 7T, and the time of the commutation timer is set to be T;
when the real-time phase change time is detected to be 8T, the phase change timer is set to be zero, the power switch tubes T2, T3 and T5 are conducted, the phase B winding and the phase C winding are conducted with positive electricity, the phase A winding is conducted with negative electricity, and the phase change time sequence is 240 degrees at the moment;
when the rising edge zero crossing point of the phase C of the Hall sensor is detected, the power switches T2 and T3 are switched on, the corresponding phase B winding is switched on positively, the phase A winding is switched on negatively, the commutation time sequence is 270 degrees, the commutation time at the moment is calculated to be 9T, and the time of the commutation timer is set to be T;
when the real-time phase change time is 10T, the phase change timer is set to be zero, the power switch tubes T2, T4 and T5 are conducted, the phase C winding is conducted with positive electricity, the phase A winding and the phase B winding are conducted with negative electricity, and the phase change time sequence is 300 degrees at the moment;
when the falling edge zero crossing point of the B phase of the Hall sensor is detected, the power switches T4 and T5 are switched on, the corresponding C phase winding is switched on positively, the B phase winding is switched on negatively, the commutation time sequence is 330 degrees, the commutation time at the moment is calculated to be 11T, and the time of the commutation timer is set to be T;
when the real-time commutation time is 12T, the commutation timer is set to zero, the power switch tubes T1, T4 and T5 are conducted, corresponding A-phase and C-phase windings are electrified positively, corresponding B-phase windings are electrified negatively, and at the moment, the commutation time sequence is 360 degrees.
4. The control method of suppressing the starting torque ripple of the brushless dc motor according to claim 3, wherein: the real-time commutation time in step 3 is calculated as follows:
wherein, TtFor the value of the real-time commutation time, TdFor presetting the duty ratio of PWM, neAnd p is the pole pair number of the brushless direct current motor, wherein the rated rotating speed of the brushless direct current motor is the rated rotating speed of the brushless direct current motor.
5. The control method of suppressing the starting torque ripple of the brushless dc motor according to claim 4, wherein: when the load of the brushless direct current motor is less than 40% of the rated load, the duty ratio of the preset PWM of the brushless direct current motor is 0-1%, and when the load is more than 40%, the duty ratio of the preset PWM of the brushless direct current motor is 5% -6%.
6. The control method of suppressing the starting torque ripple of the brushless dc motor according to claim 5, wherein: in step 5, when the two-two conduction state is adopted, the torque generated by the current flowing into the winding is positive, the torque generated by the current flowing out of the winding is negative, and the magnitude of the resultant torque is
The resultant torque at three-three conduction is
In order to ensure that the magnitude of the resultant vector of the two conduction modes is equal, the PWM duty ratio is adjusted, so that the adjusted PWM duty ratio is switched on twice, and the two conduction modes are realized
And (4) doubling.
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