CN1819439A - Direct self-controlling system method of brushless DC motor - Google Patents
Direct self-controlling system method of brushless DC motor Download PDFInfo
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- CN1819439A CN1819439A CNA2006100379672A CN200610037967A CN1819439A CN 1819439 A CN1819439 A CN 1819439A CN A2006100379672 A CNA2006100379672 A CN A2006100379672A CN 200610037967 A CN200610037967 A CN 200610037967A CN 1819439 A CN1819439 A CN 1819439A
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Abstract
The method includes: in each control period, the stator magnetic flux linkage and the torque are figured out in term of the detected current and voltage, and are compared with the given magnetic flux linkage and torque; the result of comparison determines the selected space voltage vector that acts on the brushless motor.
Description
One, technical field
Involved in the present invention is that a kind of stator magnetic linkage is the brshless DC motor governing system and the control method directly controlled certainly of hexagon motion.
Two, background technology:
Reaching energy-conservation effect with ac speed control technology is news from nowhere, and magneto has been owing to used rare earth permanent-magnetic material, and energy-saving effect is more remarkable.China is rare earth metal big country, is promoting the application of rare-earth permanent-magnet electric machine for many years always; In addition, ac speed control technology can also improve various dynamic, static propertiess, and crudy or system operation integrated quality is improved.Therefore, the speed adjusting technique of magneto is that an application is very extensive, national economy is had the technology of large tracts of land influence.
Magneto comprises two types, and a class is a brshless DC motor, and a class is the AC sine magneto.In fact this two class all is an alternating current machine, and the characteristic that is the first kind is just like direct current machine, but it is brushless, so make it be brshless DC motor, it promptly is the permanent magnetism square-wave motor.One of the applicant disclosed a kind of direct torque control scheme of AC sine magneto in 1997 on American I EEEPE magazine.After this, this Study on Technology is risen simultaneously with domestic abroad, has delivered many papers, and remarkable progress is arranged.But the people is not also arranged directly being applied on the brshless DC motor, and that brshless DC motor uses on household electrical appliances, general industry articles for use is very extensive from control, as refrigerator, washing machine, air-conditioning all at a large amount of brshless DC motors that use.
Three, summary of the invention
The objective of the invention is to and directly to be applied on the brshless DC motor, in the hope of improving dynamic property from the control technology.Realize the high performance control of brshless DC motor with extremely simple structure.Directly can not only improve the dynamic property of system, and can improve the situation of weak magnetic, enlarge the high-speed cruising scope of motor from the control technology.
For realizing above-mentioned technical indicator, technical solution of the present invention is that hardware system detects the loop by major loop, control loop three parts composition.Major loop is connected with power inverter by brshless DC motor, receives power supply grid by power inverter; Detecting the loop is made up of current sensor and voltage sensor; Control loop is connected in control unit based on digital signal processor (DSP) by analog to digital converter, produces the power inverter control signal, is connected in the convertor controls signal processing unit that links to each other with power inverter again and forms.In detecting the loop, has position transducer commonly used (perhaps motor three-phase alternating current back-emf zero passage position detector); In control loop, deleted the current closed-loop circuit.
Brshless DC motor of the present invention directly from the control method of controlling system is: in each control cycle, according to detected transient current of testing circuit and the instantaneous voltage formed by current sensor and voltage sensor that are connected in main circuit, software for calculation by Mathematical Modeling calculates instantaneous magnetic linkage and instantaneous torque, by given rotating speed and the transient speed that calculates by software for calculation, via speed regulation software, obtain given torque; Instantaneous magnetic linkage and given magnetic linkage are compared, transient speed and given torque compare, by result relatively, directly select one best in the middle of eight space voltage vectors of converters for use, act on brshless DC motor by power inverter, realize the purpose of speed governing by inserting eight zero vectors in the space voltage vector.No-voltage vector or nonzero voltage space vector are selected in the comparative result decision of torque, and which nonzero voltage space vector the comparative result decision of magnetic linkage selects, and above stator magnetic linkage is a self-regulating process, and torque is from control.
This control method is calculated without any coordinate transform, calculates simply, and given magnetic linkage is a steady state value, and it is little that system is influenced by the parameter of electric machine, and dynamic response is good, speed-regulating range width.Owing to removed current closed-loop, improved reliability.
Four, description of drawings:
Fig. 1 is the composition frame chart of the system that directly controls certainly of brshless DC motor.
Fig. 2 is coordinate system and stator magnetic linkage track schematic diagram.
Fig. 3 is the direct from controlling system block diagram of brshless DC motor.
Fig. 4 is the direct from controlling the system controlling software flow chart of brshless DC motor.
Numbering title among Fig. 1 in each block diagram is respectively; 1, brshless DC motor, 2, power inverter, 3, the convertor controls signal, 4, based on the control system of digital controlled signal processor, 5, modulus converter A/D, 6, current sensor and voltage sensor.
Designation among Fig. 2: V
0～V
7-space voltage vector, abc-a-b-c three phase coordinate systems, α β-alpha-beta coordinate system, β a β b β c-β a-β b-β c coordinate system, S
1～S
6Six sections that space ,-stator magnetic linkage place is divided equally.
Designation among Fig. 3: Ψ s
*-stator flux linkage set value, T*-speed regulator output torque set-point, T (t)-torque instantaneous value, ω r
*-given rotating speed, ω r-transient speed, ST-torque ring hysteresis comparator output valve, SZ-nought state selected cell output valve, Sa Ψ, Sb Ψ, Sc Ψ-three on off state, S
a, S
b, S
c-three on off states, U
β a, I
β aThe projection on β a axle of-permanent-magnet brushless DC electric machine line voltage and line current, U
β b, I
β bThe projection on β b axle of-permanent-magnet brushless DC electric machine line voltage and line current, U
β c, I
β cThe projection on β c axle of-permanent-magnet brushless DC electric machine line voltage and line current, Ψ
β a, Ψ
β b, Ψ
β c-permanent-magnet brushless DC electric machine stator magnetic linkage Ψ β a axle and axial projection of β b axle β c in β a-β b-β c coordinate system, U
DcThe dc tache voltage of-output.Title in each block diagram among the figure: inverter model AIM, phase voltage line voltage transitions model UCM, phase current line current transformation model ICM, magnetic linkage is from controlling cells D MC, switching signal selected cell ASS, nought state selected cell AZS, torque adjustment software unit ATR also has permanent-magnet brushless DC electric machine (BLDC MOTOR) and IGBT three-phase bridge in the main circuit.
Five, specific implementation method:
Narrate specific implementation method of the present invention and operation principle and the course of work with reference to the accompanying drawings.As shown in Figure 1, brshless DC motor of the present invention directly comprises by brshless DC motor 1, power inverter 2 the two major loop that are formed by connecting from the control system; The detection loop of being made up of current sensor, voltage sensor 6 is connected in the control loop that convertor controls signal 3 is formed after being connected in control system 4 based on digital signal processor (DSP) by modulus converter A/D 5 again.Power tube in the power inverter can adopt IGBT power tube or power field effect pipe; The current/voltage transducer can be Hall element, also can be sampling resistor.Transducer changes electric current on the major loop and voltage the analog voltage signal of light current into, enters modulus converter A/D, is digital signal by it with analog signal conversion, and it is used to give the DSP control system again.According to the signal of obtaining with of the present inventionly calculate torque and stator magnetic linkage place section, and send control signal,, send 6 digit pulse signals and remove to control power inverter in the major loop via convertor controls signal 3 directly from the control strategy.
The present invention has deleted current closed-loop circuit (ac current signal is not herein made current closed-loop usefulness, only as determining the magnetic linkage position and calculating the needed signal of transient electromagnetic torque) in control loop.
Brshless DC motor Direct Torque of the present invention adopts the method for directly selecting for use space voltage vector to act on brshless DC motor directly to control electromagnetic torque from the control system by converters, makes motor change rotating speed fast, reaches the purpose of quick speed governing.
With reference to the accompanying drawings 2 and the basic principle and the concrete control method of accompanying drawing 3 narration control method of the present invention as follows: for the AC sine magneto, required stator magnetic linkage movement locus is a circle, but for square-wave motor (being brshless DC motor), then this magnetic linkage is not a circle.Owing to turn-off the uncertainty of phase voltage, when adopting the direct torque control brshless DC motor of two-phase conduction mode, the calculating of stator magnetic linkage is very difficult; And the stator magnetic linkage amplitude is to change in the cycle with 60 degree, changes constantly with different its amplitudes in stator magnetic linkage locus, in order to obtain constant torque, given magnetic linkage Ψ s
*Not being constant, is to change in the cycle but spend with 60.And the stator magnetic linkage of the brshless DC motor of directly controlling certainly of the present invention is the hexagon movement locus, given magnetic linkage Ψ s
*Be a steady state value, do not have the calculating of any coordinate transform, it is extremely simple that system forms structure, but resulting dynamic response is very excellent.Transient speed ω r that measures and given rotating speed ω r
*Send into rotational speed regulation software unit ATR, provide given torque according to its difference.Actual torque T (t) can be calculated by current measurement.If actual torque T (t) less than given torque T*, just increases the angle of stator magnetic linkage and rotor flux, relatively export the selection nonzero voltage space vector according to magnetic linkage.If actual torque T (t) just reduces this angle greater than given torque T*, select zero vector so that the switch switching times of inverter is minimum according to the output of nought state selected cell AZS.If it is actual torque T (t) is substantially equal to given torque T*, then should the sustaining voltage vector constant.And the direction of control cycle internal rotor magnetic linkage changes not quite, and this angle is by the direction decision of stator magnetic linkage.Therefore, in fact as long as just can realize the change of this angle by the direction of control stator magnetic linkage.And stator magnetic linkage is subjected to the influence of space voltage vector, and promptly the arrow tongue mark of stator magnetic linkage vector will move along the direction of selected spatial movement voltage vector, selects different spatial movement voltage vectors that the amplitude of stator magnetic linkage and direction will be changed.If select zero vector, then the stator magnetic linkage vector is constant, promptly keeps the angle of stator magnetic linkage vector.Therefore, select appropriate space voltage vector to move by required movement locus according to certain rule with regard to may command stator magnetic linkage vector.Characteristics of the present invention just are: the arrow point of stator magnetic linkage vector should be controlled so as to by the hexagon orbiting motion.Shown in Figure 2 is exactly stator magnetic linkage track schematic diagram.Be divided into 6 different sections among the figure, exist at six different sections and make the space voltage vector of magnetic linkage movement locus separately accordingly along the hexagon orbiting motion.The angle that will change electromagnetic torque T (t) rapidly and be by quick change stator magnetic linkage reaches.The rotary speed that changes stator magnetic linkage is by selecting appropriate motion vector and inserting zero vector and realize.In view of the above, by in each extremely short control cycle, from eight space voltage vectors, selecting non-zero space voltage vector or zero vector, make stator magnetic linkage along the hexagon orbiting motion on the one hand; Change the movement velocity of stator magnetic linkage on the other hand as soon as possible.
Realize that brshless DC motor directly from the block diagram of controlling as shown in Figure 3.The projection of stator magnetic linkage on β a, β b, β c is respectively Ψ
β a, Ψ
β b, Ψ
β cThe stator magnetic linkage amplitude of hexagon track changes, but owing to introduced β a-β b-β c coordinate system, only needs a given constant magnetic linkage, and given magnetic linkage amplitude equals the inscribed circle radius of hexagon track, and promptly the vertical line of hexagonal centre to six a limit mid point is long.With Ψ
β a, Ψ
β b, Ψ
β cRespectively with given magnetic linkage Ψ s
*Relatively, three magnetic linkage adjusters constitute magnetic linkage from controlling cells D MC.Flux regulator is the two point form comparator, is input as the actual magnetic linkage Ψ that three line voltage integrating meters obtain
β a, Ψ
β b, Ψ
β cAnd given magnetic linkage Ψ s
*, export three switching value Sa Ψ, Sb Ψ, Sc Ψ, three comparators are respectively exported switching signal Sa Ψ, a Sb Ψ, Sc Ψ.When actual magnetic linkage greater than given magnetic linkage Ψ s
*, comparator output 1, when actual magnetic linkage less than given magnetic linkage Ψ s
*, comparator output 0, comparator output is constant during other states.Wherein, Ψ
β aMagnetic flux comparator output c phase switching value Sc Ψ, Ψ
β bMagnetic flux comparator output a phase switching value Sa Ψ, Ψ
β cMagnetic flux comparator output b phase switching value Sb Ψ.
Torque adjustment software unit ATR is the two point form comparator, and input actual torque T (t) is poor with torque set-point T*'s, output torque ring hysteresis comparator output valve ST.Allow tolerance when actual torque T (t) surpasses less than given torque T*, torque ring hysteresis comparator output valve ST is 1, requires to increase torque; Allow tolerance when actual torque T (t) surpasses greater than given torque T*, torque ring hysteresis comparator output valve ST is 0, requires to reduce torque; When both difference in positive minus allowance, ST is constant for torque ring hysteresis comparator output valve.
When torque ring hysteresis comparator output valve ST is 0, the controlled torque controller that is formed on of switching signal selected cell, three switching variable S
a, S
b, S
cValue all be torque ring hysteresis comparator output valve SZ, torque ring hysteresis comparator output valve SZ gets 0 or 1 by nought state selected cell decision, so that the inverter switching device least number of times.Like this, three phase windings are all received on same bus of inverter DC link, and voltage vector is zero, the stator magnetic linkage transfixion, and rotor flux continues rotation, and speed remains unchanged substantially, and instantaneous torque descends thereupon.When torque ring hysteresis comparator output valve ST was 1, inverter was added to whole voltages on the winding, selected which nonzero voltage space vector to depend on that magnetic linkage is from three outputs controlling the unit.By such mode, the speed of stator magnetic linkage changes arbitrarily between the most at a high speed at zero-sum.So, torque adjustment software unit ATR has determined selection no-voltage vector or nonzero voltage space vector, which nonzero voltage space vector magnetic linkage has determined to select from controlling cells D MC, and the nought state selected cell selects excellent in to guarantee that inverter once has only a switching tube to switch in two zero vectors.Above magnetic linkage is a self-regulating process, and torque is from control, with rotating speed, stator resistance, dc tache voltage U
DcIrrelevant.Magnetic linkage provides correct section from controlling link, and the torque two point form is regulated controlling torque, and magnetic linkage is regulated and just helped out.The hexagon track is shared to 3 magnetic linkage adjusters, require to calculate three magnetic linkages, the magnetic linkage adjuster be limited to given magnetic linkage Ψ s up and down
*
Claims (1)
1. a brshless DC motor is direct from the control method of controlling system, it is characterized in that: in each control cycle, according to detected transient current of testing circuit and the instantaneous voltage formed by current sensor and voltage sensor that are connected in main circuit, software for calculation by Mathematical Modeling calculates instantaneous magnetic linkage and instantaneous torque, by given rotating speed and the transient speed that calculates by software for calculation, via speed regulation software, obtain given torque; Instantaneous magnetic linkage and given magnetic linkage are compared, transient speed and given torque compare, by result relatively, directly select one best in the middle of eight space voltage vectors of converters for use, act on brshless DC motor by power inverter, realize the purpose of speed governing by inserting eight zero vectors in the space voltage vector.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2006100379672A CN1819439A (en) | 2006-01-24 | 2006-01-24 | Direct self-controlling system method of brushless DC motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006100379672A CN1819439A (en) | 2006-01-24 | 2006-01-24 | Direct self-controlling system method of brushless DC motor |
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| CN1819439A true CN1819439A (en) | 2006-08-16 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100385788C (en) * | 2006-10-20 | 2008-04-30 | 南京航空航天大学 | Supersapce vector speed governing method for brushless direct-current machine direct torque control |
| CN100463355C (en) * | 2007-03-07 | 2009-02-18 | 今创集团有限公司 | Direct torque brushless DC servo control system and its working method |
| CN100555835C (en) * | 2007-08-21 | 2009-10-28 | 南京航空航天大学 | Correction method for position signal phase error of brushless DC motor without position sensor |
| CN101783637A (en) * | 2010-03-19 | 2010-07-21 | 哈尔滨工业大学 | Magnetic linkage self-control direct torque control method of brushless DC motor |
| CN101902192A (en) * | 2010-07-15 | 2010-12-01 | 福州大学 | Direct automatic control method of hybrid stepper motor |
| CN105790666A (en) * | 2016-04-11 | 2016-07-20 | 南京信息工程大学 | Brushless direct current motor direct torque control system and method based on Hall signals |
-
2006
- 2006-01-24 CN CNA2006100379672A patent/CN1819439A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100385788C (en) * | 2006-10-20 | 2008-04-30 | 南京航空航天大学 | Supersapce vector speed governing method for brushless direct-current machine direct torque control |
| CN100463355C (en) * | 2007-03-07 | 2009-02-18 | 今创集团有限公司 | Direct torque brushless DC servo control system and its working method |
| CN100555835C (en) * | 2007-08-21 | 2009-10-28 | 南京航空航天大学 | Correction method for position signal phase error of brushless DC motor without position sensor |
| CN101783637A (en) * | 2010-03-19 | 2010-07-21 | 哈尔滨工业大学 | Magnetic linkage self-control direct torque control method of brushless DC motor |
| CN101783637B (en) * | 2010-03-19 | 2012-01-04 | 哈尔滨工业大学 | Magnetic linkage self-control direct torque control method of brushless DC motor |
| CN101902192A (en) * | 2010-07-15 | 2010-12-01 | 福州大学 | Direct automatic control method of hybrid stepper motor |
| CN101902192B (en) * | 2010-07-15 | 2012-08-29 | 福州大学 | Direct automatic control method of hybrid stepper motor |
| CN105790666A (en) * | 2016-04-11 | 2016-07-20 | 南京信息工程大学 | Brushless direct current motor direct torque control system and method based on Hall signals |
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