CN114826036A - Brushless direct current motor control method capable of reducing phase-change torque pulsation - Google Patents

Brushless direct current motor control method capable of reducing phase-change torque pulsation Download PDF

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CN114826036A
CN114826036A CN202210595659.0A CN202210595659A CN114826036A CN 114826036 A CN114826036 A CN 114826036A CN 202210595659 A CN202210595659 A CN 202210595659A CN 114826036 A CN114826036 A CN 114826036A
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phase
current
commutation
bridge arm
interval
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CN114826036B (en
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谈正言
蒋建国
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Wuxi Lingbo Electronic Technology Co ltd
Nanjing Lingbo Electronic Technology Co ltd
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Wuxi Lingbo Electronic Technology Co ltd
Nanjing Lingbo Electronic Technology Co ltd
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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
    • 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
    • H02P6/12—Monitoring commutation; Providing indication of commutation failure

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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The application discloses a brushless direct current motor control method capable of reducing commutation torque ripple, which relates to the field of brushless direct current motors, and the method modulates three phase windings of the brushless direct current motor by adopting different duty ratios simultaneously, comprehensively considers commutation torque ripple caused by overlong commutation time and commutation torque ripple caused by a body structure and a working principle of the brushless direct current motor according to a change rule of counter potential of an off phase along with commutation time, quantifies the change rule into a comprehensive optimization index to determine the duty ratios of the modulation of the three phase windings, can reduce a difference value between current change rates of the on phase and the off phase when the motor commutates, and further inhibits the commutation torque ripple.

Description

Brushless direct current motor control method capable of reducing phase-change torque pulsation
Technical Field
The application relates to the field of brushless direct current motors, in particular to a brushless direct current motor control method capable of reducing commutation torque pulsation.
Background
Brushless Direct Current motors (BLDCM) have the advantages of simple structure, simple control, low noise, and the like, and thus are widely used in the fields of vehicles, medical instruments, home appliances, and the like. Normally, the BLDCM is driven by a square wave, and two phases are conducted during normal operation, but due to the particularity of the system, the BLDCM generates pulsation of electromagnetic torque of the motor during phase change due to current phase change, so that the rotation speed of the motor fluctuates and vibration and noise are generated. The torque ripple of the BLDCM in the commutation process causes that the BLDCM cannot be applied to a high precision occasion, and the application of the BLDCM is limited, so how to suppress the torque ripple is an important research topic of the BLDCM.
Disclosure of Invention
In view of the above problems and technical needs, the present applicant proposes a method for controlling a brushless dc motor capable of reducing phase change torque ripple, and the technical solution of the present application is as follows:
brushless DC motor control method capable of reducing commutation torque ripple, and DC bus voltage
Figure 776520DEST_PATH_IMAGE001
The output end of each bridge arm of the inverter circuit is connected with the inverter circuit, and the output end of each bridge arm of the inverter circuit sequentially passes through the winding resistor
Figure 811472DEST_PATH_IMAGE002
And a winding inductor
Figure DEST_PATH_IMAGE003
Connecting one phase winding of the brushless direct current motor, wherein three phase windings of the brushless direct current motor are connected by adopting a star connection method; the controller is connected with and controls the switching tubes on each bridge arm in the inverter circuit, and the method executed by the controller comprises the following steps:
when detecting that the phase-change interval is entered, according to the duty ratio
Figure 549359DEST_PATH_IMAGE004
Pulse width modulation is carried out on the lower bridge arm switching tubes which are connected in turn-off state, and turn-off is delayed according to the duty ratio
Figure DEST_PATH_IMAGE005
Pulse width modulation is carried out on the upper bridge arm switching tubes which are not connected in phase change, and the lower bridge arm switching tubes which are connected in turn-on mode are controlled to be constantly conducted, so that the current of the turn-on phase is enabled
Figure 113196DEST_PATH_IMAGE006
Rate of rise of
Figure DEST_PATH_IMAGE007
With current in off phase
Figure 172418DEST_PATH_IMAGE008
Rate of decrease of
Figure DEST_PATH_IMAGE009
Equal within the rate error range; wherein:
Figure 479903DEST_PATH_IMAGE010
，
Figure DEST_PATH_IMAGE011
is time and
Figure 337875DEST_PATH_IMAGE012
，
Figure DEST_PATH_IMAGE013
in order to be able to change the duration of the phase interval,
Figure 213559DEST_PATH_IMAGE014
is the period of the hall sector and,
Figure DEST_PATH_IMAGE015
、
Figure 25657DEST_PATH_IMAGE016
、
Figure DEST_PATH_IMAGE017
counter-potentials for non-phase-change phase, off-phase and on-phase with respect to ground in sequence and
Figure 104209DEST_PATH_IMAGE018
、
Figure DEST_PATH_IMAGE019
、
Figure 990256DEST_PATH_IMAGE020
，
Figure DEST_PATH_IMAGE021
is the steady state current of the non-commutation phase,
Figure 692633DEST_PATH_IMAGE022
the phase winding is a back electromotive force basic value, the turn-off phase is a phase winding which is switched from an on state to an off state in the brushless direct current motor, the turn-on phase is a phase winding which is switched from the off state to the on state in the brushless direct current motor, and the non-commutation phase is a phase winding which is not changed in state in the brushless direct current motor.
The beneficial technical effect of this application is:
the application discloses a brushless direct current motor control method capable of reducing commutation torque ripple, which carries out commutation modulation on three phase windings in a brushless direct current motor simultaneously, reduces the difference value between the current change rates of an open phase and a closed phase when the motor commutates, and further inhibits commutation torque ripple. The traditional method assumes that the commutation can be finished smoothly, and does not comprehensively consider the adverse effect of overlong commutation time on commutation torque ripple, but the method comprehensively considers the commutation torque ripple caused by overlong commutation time and the commutation torque ripple caused by the BLDCM body structure and the working principle according to the change rule of the back electromotive force of the closed phase along with the commutation time, quantifies the commutation torque ripple into a comprehensive optimization index, can select the optimal duty ratio of three-phase winding modulation according to the optimization index, and has better effect of inhibiting the commutation torque ripple.
In addition, this application has still provided a to winding inductance
Figure DEST_PATH_IMAGE023
The method for determining the commutation interval with low parameter sensitivity can avoid the dependence of the traditional method on accurate detection of the cut-off point of the commutation interval
Figure 371788DEST_PATH_IMAGE023
The problems caused by parameters can be solved, especially the problem of the small-inductance brushless direct current motor
Figure 614551DEST_PATH_IMAGE023
The problem that the detection of the phase change interval is difficult due to small parameters is solved, and the additional torque ripple caused by inaccurate detection of the phase change time of the phase change interval is reduced.
Drawings
Fig. 1 is a schematic diagram of an equivalent control model of a brushless dc motor.
FIG. 2 is a schematic diagram of the current variation of three phase windings of a brushless DC motor under different conditions, where (a) is
Figure 886263DEST_PATH_IMAGE024
Result in
Figure DEST_PATH_IMAGE025
A rising current diagram, (b) is
Figure 962804DEST_PATH_IMAGE026
Result in
Figure 342969DEST_PATH_IMAGE025
The falling current is shown in (c) is regulation
Figure DEST_PATH_IMAGE027
So that
Figure 497745DEST_PATH_IMAGE028
Maintaining a constant current profile.
FIG. 3 is a graph of the duration of a cycle of three phase windings modulated at different duty cycles by the controller of the present application
Figure DEST_PATH_IMAGE029
Schematic diagram of the control waveform during the pwm period.
Fig. 4 is a schematic diagram of the current flowing in the first interval of fig. 3 of the equivalent control model shown in fig. 1.
Fig. 5 is a schematic diagram of the current flowing in the second interval of fig. 3 of the equivalent control model shown in fig. 1.
Fig. 6 is a schematic diagram of the current flowing in the third interval of fig. 3 of the equivalent control model shown in fig. 1.
Fig. 7 is a schematic diagram showing changes of currents and counter potentials of three phase windings of the brushless dc motor in a commutation period and a non-commutation period.
FIG. 8 shows the open-phase currents of a brushless DC motor with successful and unsuccessful commutation
Figure 155122DEST_PATH_IMAGE030
And current of off phase
Figure DEST_PATH_IMAGE031
The current profile of (a).
Detailed Description
The following description of the embodiments of the present application will be made with reference to the accompanying drawings.
Referring to an equivalent control model shown in fig. 1, a method for controlling a brushless dc motor capable of reducing commutation torque ripple is disclosed, in which a dc bus voltage is controlled
Figure 668143DEST_PATH_IMAGE032
The inverter circuit can adopt a common three-phase three-bridge arm inverter circuit, and the output end of each bridge arm of the inverter circuit sequentially passes through the winding resistor
Figure DEST_PATH_IMAGE033
And a winding inductor
Figure 270026DEST_PATH_IMAGE034
One phase winding of the brushless DC motor is connected. As shown in fig. 1, the upper arm switch tube
Figure DEST_PATH_IMAGE035
And lower bridge arm switch tube
Figure 464378DEST_PATH_IMAGE036
The middle point of the formed bridge arm is connected to an A-phase winding as an output end, and the counter potential of the A-phase winding is recorded as
Figure DEST_PATH_IMAGE037
The current of the A-phase winding is recorded as
Figure 5956DEST_PATH_IMAGE038
. Upper bridge arm switch tube
Figure DEST_PATH_IMAGE039
And lower bridge arm switch tube
Figure 17774DEST_PATH_IMAGE040
The middle point of the formed bridge arm is connected to a phase B winding as an output end, and the counter potential of the phase B winding is recorded as
Figure DEST_PATH_IMAGE041
The current of the B-phase winding is recorded
Figure 716740DEST_PATH_IMAGE042
. Upper bridge arm switch tube
Figure DEST_PATH_IMAGE043
And lower bridge arm switch tube
Figure 511520DEST_PATH_IMAGE044
The middle point of the formed bridge arm is connected to a C-phase winding as an output end, and the counter potential of the C-phase winding is recorded as
Figure DEST_PATH_IMAGE045
And the current of the C-phase winding is recorded as
Figure 471386DEST_PATH_IMAGE046
. Three phase windings of the brushless DC motor are connected in a star connection mode, namely the other ends of the three phase windings are connected to form a neutral point, and the voltage of the neutral point is recorded as
Figure DEST_PATH_IMAGE047
. The present application is directed to brushless DCThe motor may be a high speed coreless brushless dc motor. The controller is connected with and controls the on-off of the switch tubes on each bridge arm in the inverter circuit to realize the control of the brushless direct current motor, and the controller is not shown in fig. 1.
Based on the control structure shown in fig. 1, the mathematical model of the brushless dc motor can be expressed as:
Figure 795051DEST_PATH_IMAGE048
（1）
Figure DEST_PATH_IMAGE049
（2）
wherein,
Figure 276586DEST_PATH_IMAGE050
、
Figure DEST_PATH_IMAGE051
、
Figure 937374DEST_PATH_IMAGE052
the terminal voltages to the ground of the A-phase winding, the B-phase winding and the C-phase winding are sequentially arranged. In the non-commutation interval, the brushless dc motor usually works in a two-phase 120 ° conduction mode, that is, a conventional two-phase conduction modulation method is adopted: the upper bridge arm switching tube is modulated, the lower bridge arm switching tube is constantly switched on, and the modulation duty ratio is
Figure DEST_PATH_IMAGE053
Ideally, the back-emf of all three phase windings is a standard 120 ° electrical angle flat-topped trapezoidal wave and is taken to be
Figure 955009DEST_PATH_IMAGE054
，
Figure 511892DEST_PATH_IMAGE055
Is the back emf base value, which is actually the maximum value of a flat-topped trapezoidal wave of the standard 120 electrical angle. The state of a phase winding in a brushless DC motor during a commutation periodThe invariant is called a non-commutation phase, the switching of one phase winding from an on state to an off state is called an off phase, and the switching of one phase winding from an off state to an on state is called an on phase. Taking the phase-changing process from AB to AC as an example, the A-phase winding is a non-phase-changing phase, the B-phase winding is an off-phase, the C-phase winding is an on-phase, and if the counter potentials of the three phase windings are all kept constant in the phase-changing process, some phase windings are provided
Figure DEST_PATH_IMAGE056
、
Figure 982188DEST_PATH_IMAGE057
The commutation torque of a brushless dc motor can be expressed as:
Figure DEST_PATH_IMAGE058
（3）
in the formula (3), the reaction mixture is,
Figure 587613DEST_PATH_IMAGE059
is a torque constant.
Figure DEST_PATH_IMAGE060
Is the rotor electrical angular frequency of the brushless dc motor.
Figure 522071DEST_PATH_IMAGE061
Is the current of the a-phase winding, in this example the current of the non-commutation phase. It can be seen from equation (3) that the brushless DC motor operates at a constant speed, and the commutation torque is applied during commutation by phase change
Figure DEST_PATH_IMAGE062
The current of the non-commutation phase is in a direct proportion relation, so how to make the current of the non-commutation phase constant is the key for restraining the torque ripple.
When the phase is changed, the current can not change suddenly due to the existence of winding inductance, and the current of the open phase
Figure 234810DEST_PATH_IMAGE063
Current rate of change of
Figure DEST_PATH_IMAGE064
With current in off phase
Figure 130085DEST_PATH_IMAGE065
Current rate of change of
Figure DEST_PATH_IMAGE066
There are three different relationships: if it is
Figure 70359DEST_PATH_IMAGE067
Namely, the motor runs in a low-speed state,
Figure DEST_PATH_IMAGE068
current of non-commutation phase
Figure 859323DEST_PATH_IMAGE069
It rises as shown in fig. 2 (a). If it is
Figure DEST_PATH_IMAGE070
Namely, the motor runs in a high-speed state,
Figure 492430DEST_PATH_IMAGE071
current of non-commutation phase
Figure DEST_PATH_IMAGE072
It will drop as shown in fig. 2 (b). Both cases (a) and (b) in fig. 2 cause commutation torque ripple to be generated, and the best solution to this problem is: will turn off the current of the phase
Figure 373536DEST_PATH_IMAGE073
And current of the open phase
Figure DEST_PATH_IMAGE074
The medium change rate is greatly reduced, the control change rate is less accelerated, the change rates of the two currents are approximately equal, and the currents of the non-phase-change phases are enabled to be approximately equal
Figure 851922DEST_PATH_IMAGE075
If the torque ripple is kept constant, the torque ripple can be effectively suppressed as shown in (c) of fig. 2.
Based on the above analysis, the controller disclosed in the present application can cause the current of the on phase to flow by performing the following method
Figure 26551DEST_PATH_IMAGE074
Current rate of change of
Figure DEST_PATH_IMAGE076
With current in off phase
Figure 299401DEST_PATH_IMAGE073
Current rate of change of
Figure 434847DEST_PATH_IMAGE077
Substantially equal, thereby achieving torque ripple suppression. Specifically, the method comprises the following steps: in a non-commutation interval, a traditional two-phase conduction modulation mode is adopted: the upper bridge arm switching tube is modulated, the lower bridge arm switching tube is constantly switched on, and the modulation duty ratio is
Figure DEST_PATH_IMAGE078
. When entering a commutation interval is detected, three phase windings are modulated simultaneously with different duty cycles: according to duty ratio
Figure 949880DEST_PATH_IMAGE079
Pulse width modulation is carried out on the lower bridge arm switching tubes which are connected in turn-off state, and turn-off is delayed according to the duty ratio
Figure DEST_PATH_IMAGE080
And performing pulse width modulation on the upper bridge arm switching tubes which are not connected in a phase change manner, and controlling the lower bridge arm switching tubes which are connected to be switched on to be constantly conducted.
Under the constraint of duty ratio, the pulse width alignment modes of three phase windings are various, specifically, the duration of one period is
Figure 385540DEST_PATH_IMAGE081
The schematic diagram of the coordinated modulation of three phase windings in the pulse width modulation cycle is shown in fig. 3, wherein the duration of each cycle of the pulse width modulation is
Figure 688346DEST_PATH_IMAGE081
In turn include a time duration of
Figure DEST_PATH_IMAGE082
Has a first interval and a duration of
Figure 576667DEST_PATH_IMAGE083
A second interval and a duration of
Figure DEST_PATH_IMAGE084
In the third interval, the modulation process in each interval is described as follows, and taking the phase a winding as a non-commutation phase, the phase B winding as a turn-off phase, and the phase C winding as a turn-on phase in fig. 1 as an example, current flowing diagrams in the three intervals of the equivalent model shown in fig. 1 are respectively shown by using fig. 4 to 6, and current flowing directions are shown by arrows in fig. 4 to 6, as will be understood by those skilled in the art, in the corresponding examples of fig. 4 to 6,
Figure 396856DEST_PATH_IMAGE085
i.e. representing the current of the non-inverting phase
Figure DEST_PATH_IMAGE086
，
Figure 388820DEST_PATH_IMAGE087
I.e. representing the current of the off-phase
Figure DEST_PATH_IMAGE088
，
Figure 534631DEST_PATH_IMAGE089
I.e. representing the current of the open phase
Figure DEST_PATH_IMAGE090
：
(1) In the first interval, the upper bridge arm switch tubes are not connected in phase change
Figure 238145DEST_PATH_IMAGE091
Current of turn-off, non-phase-change phase
Figure DEST_PATH_IMAGE092
Switch tube through lower bridge arm
Figure 862024DEST_PATH_IMAGE093
And then follow current. Lower bridge arm switch tube connected in turn-off manner
Figure DEST_PATH_IMAGE094
Current of turn-off, turn-off phase
Figure 741118DEST_PATH_IMAGE088
Diode passing through upper bridge arm
Figure 385726DEST_PATH_IMAGE095
And then follow current. Lower bridge arm switch tube connected with switch-on
Figure DEST_PATH_IMAGE096
Conducting and opening the negative pole of the DC bus voltage and the current of the phase
Figure 221876DEST_PATH_IMAGE090
At neutral point voltage
Figure 977343DEST_PATH_IMAGE097
And slowly rises under the action of the counter potential. The current flow diagram is shown in fig. 4.
(2) In the second interval, the upper bridge arm switch tubes are not connected in phase change
Figure DEST_PATH_IMAGE098
Conducting, non-phase-commutation phase-connected DC bus voltage positive pole, non-phase-commutation phase current
Figure 976523DEST_PATH_IMAGE099
And (4) rising. Lower bridge arm switch tube connected in turn-off manner
Figure DEST_PATH_IMAGE100
Current of turn-off, turn-off phase
Figure 667398DEST_PATH_IMAGE101
Diode passing through upper bridge arm
Figure DEST_PATH_IMAGE102
And then follow current. Lower bridge arm switch tube connected with switch-on
Figure 345504DEST_PATH_IMAGE103
The negative pole of the connected DC bus voltage is conducted and opened to form a loop with the non-commutation phase and open-phase current
Figure DEST_PATH_IMAGE104
And (4) rising. The current flow diagram is shown in fig. 5.
(3) In the third interval, the upper bridge arm switch tubes are not connected in phase change
Figure 576765DEST_PATH_IMAGE105
Conducting, non-phase-commutation phase-connected DC bus voltage positive pole, non-phase-commutation phase current
Figure DEST_PATH_IMAGE106
And (4) rising. Lower bridge arm switch tube connected in turn-off manner
Figure 397829DEST_PATH_IMAGE107
The negative pole of the connected DC bus voltage is switched on and off and the current of the off phase forms a loop with the non-commutation phase
Figure DEST_PATH_IMAGE108
And (4) rising. Lower bridge arm switch tube connected with switch-on
Figure 118660DEST_PATH_IMAGE109
Negative electrode NAND of connected DC bus voltage is conducted and openedCurrent of open phase and loop formed by phase-change phase
Figure DEST_PATH_IMAGE110
And (4) rising. The current flow diagram is shown in fig. 6.
When in use
Figure 221745DEST_PATH_IMAGE111
And
Figure DEST_PATH_IMAGE112
when the specific values of (A) are different, the pulse width modulation period
Figure 928801DEST_PATH_IMAGE113
The three intervals within are also of different lengths, and each interval has its own function: (1) the first interval determines the duration of the commutation interval
Figure DEST_PATH_IMAGE114
Duration of the first interval
Figure 433732DEST_PATH_IMAGE115
The smaller the duration of the commutation interval
Figure 325464DEST_PATH_IMAGE114
The shorter. (2) The second interval determines the current of the open phase
Figure DEST_PATH_IMAGE116
Rate of rise of
Figure 148802DEST_PATH_IMAGE117
Duration of the second interval
Figure DEST_PATH_IMAGE118
The larger the current of the open phase
Figure 659549DEST_PATH_IMAGE119
Rate of rise of
Figure 81303DEST_PATH_IMAGE117
Higher, i.e. that
Figure 284882DEST_PATH_IMAGE116
The faster the rise. (3) The third interval determines the current of the off-phase
Figure DEST_PATH_IMAGE120
Rate of decrease of
Figure 831401DEST_PATH_IMAGE121
Duration of the third interval
Figure DEST_PATH_IMAGE122
The smaller the current of the off-phase
Figure 706691DEST_PATH_IMAGE123
Rate of decrease of
Figure 248531DEST_PATH_IMAGE121
Higher, i.e. that
Figure 950907DEST_PATH_IMAGE123
The faster the drop.
Based on the mathematical model of formula (1) and in combination with the duty ratio of three-phase modulation, the voltage equations of the three phase windings of the brushless dc motor can be obtained as follows:
Figure DEST_PATH_IMAGE124
（4）
wherein,
Figure 250302DEST_PATH_IMAGE125
、
Figure DEST_PATH_IMAGE126
、
Figure 368430DEST_PATH_IMAGE127
non-phase-change phase, off-phase and on-phase voltage relative to ground in turn,
Figure DEST_PATH_IMAGE128
、
Figure 499197DEST_PATH_IMAGE129
、
Figure 44579DEST_PATH_IMAGE130
phase currents of a non-commutation phase, a turn-off phase and a turn-on phase in this order, and
Figure 424745DEST_PATH_IMAGE131
，
Figure 573661DEST_PATH_IMAGE132
is the neutral voltage of the three phase windings of the star connection.
The current change rates for the three intervals can be obtained in conjunction with fig. 4-6 as follows:
Figure 293356DEST_PATH_IMAGE133
（5）
Figure 399852DEST_PATH_IMAGE134
（6）
Figure 877101DEST_PATH_IMAGE135
（7）
wherein,
Figure 664928DEST_PATH_IMAGE136
、
Figure 35867DEST_PATH_IMAGE137
、
Figure 923051DEST_PATH_IMAGE138
the current change rates of a non-phase-change phase (A-phase winding), a closed phase (B-phase winding) and an open phase (C-phase winding) in a first interval are sequentially obtained.
Figure 746651DEST_PATH_IMAGE139
、
Figure 275852DEST_PATH_IMAGE140
、
Figure 501297DEST_PATH_IMAGE141
The current change rates of the non-phase-change phase, the off-phase and the on-phase in the second interval are sequentially obtained.
Figure 887279DEST_PATH_IMAGE142
、
Figure 837655DEST_PATH_IMAGE143
、
Figure 29602DEST_PATH_IMAGE144
The current change rates of the non-phase-change phase, the off-phase and the on-phase in the second interval are sequentially obtained.
Since the duration of one period is
Figure 984920DEST_PATH_IMAGE145
In the period of the pulse width modulation, the ratio of the first interval
Figure 604120DEST_PATH_IMAGE146
The ratio of the second interval
Figure 605574DEST_PATH_IMAGE147
The ratio of the third interval
Figure 210999DEST_PATH_IMAGE148
Thus having a period of time of
Figure 411036DEST_PATH_IMAGE145
The average rate of change of the current of the non-commutation phase during the period of the pulse width modulation of (3)
Figure 404400DEST_PATH_IMAGE149
Average rate of change of current of off-phase
Figure 565254DEST_PATH_IMAGE150
Average rate of change of current of on-phase
Figure 99004DEST_PATH_IMAGE151
Respectively as follows:
Figure 356810DEST_PATH_IMAGE152
（8）
Figure 691714DEST_PATH_IMAGE153
（9）
Figure 198918DEST_PATH_IMAGE154
（10）
to make the current of the phase switched on
Figure 146146DEST_PATH_IMAGE155
Rate of rise of
Figure 586354DEST_PATH_IMAGE156
With current in off phase
Figure 655942DEST_PATH_IMAGE157
Rate of decrease of
Figure 791388DEST_PATH_IMAGE158
If the current change rate of the current of the non-commutation phase is 0, the modulation duty ratio satisfying this condition can be obtained from equations (8) to (10):
Figure 666940DEST_PATH_IMAGE159
（11）
wherein,
Figure 899338DEST_PATH_IMAGE160
、
Figure 811931DEST_PATH_IMAGE161
、
Figure 824886DEST_PATH_IMAGE162
counter-potentials for the non-phase-change phase, the off-phase and the on-phase relative to ground in that order, corresponding to the formulae (8) to (10)
Figure 612451DEST_PATH_IMAGE163
、
Figure 699356DEST_PATH_IMAGE164
、
Figure 438642DEST_PATH_IMAGE165
，
Figure 283101DEST_PATH_IMAGE166
Is the steady state current of the non-commutation phase.
The traditional high-speed commutation torque ripple suppression strategy usually ignores the change of counter electromotive force in the commutation process, and the analysis at the formula (3) above generally defines that the counter electromotive force is kept constant to obtain
Figure 438139DEST_PATH_IMAGE167
、
Figure 707446DEST_PATH_IMAGE168
. In practice, however, the back-emf of the off-phase is not constant during commutation, as shown in fig. 7, after the rotor position has passed a hall sector, the back-emf of the off-phase is changed from
Figure 961841DEST_PATH_IMAGE169
Become into
Figure 621492DEST_PATH_IMAGE170
，
Figure 642538DEST_PATH_IMAGE171
In order to be able to change the duration of the phase interval,
Figure 376139DEST_PATH_IMAGE172
is the period of the hall sector.
It can be seen that during the commutation, the back-emf of the non-commutated phase, the switched-off phase and the switched-on phase with respect to ground
Figure 394910DEST_PATH_IMAGE173
、
Figure 338596DEST_PATH_IMAGE174
、
Figure 11935DEST_PATH_IMAGE175
The practice is that:
Figure 990255DEST_PATH_IMAGE176
（12）
from the formula (11), the actual back-emf
Figure 852032DEST_PATH_IMAGE177
、
Figure 486275DEST_PATH_IMAGE178
、
Figure 849123DEST_PATH_IMAGE179
Will influence
Figure 291737DEST_PATH_IMAGE180
And
Figure 652311DEST_PATH_IMAGE181
formula (12) may be substituted for formula (11):
Figure 570589DEST_PATH_IMAGE182
（13）
within the commutation interval, as long as
Figure 346915DEST_PATH_IMAGE183
And
Figure 237511DEST_PATH_IMAGE181
satisfying the formula (13), the current of the open phase can be made to flow
Figure 565724DEST_PATH_IMAGE184
Rate of rise of
Figure 345199DEST_PATH_IMAGE185
With current in off phase
Figure 49850DEST_PATH_IMAGE186
Rate of decline of
Figure 794952DEST_PATH_IMAGE187
Equal within the rate error range, thereby suppressing torque ripple at the time of commutation.
Theoretically, it is determined according to the constraint of equation (13)
Figure 169432DEST_PATH_IMAGE188
And
Figure 62302DEST_PATH_IMAGE181
can be applied to three-phase windings
Figure 242748DEST_PATH_IMAGE185
And
Figure 780039DEST_PATH_IMAGE187
the torque ripple is suppressed equally, but this constraint is not sufficient in practice, and some satisfy the constraint of equation (13)
Figure 715634DEST_PATH_IMAGE189
And
Figure 705587DEST_PATH_IMAGE181
under the action of (2), the phase commutation process cannot be completed smoothly, and larger commutation torque pulsation is caused. To simplify the analysis, it may be assumed first
Figure 689723DEST_PATH_IMAGE190
Then, we can get:
Figure 471735DEST_PATH_IMAGE191
（14）
the voltage equation of the three phase windings shown in joint formula (4) and formula (14) can obtain the neutral point voltage as:
Figure 686553DEST_PATH_IMAGE192
（15）
the current of the off-phase can be obtained by substituting the formulas (14) and (15) into the formula (4)
Figure 491698DEST_PATH_IMAGE186
Differential equation expression of (1) and current of open phase
Figure 76263DEST_PATH_IMAGE193
The differential equation expressions of (a) are respectively:
Figure 588147DEST_PATH_IMAGE194
（16）
the curve obtained by equation (16) is shown in FIG. 8, and due to the change in the back electromotive force of the off-phase in the commutation period, in the latter half of the commutation period,
Figure 803228DEST_PATH_IMAGE186
and
Figure 626827DEST_PATH_IMAGE195
the current change rate of (2) is gradually compared and approaches to 0, if in the phase change process, the current of the phase is cut off
Figure 156029DEST_PATH_IMAGE186
Current not yet reaching 0 or open phase
Figure 381474DEST_PATH_IMAGE195
Has not reached
Figure 767456DEST_PATH_IMAGE196
If the system cannot switch the modulation mode from three-phase conduction in the phase commutation process to two-phase conduction in the non-phase commutation process in time, the current for turning on and off the phase changes in the opposite direction, and after the next phase commutation hall signal arrives, the current cannot change rapidly according to the phase commutation signal to reach the regulation, which may cause larger phase commutation torque pulsation.
Therefore, it is necessary to further determine under the constraint of equation (13)
Figure 484876DEST_PATH_IMAGE188
And
Figure 411244DEST_PATH_IMAGE181
the specific value of (a). The essential conditions for smoothly completing the phase change process are as follows: if it is
Figure 694457DEST_PATH_IMAGE186
At extreme point
Figure 953138DEST_PATH_IMAGE197
Of
Figure 751330DEST_PATH_IMAGE198
And is
Figure 419072DEST_PATH_IMAGE199
The commutation process cannot be smoothly completed as shown by the solid line in fig. 8
Figure 760054DEST_PATH_IMAGE186
The case (1). If it is
Figure 550156DEST_PATH_IMAGE186
At extreme point
Figure 773327DEST_PATH_IMAGE197
Of
Figure 182442DEST_PATH_IMAGE200
And is
Figure 502565DEST_PATH_IMAGE201
Then the commutation process can be successfully completed as shown by the dotted line in fig. 8
Figure 401251DEST_PATH_IMAGE186
The case (1). If the current of the phase is turned on
Figure 49401DEST_PATH_IMAGE195
The analysis is corresponding, and the essential conditions for smoothly completing the commutation process are as follows: if it is
Figure 386842DEST_PATH_IMAGE184
At extreme point
Figure 499154DEST_PATH_IMAGE197
Of
Figure 22538DEST_PATH_IMAGE202
And is
Figure 282618DEST_PATH_IMAGE203
The commutation process cannot be smoothly completed as shown by the solid line in fig. 8
Figure 361432DEST_PATH_IMAGE195
The case (1). If it is
Figure 265934DEST_PATH_IMAGE195
At extreme point
Figure 568740DEST_PATH_IMAGE197
Of
Figure 191482DEST_PATH_IMAGE202
And is
Figure 808408DEST_PATH_IMAGE204
Then the commutation process can be successfully completed as shown by the dotted line in fig. 8
Figure 957630DEST_PATH_IMAGE195
The case (1). Can satisfy the constraint of the formula (13)
Figure 41124DEST_PATH_IMAGE205
And
Figure 213479DEST_PATH_IMAGE206
is equal to, utilize
Figure 696413DEST_PATH_IMAGE186
And use of
Figure 808463DEST_PATH_IMAGE184
The conclusions from the analysis are the same, and therefore only for the current of the switched-off phase
Figure 656333DEST_PATH_IMAGE186
Analysis by way of example, the current according to the off-phase under the constraint of equation (13)
Figure 112722DEST_PATH_IMAGE186
At extreme point
Figure 9134DEST_PATH_IMAGE197
Value of (A)
Figure 867369DEST_PATH_IMAGE207
Determining duty cycle
Figure 886140DEST_PATH_IMAGE208
And duty cycle
Figure 705192DEST_PATH_IMAGE209
So as to make the extreme point
Figure 467612DEST_PATH_IMAGE197
Of
Figure 180353DEST_PATH_IMAGE210
And is
Figure 307709DEST_PATH_IMAGE211
Therefore, smooth completion of phase change can be ensured, and the problem of phase change torque pulsation is solved.
As analyzed above, the duration of a cycle is
Figure 941952DEST_PATH_IMAGE212
The duration of the three intervals in the PWM cycle will follow
Figure 39221DEST_PATH_IMAGE213
And
Figure 245949DEST_PATH_IMAGE214
and correspondingly, the three intervals have respective functions, and the second interval can be adjusted
Figure 606524DEST_PATH_IMAGE215
The third interval can be adjusted
Figure 259222DEST_PATH_IMAGE206
So that the controller is dependent on the current of the off-phase
Figure 301127DEST_PATH_IMAGE186
At extreme point
Figure 191723DEST_PATH_IMAGE197
Value of (A)
Figure 519936DEST_PATH_IMAGE207
To determine the duty cycle
Figure 800876DEST_PATH_IMAGE208
And duty cycle
Figure 443210DEST_PATH_IMAGE209
To pass through
Figure 985049DEST_PATH_IMAGE208
And
Figure 625109DEST_PATH_IMAGE216
adjusting the duration of the three intervals, thereby adjusting the current to turn off the phase
Figure 252400DEST_PATH_IMAGE186
And current of the open phase
Figure 698425DEST_PATH_IMAGE195
So as to finally satisfy
Figure 999831DEST_PATH_IMAGE210
And is
Figure 873109DEST_PATH_IMAGE217
The conditions of (1).
In particular, due to winding resistance
Figure 722116DEST_PATH_IMAGE218
Small and phase-off current
Figure 581619DEST_PATH_IMAGE186
Gradually decreases to zero in the phase change process, so that the phase change can be taken within the error range
Figure 98051DEST_PATH_IMAGE219
Thus, the compound of formula (16)
Figure 814334DEST_PATH_IMAGE186
The differential equation expression of (a) is simplified as:
Figure 416217DEST_PATH_IMAGE220
（17）
pair formula (17) to time
Figure 646122DEST_PATH_IMAGE221
Integrating to obtain the current of the off-phase
Figure 892426DEST_PATH_IMAGE186
The expression of (a) is:
Figure 169824DEST_PATH_IMAGE222
（18）
wherein,
Figure 134369DEST_PATH_IMAGE223
，
Figure 460308DEST_PATH_IMAGE224
，
Figure 216911DEST_PATH_IMAGE225
in order to be the counter-potential coefficient,
Figure 274997DEST_PATH_IMAGE226
is the number of the pole pairs,
Figure 789155DEST_PATH_IMAGE227
the mechanical angular velocity of the brushless dc motor.
The current for the off-phase can be determined from equation (18)
Figure 981102DEST_PATH_IMAGE228
Is located at the extreme point of
Figure 700534DEST_PATH_IMAGE229
And current of off-phase
Figure 257418DEST_PATH_IMAGE186
At extreme point
Figure 321189DEST_PATH_IMAGE230
The values of (A) are as follows:
Figure 926613DEST_PATH_IMAGE231
（19）
the current of the off-phase can be obtained according to the formula (19)
Figure 329913DEST_PATH_IMAGE186
At extreme point
Figure 854435DEST_PATH_IMAGE230
Value of (A)
Figure 280868DEST_PATH_IMAGE232
Thus can be based on
Figure 17880DEST_PATH_IMAGE233
Is determined according to the size of
Figure 72424DEST_PATH_IMAGE208
And
Figure 908793DEST_PATH_IMAGE209
there are three cases:
(1) when the current of the phase is off
Figure 884839DEST_PATH_IMAGE186
At extreme point
Figure 956700DEST_PATH_IMAGE230
Value of (A)
Figure 505231DEST_PATH_IMAGE234
Should be such that
Figure 637135DEST_PATH_IMAGE235
And
Figure 834898DEST_PATH_IMAGE236
at the fastest rate possible, so the duration of the third interval
Figure 851396DEST_PATH_IMAGE237
The duration of the second interval is as small as possible
Figure 614953DEST_PATH_IMAGE238
As large as possible, corresponding to the duration of the first interval
Figure 121020DEST_PATH_IMAGE239
It is also as small as possible to determine in this case:
Figure 743763DEST_PATH_IMAGE240
（20）
(2) when the current of the phase is off
Figure 157426DEST_PATH_IMAGE186
At extreme point
Figure 244331DEST_PATH_IMAGE230
Value of (A)
Figure 858983DEST_PATH_IMAGE241
Time, make the duration of the first interval
Figure 828076DEST_PATH_IMAGE242
As small as possible, to determine in this case:
Figure 248693DEST_PATH_IMAGE243
（21）
(3) when the current of the phase is off
Figure 626323DEST_PATH_IMAGE186
At extreme point
Figure 270931DEST_PATH_IMAGE230
Value of (A)
Figure 930582DEST_PATH_IMAGE244
Then, it is determined that in this case:
Figure 826994DEST_PATH_IMAGE245
（22）
it can thus be determined that the controller modulates the three phase windings simultaneously with different duty cycles in the commutation period, and that the duty cycles
Figure 685229DEST_PATH_IMAGE208
And
Figure 438421DEST_PATH_IMAGE209
when the corresponding cases of the formulas (20) to (22) are adopted, it can be ensured
Figure 523052DEST_PATH_IMAGE246
And
Figure 82209DEST_PATH_IMAGE247
and the phase change process is determined to be successfully completed within the rate error range, and the torque pulsation during the phase change is restrained.
Under the modulation strategy in the phase change interval, an important link is that the phase change interval needs to be accurately determined, the initial point of the phase change interval can be replaced by the switching point of the position Hall signal, so that the cut-off point of the phase change interval needs to be accurately detected actually, and the detection of the cut-off point of the phase change interval by the traditional method depends on accurate winding inductance
Figure 998212DEST_PATH_IMAGE248
. In the present application, since the actual control system is discrete, the duration of the commutation interval
Figure 125568DEST_PATH_IMAGE249
Can be expressed as
Figure 290970DEST_PATH_IMAGE250
，
Figure 591502DEST_PATH_IMAGE251
Is the number of periods of the pulse width modulation.
Figure 792370DEST_PATH_IMAGE252
And
Figure 215262DEST_PATH_IMAGE253
satisfies the following relationship:
Figure 71222DEST_PATH_IMAGE254
（23）
the binding formulae (17) and (23) give:
Figure 113127DEST_PATH_IMAGE255
（24）
Figure 800461DEST_PATH_IMAGE256
indicating a rounding down, as can be seen from equation (24),
Figure 331936DEST_PATH_IMAGE257
formula of calculation and winding inductance
Figure 347297DEST_PATH_IMAGE248
Are related, therefore
Figure 51948DEST_PATH_IMAGE257
Will follow the winding inductance
Figure 797050DEST_PATH_IMAGE248
Increase in the error of (a), the winding inductance of the present application
Figure 437110DEST_PATH_IMAGE248
Has higher parameter sensitivity if directly determined by the method
Figure 64400DEST_PATH_IMAGE258
Then determining
Figure 510425DEST_PATH_IMAGE259
Then the winding inductance is needed
Figure 546252DEST_PATH_IMAGE248
Can realize accurate commutation interval detection only with higher accuracy, and is easy to realize in small inductance BLDCM because of
Figure 216267DEST_PATH_IMAGE248
The phase change interval detection is difficult due to the fact that the phase change interval detection is too small and the precision is difficult to guarantee.
The application thus first begins with a number of periods of pulse width modulation
Figure 534116DEST_PATH_IMAGE257
Determining the value determined by the formula (24), and then sampling and reconstructing on line
Figure 455936DEST_PATH_IMAGE260
A corresponding rate of decline is obtained
Figure 972368DEST_PATH_IMAGE261
And correcting the commutation duration of the commutation interval in real time. In particular, the current of the phase is switched off in real time
Figure 16547DEST_PATH_IMAGE260
Rate of decrease of
Figure 493796DEST_PATH_IMAGE261
Substitution into
Figure 343940DEST_PATH_IMAGE262
In (1), calculating the number of periods of pulse width modulation
Figure 918141DEST_PATH_IMAGE257
So that the corrected number of periods of the pulse width modulation can be obtained
Figure 805326DEST_PATH_IMAGE257
. In one embodiment, the number of PWM cycles calculated in real time may be determined based on the number of PWM cycles calculated in real time
Figure 160084DEST_PATH_IMAGE257
As the number of cycles of the modified pulse width modulation. Alternatively, the number of PWM cycles calculated in real time may be calculated
Figure 486023DEST_PATH_IMAGE257
And (24) determining the average value of the initial set point as the cycle number of the pulse width modulation after correction.
As can be seen from equation (13), the winding inductance
Figure 85369DEST_PATH_IMAGE248
For the duty ratio
Figure 799247DEST_PATH_IMAGE263
And
Figure 313405DEST_PATH_IMAGE264
without influence, so that the voltage calculated therefrom is applied to the actual winding of the machine, i.e. the winding inductance in equation (17)
Figure 115139DEST_PATH_IMAGE248
Is accurate, obtained
Figure 726249DEST_PATH_IMAGE265
Also relatively accurate, by correcting in real time the number of cycles initially given
Figure 283132DEST_PATH_IMAGE257
I.e. the winding inductance can be weakened
Figure 956690DEST_PATH_IMAGE248
For duration of commutation interval
Figure 952328DEST_PATH_IMAGE266
So that the duration of the commutation interval is independent of the winding inductance
Figure 27732DEST_PATH_IMAGE248
The detection difficulty of the commutation interval is reduced, the detection accuracy is improved, and the method can be accurately applied even in a small inductance BLDCM scene.

Claims (10)

1. A method for controlling a brushless DC motor capable of reducing phase-change torque ripple is characterized in that,DC bus voltage
Figure 202410DEST_PATH_IMAGE001
The output end of each bridge arm of the inverter circuit is connected with an inverter circuit, and the output end of each bridge arm of the inverter circuit sequentially passes through the winding resistor
Figure 769658DEST_PATH_IMAGE002
And a winding inductor
Figure 566450DEST_PATH_IMAGE003
Connecting one phase winding of a brushless direct current motor, wherein three phase windings of the brushless direct current motor are connected by adopting a star connection method; the controller is connected with and controls the switching tubes on each bridge arm in the inverter circuit, and the method executed by the controller comprises the following steps:
when detecting that the phase-change interval is entered, according to the duty ratio
Figure 484728DEST_PATH_IMAGE004
Pulse width modulation is carried out on the lower bridge arm switching tubes which are connected in turn-off state, and turn-off is delayed according to the duty ratio
Figure 323371DEST_PATH_IMAGE005
Pulse width modulation is carried out on the upper bridge arm switching tubes which are not connected in phase change, the lower bridge arm switching tubes which are connected in turn-on are controlled to be constantly conducted, and the current of the turn-on phase is enabled
Figure 886070DEST_PATH_IMAGE006
Rate of rise of
Figure 479863DEST_PATH_IMAGE007
With current in off phase
Figure 823119DEST_PATH_IMAGE008
Rate of decrease of
Figure 668715DEST_PATH_IMAGE009
Equal within the rate error range; wherein:
Figure 210555DEST_PATH_IMAGE010
，
Figure 912932DEST_PATH_IMAGE011
is time and
Figure 415589DEST_PATH_IMAGE012
，
Figure 658351DEST_PATH_IMAGE013
is the duration of the commutation interval,
Figure 523539DEST_PATH_IMAGE014
is the period of the hall sector and,
Figure 833035DEST_PATH_IMAGE015
、
Figure 947622DEST_PATH_IMAGE016
、
Figure 931758DEST_PATH_IMAGE017
counter-potentials for non-phase-change phase, off-phase and on-phase with respect to ground in sequence and
Figure 589136DEST_PATH_IMAGE018
、
Figure 430053DEST_PATH_IMAGE019
、
Figure 235198DEST_PATH_IMAGE020
，
Figure 695129DEST_PATH_IMAGE021
is the steady state current of the non-commutation phase,
Figure 331647DEST_PATH_IMAGE022
the phase winding is a back electromotive force basic value, the turn-off phase is a phase winding which is switched from an on state to an off state in the brushless direct current motor, the turn-on phase is a phase winding which is switched from the off state to the on state in the brushless direct current motor, and the non-commutation phase is a phase winding which is not changed in state in the brushless direct current motor.
2. The method of claim 1, further comprising:
in that
Figure 546728DEST_PATH_IMAGE023
According to the current of the off-phase under the constraint of
Figure 511272DEST_PATH_IMAGE024
At extreme point
Figure 899529DEST_PATH_IMAGE025
Value of (A)
Figure 328236DEST_PATH_IMAGE026
Determining duty cycle
Figure 878997DEST_PATH_IMAGE027
And duty cycle
Figure 721052DEST_PATH_IMAGE028
So as to make the extreme point
Figure 522785DEST_PATH_IMAGE025
Of
Figure 805999DEST_PATH_IMAGE029
And is
Figure 690779DEST_PATH_IMAGE030
。
3. The method of claim 2, wherein each cycle of the pulse width modulation is of duration
Figure 692233DEST_PATH_IMAGE031
In turn comprises a period of time
Figure 32078DEST_PATH_IMAGE032
The first interval and the duration of
Figure 232115DEST_PATH_IMAGE033
A second interval and a duration of
Figure 897583DEST_PATH_IMAGE034
The third interval of (2):
in the first interval, the upper bridge arm switching tubes which are not connected in phase commutation are switched off, and the current of the non-commutation phase is
Figure 917492DEST_PATH_IMAGE035
Follow current through a lower bridge arm switching tube; current for turning off and phase of lower bridge arm switching tube connected by turn-off
Figure 825143DEST_PATH_IMAGE036
Freewheeling through an upper bridge arm diode; switching on the connected lower bridge arm switching tubes, switching on the negative pole of the connected DC bus voltage and switching on the phase current
Figure 879686DEST_PATH_IMAGE037
Rising;
in the second interval, the upper bridge arm switching tubes which are not connected in a phase change way are conducted, the positive pole of the direct current bus voltage which is not connected in a phase change way is connected, and the current of the non-phase change phase
Figure 450476DEST_PATH_IMAGE038
Rising; lower bridge arm connected in turn-off mannerCurrent of switch tube cut-off and cut-off phase
Figure 488839DEST_PATH_IMAGE039
Freewheeling through an upper bridge arm diode; switching on the connected lower bridge arm switching tubes, switching on the negative pole of the connected DC bus voltage and switching on the phase current
Figure 436067DEST_PATH_IMAGE040
Rising;
in the third interval, the upper bridge arm switching tubes which are not connected in phase commutation are conducted, the positive pole of the direct current bus voltage which is not connected in phase commutation is connected, and the current of the non-phase commutation phase
Figure 548379DEST_PATH_IMAGE041
Rising; switching off the connected lower bridge arm switching tubes to switch on and off the negative pole and off phase currents of the connected direct current bus voltage
Figure 945862DEST_PATH_IMAGE042
Rising; switching on the connected lower bridge arm switching tubes, switching on the negative pole of the connected DC bus voltage and switching on the phase current
Figure 143626DEST_PATH_IMAGE043
Rising;
duration of the first interval
Figure 894544DEST_PATH_IMAGE044
The smaller the duration of the commutation interval
Figure 189259DEST_PATH_IMAGE045
The shorter; duration of the second interval
Figure 429747DEST_PATH_IMAGE046
The larger the current of the open phase
Figure 551025DEST_PATH_IMAGE047
Rate of rise of
Figure 230268DEST_PATH_IMAGE048
The higher; duration of the third interval
Figure 989277DEST_PATH_IMAGE049
The smaller the current of the off-phase
Figure 400666DEST_PATH_IMAGE050
Rate of decrease of
Figure 635339DEST_PATH_IMAGE051
The higher;
the controller is based on the current of the off-phase
Figure 55956DEST_PATH_IMAGE052
At extreme point
Figure 669471DEST_PATH_IMAGE053
Value of (A)
Figure 579658DEST_PATH_IMAGE054
Determining duty cycle
Figure 911413DEST_PATH_IMAGE055
And duty cycle
Figure 666880DEST_PATH_IMAGE056
To adjust the current of the off-phase by adjusting the duration of the three intervals
Figure 728377DEST_PATH_IMAGE057
And current of the open phase
Figure 183366DEST_PATH_IMAGE058
The rate of change of (c).
4. The method of claim 3,
when the current of the phase is off
Figure 64735DEST_PATH_IMAGE059
At extreme point
Figure 623892DEST_PATH_IMAGE060
Value of (A)
Figure 477579DEST_PATH_IMAGE061
When it is determined
Figure 463989DEST_PATH_IMAGE062
，
Figure 98233DEST_PATH_IMAGE063
，
Figure 336447DEST_PATH_IMAGE064
，
Figure 903695DEST_PATH_IMAGE065
In order to be the counter-potential coefficient,
Figure 264269DEST_PATH_IMAGE066
the number of the pole pairs is the number of the pole pairs,
Figure 792333DEST_PATH_IMAGE067
is the mechanical angular velocity of the brushless dc motor.
5. The method of claim 3,
when the current of the phase is off
Figure 693293DEST_PATH_IMAGE068
At extreme point
Figure 25967DEST_PATH_IMAGE069
Value of (A)
Figure 354180DEST_PATH_IMAGE070
When it is determined
Figure 697436DEST_PATH_IMAGE071
，
Figure 11874DEST_PATH_IMAGE072
，
Figure 819293DEST_PATH_IMAGE073
，
Figure 521670DEST_PATH_IMAGE065
In order to be the counter-potential coefficient,
Figure 289906DEST_PATH_IMAGE066
the number of the pole pairs is the number of the pole pairs,
Figure 532668DEST_PATH_IMAGE067
is the mechanical angular velocity of the brushless dc motor.
6. The method of claim 3,
when the current of the phase is off
Figure 397856DEST_PATH_IMAGE068
At extreme point
Figure 943238DEST_PATH_IMAGE069
Value of (A)
Figure 57825DEST_PATH_IMAGE074
When it is determined
Figure 307540DEST_PATH_IMAGE075
，
Figure 463453DEST_PATH_IMAGE073
，
Figure 304370DEST_PATH_IMAGE065
In order to be the counter-potential coefficient,
Figure 843936DEST_PATH_IMAGE066
the number of the pole pairs is the number of the pole pairs,
Figure 569446DEST_PATH_IMAGE067
is the mechanical angular velocity of the brushless dc motor.
7. The method of claim 2, further comprising:
determining current of off-phase
Figure 940385DEST_PATH_IMAGE068
Is expressed as
Figure 155465DEST_PATH_IMAGE076
Within the error range
Figure 385590DEST_PATH_IMAGE077
And to time
Figure 508266DEST_PATH_IMAGE078
Integrating to obtain the current of the off-phase
Figure 202553DEST_PATH_IMAGE068
The expression of (a) is:
Figure 526218DEST_PATH_IMAGE079
；
current based on off-phase
Figure 837114DEST_PATH_IMAGE068
For determining the current of the off-phase
Figure 966744DEST_PATH_IMAGE068
Is located at the extreme point of
Figure 686176DEST_PATH_IMAGE080
And current of off-phase
Figure 305376DEST_PATH_IMAGE068
At extreme point
Figure 306830DEST_PATH_IMAGE081
Value of (A)
Figure 177834DEST_PATH_IMAGE082
Wherein
Figure 377871DEST_PATH_IMAGE083
，
Figure 105656DEST_PATH_IMAGE073
，
Figure 532089DEST_PATH_IMAGE065
in order to be the counter-potential coefficient,
Figure 65839DEST_PATH_IMAGE084
the number of the pole pairs is the number of the pole pairs,
Figure 323645DEST_PATH_IMAGE067
is the mechanical angular velocity of the brushless dc motor.
8. The method of claim 7, further comprising:
determining voltage equations of three phase windings of the brushless direct current motor as follows:
Figure 894434DEST_PATH_IMAGE085
；
wherein,
Figure 932797DEST_PATH_IMAGE086
、
Figure 207921DEST_PATH_IMAGE087
、
Figure 756452DEST_PATH_IMAGE088
non-phase-change phase, off-phase and on-phase voltage relative to ground in turn,
Figure 888356DEST_PATH_IMAGE089
、
Figure 86119DEST_PATH_IMAGE090
、
Figure 102617DEST_PATH_IMAGE091
phase currents of a non-commutation phase, a turn-off phase and a turn-on phase in this order, and
Figure 866173DEST_PATH_IMAGE092
，
Figure 372241DEST_PATH_IMAGE093
is the neutral point voltage of three phase windings connected in star connection;
based on
Figure 729404DEST_PATH_IMAGE094
And in conjunction with the voltage equations for the three phase windings, determines the neutral point voltage as:
Figure 408647DEST_PATH_IMAGE095
；
will be neutralPoint voltage
Figure 495552DEST_PATH_IMAGE093
Substituting into the voltage equation of three phase windings to obtain the current of the off-phase
Figure 110204DEST_PATH_IMAGE096
Differential equation expression of (1) and current of open phase
Figure 79297DEST_PATH_IMAGE091
The differential equation expressions of (a) are respectively:
Figure 499914DEST_PATH_IMAGE097
。
9. the method of claim 1, further comprising:
current according to off-phase
Figure 629542DEST_PATH_IMAGE090
Rate of decrease of
Figure 539729DEST_PATH_IMAGE098
Real-time correction of PWM cycle number
Figure 199381DEST_PATH_IMAGE099
And determining the commutation duration of the commutation interval
Figure 830214DEST_PATH_IMAGE100
，
Figure 954027DEST_PATH_IMAGE101
Is the period duration of the pulse width modulation.
10. Method according to claim 9, characterized in that the pulse width modulation is modifiedNumber of cycles of
Figure 707220DEST_PATH_IMAGE099
The method comprises the following steps: current to switch off phase in real time
Figure 526271DEST_PATH_IMAGE096
Rate of decrease of
Figure 351008DEST_PATH_IMAGE102
Substitution into
Figure 939115DEST_PATH_IMAGE103
In the method, the number of periods for determining the modified pulse width modulation is calculated
Figure 128788DEST_PATH_IMAGE099
。
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CN115028118A (en) * 2022-08-11 2022-09-09 天津赛象科技股份有限公司 Servo module type omnibearing driving mechanism and method and automatic guide vehicle

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