CN1237702C - Apparatus and method for compensating idling time of electric motor - Google Patents
Apparatus and method for compensating idling time of electric motor Download PDFInfo
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- CN1237702C CN1237702C CN 01100133 CN01100133A CN1237702C CN 1237702 C CN1237702 C CN 1237702C CN 01100133 CN01100133 CN 01100133 CN 01100133 A CN01100133 A CN 01100133A CN 1237702 C CN1237702 C CN 1237702C
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Abstract
The present invention relates to a method for compensating the idle time of a motor driving device, which a current control generating part and a current controller, wherein the current control generating part is used for generating a current control according to a preset algorithm, and the current controller is used for generating a voltage control according to the current control. The method of the present invention comprises the measuring steps that while the current control is changed, the voltage control is measured, the resistance value of a motor stator is estimated according to the measured value of the voltage control, and the idle time is compensated according to the estimated value (R) of the stator resistance. Results generated by the nonlinearity of a switch device can be correctly compensated through the steps, so that a motor can be controlled slowly and correctly.
Description
Technical field
The present invention relates to a kind of apparatus and method that are generally used for the idle time of compensating switch parts, it is used in servomotor or converter is used for drive motors, more specifically, relate to a kind of apparatus and method that are used for the idle time of small electromotor driving governor, it comprises a Current Control value generating portion, be used for producing a Current Control value and a current controller according to predetermined algorithm, it produces a voltage controling value according to the Current Control value.
Background technology
Traditional, if flowing into, over proof electric current is used for drive motors in the switching transistor, then switching transistor will be damaged.If by using the pair of switches transistor, then over proof electric current flow in the current channel of two devices.For anti-flowing of planting here, need be provided for cutting off the idle time of two switching transistors.In this idle time, electric current flow in the diode by the back-emf EMF from motor usually.
With reference to figure 1, it shows the drive circuit figure of the motor with traditional idle time of compensated part, traditional motor-drive circuit comprises a motor 3, a transducer 1, be used for alternating current is transformed to direct current, a transducer 2, be used for to be transformed to signal from the direct current of transducer 1 and signal being provided to motor 3, a current detector, be used to detect the electric current that is provided to motor 3, a controller 6, its have one idle time compensated part 6a and the current value that detected according to current detector 5 produce a voltage controling value, with a pulse width modulator (after this being called " PWM ") 7, it is modulated pulsewidth according to the voltage controling value that comes self-controller 6 and control signal is provided to transducer 2.
By this structure, transducer 1 can carry out rectification to three-phase alternating current by six rectifier diode D ', and by the smoothing capacitor C in parallel with rectifier diode D '
1Smooth.
Fig. 2 a and 2b show the switching device T that flows according to sense of current and electric current
1, T
2The schematic diagram of operation, wherein be expressed as just "+" when the current value of electric current when transducer 2 flow into motor 3.And be negative "-" when the current value of electric current when motor 3 flow into transducer 2.When motor is in idle time, even pair of switches device T
1, T
2All be disconnected, electric current also flows through diode D
1, D
2As shown in FIG., be timing at current value, the mobility status of electric current is identical with the situation of T2 conducting.When negative, the mobility status of electric current is identical with the situation of T1 conducting at electric current.
If current detector 5 detects the electric current that is provided to motor 3, the polarity of controller 6 definite current values that detected.At the current value that is detected is timing, controller 6 will by idle time compensated part 6a will by predetermined voltage compensation in joining voltage controling value.When negative, controller 6 will join in the voltage controling value by the predetermined negative value with voltage compensation at the current value that is detected.By these operations, can make motor not have idle time.
Yet, according to traditional idle time compensation arrangement and method, when current value is very little, at electric current not from just changing into negative or changing into positive zeroaxial zone and will have problems from negative: because the non-linear error range that will make of switching device shifter becomes big, this will cause the difference between voltage controling value and the actual electric current that provides to increase, make current waveform produce distortion, increase the heat and the noise of motor thus.
Summary of the invention
Accordingly, in order to overcome above-mentioned problem, one of its purpose is to provide a kind of apparatus and method that are used for the idle time of small electromotor to purpose of the present invention just, considered comprehensively switching device shifter such as because voltage degradation problem that switching device shifter produced.
Method by the following idle time that is used for the small electromotor drive unit can realize above-mentioned purpose of the present invention, motor driver wherein comprises a Current Control value generating portion, it produces a Current Control value according to predetermined algorithm, with a current controller, it produces voltage controling value according to the Current Control value, and comprise following step, measuring voltage controlling value when changing the Current Control value; Stator resistance value from measured voltage controling value estimation motor; And according to the stator resistance value R that is estimated by the estimated voltage compensation rate to compensating idle time.
In estimation steps, voltage controling value is estimated as the stator resistance value with respect to the rate of change of Current Control value.
Best, compensation process also comprises following substep, by the stator resistance value that will be estimated and the Current Control value multiplies each other and deduct the product that is obtained from measured voltage controling value obtains voltage compensation quantity; The voltage compensation quantity that storage is obtained; And produce voltage controling value by from voltage controling value, deducting the correspondent voltage compensation rate.
According to an other aspect of the present invention, the device of idle time by being provided for small electromotor can be realized this purpose and other purpose, it comprises a Current Control value provides part, and this part is used for providing the value of the Current Control with a plurality of values to motor; A current controller, it produces voltage controling value according to the Current Control value; A voltage controling value measure portion is used for the measuring voltage controlling value; An electronics resistance estimation part is used for according to measured voltage controling value estimation stator resistance value; With a voltage compensation quantity estimation part, it estimates that according to the stator resistance of being estimated voltage compensation quantity is to compensate idle time.
Stator resistance estimation part preferably also comprises the rate of change of the relative Current Control value of voltage controling value as stator resistance.
If necessary, voltage compensation quantity estimation part multiplies each other and deduct the product that is obtained from measured voltage controling value by the stator resistance value that will be estimated and Current Control value and obtains voltage compensation quantity.
The voltage controling value measure portion preferably also comprises a moving average filter (movingaverage filter).
Description of drawings
By detailed description, can clearer understanding be arranged to the present invention below in conjunction with respective drawings.
Fig. 1 is the drive circuit figure that comprises the motor of traditional idle time of compensated part;
Fig. 2 is according to sense of current and switching device shifter T
1, T
2Electric current and the schematic diagram of the operation of the side of flowing;
Fig. 3 for according to of the present invention comprise one idle time compensated part the drive circuit figure of motor;
Fig. 4 is the part detailed maps of Fig. 3;
Fig. 5 is the block diagram that is used for the variable estimation part of compensation idle time according to the present invention;
Fig. 6 is the flow chart that is used for the variable estimation of compensation idle time;
Fig. 7 is expression Current Control value i
*And the schematic diagram that concerns between the voltage controling value V ' of estimation;
Fig. 8 is voltage compensation quantity and Current Control value i
*Between the relation schematic diagram.
Embodiment
With reference to figure 3, in motor driver, comprise according to the present invention one idle time compensated part, represent with identical label with traditional drive unit components identical, therefore, omitted description to it.
Controller 60 produces a voltage controling value V according to the current value that is detected by current detector 5 that is provided to motor 3
*And with the voltage controling value V that is produced
*Be provided to PWM7, they are different with traditional motor driver.With reference to figure 4, controller 60 comprises a Current Control value generating portion 61, it produces a Current Control value according to predetermined algorithm, the first subtraction part, from deducting from the current value that the Current Control value of Current Control value generating portion 61 current detector 5 is detected, current controller 62 produces voltage controling value V ' according to the output from the first subtraction part 64, one idle time compensated part 63, be used to estimate voltage error Δ V, and the second subtraction part 66, from voltage controling value V ', deduct voltage error Δ V and produce voltage controling value V
*
Be used for the variable estimation part of idle time compensation with reference to 5, one in figure, it comprises a current detector 5, detects the electric current that is provided to motor 3, and a Current Control value generating portion 61 will have the Current Control value i of different value
*Be provided to 3, one current controllers 62 of motor, it is according to the Current Control value i of 61 outputs from subtraction part 55 from Current Control value generating portion
*Produce voltage controling value V ', a stator resistance estimation part 50, it is according to the electronics resistance and the voltage compensation quantity estimation part 51 of voltage controling value V ' the estimation motor of measuring 3, and its stator resistance R estimation voltage compensation quantity Δ V according to estimation is used to compensate idle time.
Current Control value generating portion 61, current controller 62 and current detector 5 are identical with the motor driver of Fig. 4.
As shown in Figure 6, in step 601, Current Control value generating portion 61 produces Current Control value i
*, its value be positioned at motor 3 rated current ± 30% between.In step 602, current detector 5 detects and outputs to subtraction part 55 from the current value i of motor 3 and with the current value i that is detected, and subtraction part 55 is from Current Control value i
*In deduct current value i and the result outputed to current controller 62.In step 603, current controller 62 is according to the value (i of input
*-i) voltage controling value V ' of output, and voltage controling value measure portion 53 measures the voltage controling value V ' from current controller 62, and is stored in the predetermined memory.Issuable noise when thereby voltage controling value measure portion 53 is reduced in the measuring voltage controlling value by the moving average filter average value measured.During less than predetermined value (be 1A in the present embodiment), measure current value at the absolute value of Current Control value by increase measuring process number.This is because because switching device shifter non-linear, if the little possibility that causes error that may make of the absolute value of electric current increases.But the reference value concrete according to the characteristic of motor and drive unit may be different.
With reference to figure 7, at Current Control value i
*Absolute value during greater than 1A, be linear relationship between current/voltage and the voltage controling value.At Current Control value i
*Absolute value during less than 1A, steep inclination appears among the figure.This expression, at the absolute value of Current Control value hour, the non-linear of switching device shifter plays a big part, and be as implied above.
At Current Control value i
*The inclination of absolute value during greater than 1A represent resistance value according to the stator (not shown) of the motor 3 of Ohm's law.The voltage controling value V ' that stator resistance estimation part 50 is measured according to voltage controling value measure portion 53 and from the Current Control value i of Current Control value generating portion 61
*The stator resistance value R of estimation motor 3.In order to estimate stator resistance value R, stator resistance estimation part 50 is used least squares approach, can reflect fractional error from current measurement by this method.
In step 605, according to following mathematic(al) representation, voltage compensation quantity estimation part 51 is with the resistance value R and the Current Control value i that are estimated
*Multiply each other, and from measured voltage controling value, deduct resulting value, obtain voltage compensation quantity, promptly owing to the non-linear voltage Δ V that is provided to motor 3 of switching device shifter:
ΔV＝V′-R×i
*
With reference to figure 8, at Current Control value i
*Absolute value less than the part voltage compensation quantity Δ V abrupt change of 1A, can determine to be exaggerated from the nonlinear effect of switching device shifter from it in this part, as described above.
According to idle time of the present invention compensated part 63 comprise a memory 63a, be used for storing therein voltage compensation quantity Δ V, and correspondent voltage compensation rate Δ V is provided to the second subtraction part 66 on the basis from the voltage controling value V ' of current controller 62 by Fig. 8 that is used for compensation idle time of variable estimation part estimation.
If Current Control value generating portion 61 produces Current Control value i according to predetermined algorithm
*, the first subtraction part 64 deducts by the current value that is provided to motor 3 of current detector 5 detections and with the value that is obtained and is provided to current controller 62.Current controller 62 is according to the current value (i that is provided
*-i) produce voltage controling value V '.
Compensated part 63 receptions idle time are from the Current Control value i of Current Control value generating portion 61 outputs
*, and the correspondent voltage compensation rate that will be stored among the memory 63a outputs to the second subtraction part 66.The second subtraction part 66 can be eliminated the effect of nonlinear of switching device shifter to voltage controling value of PWM7 output by this value after voltage compensation quantity Δ V is provided from the voltage controling value V ' that provides by current controller 62.Therefore, the control signal of being smoothed and be provided to the grid of switching device shifter by PWM7 have one with switching device shifter T
1, T
2Non-linear irrelevant value, its result, actual voltage deviation and the voltage controling value V that is provided to motor
*Become and to be left in the basket.
Even because at Current Control value i
*Absolute value less than the scope of 1A also can be correct the non-linear influence that causes of compensation switching device shifter, but correct motor is controlled of low speed.In other words, can be correct with voltage controling value V
*Be provided to motor, can control the electric current that is provided to motor accurately thus, thereby can reduce heat and noise greatly from motor.
Estimate that by being used to compensate the variable estimation part of idle time the method for stator resistance is used for multiple algorithm, can high performance motor be controlled, thus the performance of raising drive system.
In other words, because switching device shifter non-linear, such as the stator resistance value of the motor of transducer or servomotor stator resistance value greater than the reality of motor.Yet in fact according to the stator resistance evaluation method, the non-linear of the stator resistance value of motor and switching device shifter has nothing to do.
As mentioned above, even because the non-linear result who brings of compensation switching device shifter that also can be correct under the very little situation of the absolute value of Current Control value, but the more accurate of low speed controlled motor.In other words, can be correct voltage controling value is provided to motor, thereby can control the electric current that is provided to motor accurately, reduce noise and heat thus greatly from motor.
Though the present invention has been carried out comprehensive elaboration, for various variation that those of skill in the art made with revise all within the scope of appended claim of the present invention in conjunction with illustrated embodiments.
Claims (7)
1. the method for the idle time of a small electromotor drive unit, described motor driver comprises: current detector is used to detect the current value that is applied on the motor; A Current Control value generating portion, it produces a Current Control value and a current controller according to predetermined algorithm, and it produces voltage controling value according to Current Control value and the current value that is detected, and this method comprises following step:
Measuring voltage controlling value when changing the Current Control value;
Stator resistance value from measured voltage controling value estimation motor;
And according to the stator resistance value of being estimated (R) by the estimated voltage compensation rate to compensating idle time.
2. method according to claim 1 is characterized in that in estimation steps, and voltage controling value is estimated as the stator resistance value with respect to the rate of change of Current Control value.
3. method according to claim 1 is characterized in that compensation process also comprises following substep:
By the stator resistance value that will be estimated and the Current Control value multiplies each other and deduct the product that is obtained from measured magnitude of voltage obtains compensation rate;
The voltage compensation quantity that storage is obtained;
And produce voltage controling value by from the voltage controling value that records, deducting the correspondent voltage compensation rate.
4. device that is used for the idle time of small electromotor, it comprises:
Current detector is used to detect the current value that is applied to motor;
A Current Control value generating portion, this part are used for providing the value of the Current Control with a plurality of values to motor;
A current controller, it produces voltage controling value according to Current Control value and the current value that is detected;
A voltage controling value measure portion is used for the measuring voltage controlling value;
A stator resistance estimation part is used for according to measured voltage controling value estimation stator resistance value; With
A voltage compensation quantity estimation part, it estimates that according to the stator resistance value of being estimated voltage compensation quantity is to compensate idle time.
5. device according to claim 4 is characterized in that stator resistance estimation part estimates as the stator resistance value with respect to the rate of change of Current Control value with voltage controling value.
6. device according to claim 4 is characterized in that voltage compensation quantity estimation part multiplies each other and deduct the product that is obtained from measured voltage controling value by the stator resistance value that will be estimated and Current Control value to obtain voltage compensation quantity.
7. device according to claim 4 is characterized in that the voltage controling value measure portion also comprises a moving average filter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01100133 CN1237702C (en) | 2001-01-08 | 2001-01-08 | Apparatus and method for compensating idling time of electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01100133 CN1237702C (en) | 2001-01-08 | 2001-01-08 | Apparatus and method for compensating idling time of electric motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1362782A CN1362782A (en) | 2002-08-07 |
| CN1237702C true CN1237702C (en) | 2006-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01100133 Expired - Fee Related CN1237702C (en) | 2001-01-08 | 2001-01-08 | Apparatus and method for compensating idling time of electric motor |
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| Country | Link |
|---|---|
| CN (1) | CN1237702C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071734A (en) * | 2015-07-20 | 2015-11-18 | 台安科技(无锡)有限公司 | Control method for improving unsmoothness when motor current crosses zero point |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102811013B (en) * | 2012-07-31 | 2014-12-17 | 株洲南车时代电气股份有限公司 | AC (alternating current) drive control system and method as well as voltage error measuring method of inverter of AC drive control system |
-
2001
- 2001-01-08 CN CN 01100133 patent/CN1237702C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071734A (en) * | 2015-07-20 | 2015-11-18 | 台安科技(无锡)有限公司 | Control method for improving unsmoothness when motor current crosses zero point |
| CN105071734B (en) * | 2015-07-20 | 2017-10-20 | 台安科技(无锡)有限公司 | One kind improves the rough control method of current of electric zero crossing |
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| Publication number | Publication date |
|---|---|
| CN1362782A (en) | 2002-08-07 |
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Granted publication date: 20060118 Termination date: 20100208 |