CN202856672U - Brushless direct current motor control device - Google Patents
Brushless direct current motor control device Download PDFInfo
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- CN202856672U CN202856672U CN2012202436045U CN201220243604U CN202856672U CN 202856672 U CN202856672 U CN 202856672U CN 2012202436045 U CN2012202436045 U CN 2012202436045U CN 201220243604 U CN201220243604 U CN 201220243604U CN 202856672 U CN202856672 U CN 202856672U
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Abstract
The utility model relates to a brushless direct current (DC) motor control device which is characterized in that: according to the magnitude of speed feedback value and speed reference value errors of the motor, velocity negative feedback for controlling convergence of the errors is calculated by positional PI algorithm; reference chopping amplitude and a periodic sequence signal are obtained by subtracting output of current cut-off feedback, and a PWM chopping signal is generated; and phase voltage of the motor is controlled by controlling duty ratio of the PWM chopping signal so as to control motor speed. By the above method, system control precision is raised, steady-state errors are minimized, the excessive current problem during starting and locked-rotor of the system is solved, and power device is protected. In addition, only bus current needs to be sampled by the method, thus saving components. By designing the control method, system control precision is raised, steady-state errors are minimized, the excessive current problem during starting and locked-rotor of the system is solved, the power device is protected, and simultaneously the control device has interference resistance to network voltage.
Description
Technical field
The present invention relates to a kind of control device of brshless DC motor.
Background technology
Brushless DC motor system is comprised of motor body, driving governor and hall position sensor three parts.The brushless DC motor body mainly is comprised of stator and rotor two large divisions, and different from common DC motor is, winding is on stator, and rotor is permanent magnet, is used for producing air-gap field.Driving governor is used for realizing the commutation control to brshless DC motor, makes current flowing in the stator winding, produces stator field, and interacts with the rotor field, drives rotor, realizes the control to electric moter voltage electric current rotating speed.Hall position sensor is used for the position of detection rotor magnet steel making brushless DC motor realize the autocontrol commutation according to the position of rotor.
Most brshless DC motor comprises motor body and hall position sensor, but brushless electric machine and driving governor adopt the separate type design more, motor adopts cylindrical structure more, driving governor adopts rectangular structure more, 8 lines of middle employing connect, and comprise 3 power lines of 5 Halls.Driving governor is powered to motor by power line, obtains the motor rotor position signal by the Hall line.
Control method for brushless direct current motor adopts speed closed loop PID control more.PID control comprises ratio, 3 kinds of control laws of integration and differentiation, it is a kind of linear controller, its effect is that the proportional-plus-integral of deviation by given motor speed and actual measurement motor speed adds differential formation control amount, remove to control the voltage of motor, thereby the rotating speed of control motor makes motor speed be tending towards given.
The motor controller that adopts separate type is the Shortcomings part in actual applications, be in particular in following some:
(1) wire between motor and the driver exposes in external environment, is vulnerable to the erosion of adverse circumstances, and easily fracture damages, and affects the reliability of system;
(2) affect the sealing of system, be difficult to realize movable sealing, especially system is in water, the wet goods liquid, and the poor motor controller that will cause of sealing lost efficacy;
(3) collocation of cylinder motor and cuboid controller takies larger volume, and housing has increased system weight, is difficult to satisfy present sophisticated equipment, and such as aircraft, guided missile etc. are to the requirement of microminiaturization.
(4) to take volume little for the low-power machine body, and controller considers that components and parts distribute and the problems such as heat radiation take significant volume, causes the entire system power density low.
And when the brushless DC motor full voltage starting, if there are not current limiting measures, can produce very large impulse current.In addition, motor may run into the situation of stall sometimes, for example because fault, mechanical axis is stuck or motor when operation load is excessive etc.Because the static characteristic of closed-loop system is very hard, go down if continue operation without the current limliting link, electric current will be considerably beyond permissible value.If only rely on the protection of overcurrent relay or fuse, once transshipping tripping operation, also can make troubles to normal operation.
Summary of the invention
The technical problem that solves
For fear of the deficiencies in the prior art part, the present invention proposes a kind of control method for brushless direct current motor and device thereof.
Technical scheme
A kind of control device of brshless DC motor is characterized in that comprising power converting circuit, governor circuit, drive circuit, telecommunication circuit, voltage and current detection circuit and hall position testing circuit; Annexation is: telecommunication circuit links to each other with the output of host computer by serial ports, and is connected with governor circuit; The output of governor circuit connects drive circuit, and drive circuit links to each other with voltage and current detection circuit with motor; Electric current and voltage connects governor circuit, and the hall position testing circuit connects governor circuit;
Described telecommunication circuit links to each other with the output of host computer by serial ports, and is connected with governor circuit; Content of Communication is communicated by RS232 communication protocol and governor circuit; Described Content of Communication comprises start and stop, speed governing, busbar voltage, the bus current of motor;
The signal of described governor circuit receiver voltage current detection circuit and hall position testing circuit, and the control signal of telecommunication circuit, carry out the execution of control algolithm in governor circuit inside, the signal of voltage and current detection circuit processed obtain real busbar voltage electric current, the signal of hall position testing circuit processed obtain the motor speed value of feedback, and carry out the PWM chopping signal that speed closed loop produces duty ratio corresponding, by the current cut-off negative feedback bus current is limited, so that system obtains maximum permission electric current at when starting, the PWM chopping signal of governor circuit output is to drive circuit;
Described drive circuit receives the duty of the PWM chopping signal of governor circuit and recently controls turning on and off of six power tubes of inverter circuit power bridge, and the output three-phase voltage directly links to each other with motor; Motor obtains three-phase voltage, and the size of voltage has determined the rotating speed of motor;
Described hall position testing circuit is the receivable 3.3V voltage of governor circuit with the level conversion of the rotor-position signal of motor, is connected to governor circuit;
Described voltage and current detection circuit detects the busbar voltage current signal, and is converted to the following voltage of the receivable 5V of being lower than of governor circuit, is connected to governor circuit;
Described power converting circuit connects direct voltage source, realizes the level conversion function, output signal respectively with are connected several circuit and connect.Described controller and motor are integrated, and the rear end cap of motor is as the front end housing of controller, and the Hall line of motor and power line are introduced controller from the connector of back end cover for motor; Described controller comprises control board and drive plate, and drive plate is at front end, and control board carries the rear end, adopts the copper post to connect between two-ply, and the inner filling and sealing of controller is drawn order wire and power line by connector; Described control board is provided with power converting circuit, governor circuit, telecommunication circuit, voltage and current detection circuit, hall position testing circuit; Described drive plate is provided with drive circuit.
Beneficial effect
The control device of a kind of brshless DC motor that the present invention proposes has carried out the theory and structure design to small-power brushless dc machine integrated controller.Owing to adopting the brushless direct-current controller of integral structure, can isolate external environment to the interference of wire, easily realize movable sealing, reduced the volume of system, alleviated the weight of system; Adopt the coarse cloth line method to save isolation module, choose highly integratedly, high efficiency device, and adopt Canning Technique has improved the heat dispersion of driving governor, realizes good sealing.Control method in conjunction with negative velocity feedback and current cut-off negative feedback control has improved system's control precision, reduces steady-state error; the system that solved electric current problems of too when starting and stall; protected power device, and the bus current of only need sampling, components and parts saved.The integrated design of brshless DC motor and controller, protected motor be connected with controller the extraneous not adverse circumstances of wire interference, improved the reliability of system, guaranteed the sealing of system.Overall system design is cylindrical, has replaced the separate type of a side one circle, has reduced system bulk.
Description of drawings
Fig. 1: small-power brushless dc machine integrated controller schematic diagram;
Fig. 2: system power supply circuit block diagram;
Fig. 3: power converting circuit;
Fig. 4: governor circuit figure;
Fig. 5: telecommunication circuit figure;
Fig. 6: drive circuit figure;
Fig. 7: voltage and current detection circuit figure;
Fig. 8: hall position testing circuit figure;
Fig. 9: control method schematic diagram;
Figure 10: brushless electric machine and controller integral design outline figure.
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
The present invention is small-power brushless electric machine integrated controller, mainly comprises power converting circuit, governor circuit, drive circuit, telecommunication circuit, voltage and current detection circuit, hall position testing circuit 6 parts.
Technical scheme is:
Upper computer software links to each other with telecommunication circuit by serial ports, communicates by RS232 communication protocol and governor circuit, and Content of Communication comprises start and stop, speed governing, busbar voltage, the bus current of motor, and the input/output signal of telecommunication circuit connects governor circuit;
The signal of governor circuit receiver voltage current detection circuit and hall position testing circuit, and the control signal of telecommunication circuit, carry out the execution of control algolithm in governor circuit inside, the signal of voltage and current detection circuit processed obtain real busbar voltage electric current, the signal of hall position testing circuit processed obtain the motor speed value of feedback, and carry out the PWM chopping signal that speed closed loop produces duty ratio corresponding, by the current cut-off negative feedback bus current is limited, so that system obtains maximum permission electric current at when starting, the PWM chopping signal of governor circuit output is to drive circuit;
Drive circuit is recently controlled turning on and off of six power tubes of inverter circuit power bridge by the duty of PWM chopping signal, and the output three-phase voltage directly links to each other with motor;
Motor obtains three-phase voltage, and the size of voltage has determined the rotating speed of motor, and motor is exported to rotor position detection circuit by the hall position detector with rotor-position;
The hall position testing circuit is the receivable 3.3V voltage of governor circuit with the level conversion of rotor-position signal, is connected to governor circuit;
Voltage and current detection circuit detects the busbar voltage current signal, and is converted to the following voltage of the receivable 5V of being lower than of governor circuit, is connected to governor circuit;
Power converting circuit connects direct voltage source, realizes the level conversion function, output signal respectively with are connected several circuit and connect.
Controller and motor carry out integrated design, and the rear end cap of motor is as the front end housing of controller, and the Hall line of motor and power line are introduced controller from the connector of back end cover for motor.Controller comprises control board and drive plate, and drive plate is at front end, and control board carries the rear end, adopts the copper post to connect between two-ply, and the inner filling and sealing of controller is drawn order wire and power line by connector.
The method that control method adopts negative velocity feedback and current cut-off negative feedback control to combine.Interior ring is the current cut-off negative feedback, and outer shroud is negative velocity feedback.The voltage and current detection circuit signal is exported to governor circuit, obtains bus current i after signal is processed.When bus current i less than or equal to reference current i
*The time, current negative feedback circuit is obstructed, and the current cut-off negative feedback is inoperative; When bus current i greater than reference current i
*The time, form current feedback value e
i=i
*-i.The hall position detector is exported to governor circuit with rotor-position, signal obtains the motor speed value of feedback after processing, the deviation of speed feedback value and speed reference is carried out the PI adjusting obtain negative velocity feedback, the amplitude of negative velocity feedback and electric current cut-off negative feedback difference and periodic sequence signal is done the poor pwm pulse signal that produces a series of change in duty cycle, by regulating duty cycle adjustment motor phase voltage, realize the control to the BLDCM rotating speed.
The present embodiment concrete structure is as follows:
Now designing a power is 30W brushless electric machine integrated controller, mainly comprises power converting circuit, governor circuit, and drive circuit, telecommunication circuit, voltage and current detection circuit, hall position testing circuit 6 parts, its connecting relation principle is referring to Fig. 1.
Referring to Fig. 2, each circuit of system supply power voltage, power converting circuit is converted into 12V with the 28V busbar voltage, again the 12V direct current is converted into the 3.3V direct voltage.Referring to Fig. 3, power converting circuit adopts chip MAX5035.
Referring to Fig. 4, control chip adopts TMS320F28035, and its integrated level is high, and volume is little, adopts single power supply.Opening of IO output PWM copped wave control drive circuit switching tube by this dsp chip turn-offs regulating electric machine voltage, AD reads the electric moter voltage current value, SCI carries out RS232 by communication chip and host computer and communicates by letter, capturing unit is caught the motor rotor position signal, and chip internal carries out the data processing simultaneously and algorithm is carried out.
Referring to Fig. 5, telecommunication circuit adopts the driving chip MAX3232 of RS232 standard, and MAX3232 guarantees the data rate at 120kbps, keeps simultaneously the RS232 output level.Host computer sends data to DSP by telecommunication circuit, and DSP processes feedback data and is transferred to host computer by telecommunication circuit.
Referring to Fig. 6, drive circuit adopts the drv8312 of TI company, efficient 97%; operating voltage 50V, the continuous phase electric current is up to 3.5A(peak value 6.5A), PWM operating frequency 500kHz; have under-voltage, overtemperature, the overload and short-circuit protection characteristic and the current-limiting protection in programmable one by one cycle.Drv8312 receives DSP signal, direct-driving motor work.
Referring to Fig. 7, voltage detecting circuit gathers busbar voltage and dwindles circuit to the AD of DSP through amplifier, driving the chip drv8312 bus major loop sampling resistor R that connects, be electric machine phase current I by the R electric current, current detection circuit is by gathering sampling resistor R terminal voltage, to AD, go out the busbar voltage electric current to upper computer software by the DSP internal arithmetic through amplifying circuit again.The amplifier chip adopts op291, is a kind of high-performance double operational integrated chip of rail-to-rail.
Referring to Fig. 8, the hall position testing circuit adopts ps2801, and supplying power for input end voltage is 12V, and output supply power voltage 3.3V realizes level conversion and signal isolation features.
Referring to Figure 10, controller and motor carry out integrated design, and controller and motor are cylinder, and the rear end cap of motor is as the front end housing of controller, and the Hall line of motor and power line are introduced controller from the connector of back end cover for motor.Controller comprises control board and drive plate, and drive plate is at front end, and control board adopts the copper post to connect in the rear end between two-ply, and the inner filling and sealing of controller is drawn order wire and power line by connector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012202436045U CN202856672U (en) | 2012-05-28 | 2012-05-28 | Brushless direct current motor control device |
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| CN2012202436045U CN202856672U (en) | 2012-05-28 | 2012-05-28 | Brushless direct current motor control device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104716878A (en) * | 2015-03-16 | 2015-06-17 | 南京航空航天大学 | Control method and driving system of three-phase double-salient-pole brushless direct current motor |
| CN106341059A (en) * | 2016-09-28 | 2017-01-18 | 深圳怡化电脑股份有限公司 | Signal processing method and apparatus |
| CN107241037A (en) * | 2016-11-22 | 2017-10-10 | 晶傲威电气（常州）有限公司 | A kind of single-phase brushless DC motor power limitation control system and method |
| WO2020113550A1 (en) * | 2018-12-07 | 2020-06-11 | Lingdong Technology (Beijing) Co.Ltd | Brushless direct-current motor using single wire to transmit information of positions of a plurality of magnets |
| CN112217425A (en) * | 2019-07-10 | 2021-01-12 | 广东美的生活电器制造有限公司 | Motor control device, control method and control system |
| CN112994533A (en) * | 2019-12-18 | 2021-06-18 | 珠海格力电器股份有限公司 | Brushless direct current motor control method and device, brushless direct current motor and electric appliance |
-
2012
- 2012-05-28 CN CN2012202436045U patent/CN202856672U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104716878A (en) * | 2015-03-16 | 2015-06-17 | 南京航空航天大学 | Control method and driving system of three-phase double-salient-pole brushless direct current motor |
| CN104716878B (en) * | 2015-03-16 | 2017-04-12 | 南京航空航天大学 | Control method and driving system of three-phase double-salient-pole brushless direct current motor |
| CN106341059A (en) * | 2016-09-28 | 2017-01-18 | 深圳怡化电脑股份有限公司 | Signal processing method and apparatus |
| CN107241037A (en) * | 2016-11-22 | 2017-10-10 | 晶傲威电气（常州）有限公司 | A kind of single-phase brushless DC motor power limitation control system and method |
| CN107241037B (en) * | 2016-11-22 | 2019-12-24 | 晶傲威电气（常州）有限公司 | Constant power control system and method for single-phase brushless direct current motor |
| WO2020113550A1 (en) * | 2018-12-07 | 2020-06-11 | Lingdong Technology (Beijing) Co.Ltd | Brushless direct-current motor using single wire to transmit information of positions of a plurality of magnets |
| US11050371B2 (en) | 2018-12-07 | 2021-06-29 | Lingdong Technology (Beijing) Co. Ltd | Brushless direct-current motor using single wire to transmit information of positions of a plurality of magnets |
| CN112217425A (en) * | 2019-07-10 | 2021-01-12 | 广东美的生活电器制造有限公司 | Motor control device, control method and control system |
| CN112217425B (en) * | 2019-07-10 | 2022-11-01 | 广东美的生活电器制造有限公司 | Motor control device, control method and control system |
| CN112994533A (en) * | 2019-12-18 | 2021-06-18 | 珠海格力电器股份有限公司 | Brushless direct current motor control method and device, brushless direct current motor and electric appliance |
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