CN205178925U - Brushless DC motor's start control device - Google Patents
Brushless DC motor's start control device Download PDFInfo
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- CN205178925U CN205178925U CN201520953502.6U CN201520953502U CN205178925U CN 205178925 U CN205178925 U CN 205178925U CN 201520953502 U CN201520953502 U CN 201520953502U CN 205178925 U CN205178925 U CN 205178925U
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Abstract
The utility model relates to a brushless DC motor's start control device, including direct voltage source, power tube drive circuit, three -phase bridge -type inverter and start control ware, power tube drive circuit's input is connected to the output of start control ware, power tube drive circuit with direct voltage source's output is connected the input of three -phase bridge -type inverter, brushless DC motor is connected to the output of three -phase bridge -type inverter. The motor starting mode that this device had made up one kind " predetermined position + constant frequency of stepping up + constant voltage constant frequency " can realize that the just reversal of motor starts, and overall structure is simple, easy to realize that with low costs, the adjustability is good, and the stationarity is high, and the practicality is strong, and the brushless DC motor control occasion that requires for the high performance provides favourable support.
Description
Technical field
The utility model belongs to the control technology field of brshless DC motor, specifically relates to a kind of startup control device of brshless DC motor.
Background technology
There is brushless motor due to the existence of mechanical brush and commutator, complex structure, noise is caused greatly, easily to produce spark, poor reliability, life-span short, add the shortcomings such as manufacturing cost is high, difficult in maintenance, its control performance is difficult to ensure, application scenario is also subject to great restriction.For this problem, brshless DC motor (BrushlessDCMotor, BLDC) is simple with its structure, reliability is high, power density is large, torque is large, safeguard that the remarkable advantage such as simple obtains increasingly extensive application at industrial circle.
At present, the starting method of brshless DC motor mainly contains syllogic startup method, the startup of impulses injection rotor fixed position method and frequency and voltage boosting startup method etc.
(1) syllogic starts method
Syllogic starts method and comprises three phases, pre-determined bit, acceleration and switching.Pre-determined bit refers to and rotor is predefined in certain position, and implementation method is the two-phase of first conducting stator arbitrarily and another phase disconnects, and rotor d-axis attracts to come by the composite magnetic power that conducting two-phase produces, and motor just can subscribe to corresponding position.After pre-determined bit terminates under the prerequisite of upper once conducting state actuating switch pipe in order successively, increase commutation frequency and DC voltage simultaneously.For start quickly process, need to set an acceleration curve in advance according to frequency, corresponding relation between voltage and motor speed.Be switched to normal operating condition when motor speed reaches certain value, such as judge rotor-position according to hall sensor signal or back-emf zero crossing and carry out commutation.Though this method is simple, the off-line in advance of acceleration curve is determined cumbersome.
(2) impulses injection rotor fixed position starts method
Impulses injection rotor fixed position starts method and also comprises pre-determined bit, acceleration and switch three phases.Brshless DC motor saturation of magnetic path is in all directions different, causes the equivalent inductance of stator core also different.Equal when amplitude and direction is different voltage vector pulse acts on stator in same time, the size of the stator current resultant vector value produced at the end of potential pulse is also different.If when the voltage vector direction applied is consistent with rotor N extreme direction, the magnetic circuit in this direction is the most saturated, corresponding inductance value is also minimum, and electric current rises the fastest, finally makes stator winding current reach maximum.During specific implementation, respectively six voltage vectors of conducting are between two applied to motor stator end, just rotor can be determined within the scope of 60 °.It is identical that acceleration afterwards and handoff procedure and syllogic start method.This method can realize the Static Detection of initial position of rotor, but method comparison is complicated.
(3) frequency and voltage boosting starts method
This method is a kind of starting method using hardware circuit to realize.Capacitance voltage is utilized not suddenly change, the principle that must increase gradually from 0, capacitance voltage is put on voltage controlled oscillator, the output of voltage controlled oscillator is as the clock signal of ring distributor, the output of ring distributor is as the drive singal of transistor switch, and therefore commutation frequency raises along with the rising of capacitance voltage.Meanwhile, capacitance voltage is added on pwm circuit two ends, the duty ratio that control PWM exports, and plays the effect controlling output voltage amplitude.This method principle is simple, but adjustability is poor, and hardware cost is higher.
Above three kinds of starting methods are all carry out conducting between two successively according to motor steering and phase change logic table in accelerator, the stator field track formed is spatially in discontinuous state, electromagnetic torque pulsation is comparatively large, and the rotating speed of motor in accelerator is steady not.
Summary of the invention
The utility model, just for the technical problem existing for the starting method proposed in background technology, provides a kind of startup control device of brshless DC motor, and this device overall construction design is ingenious, easy to operate, and the fast and stable that can realize motor starts.
Because the back-emf of most BLDC is on the market not 120 ° of strict trapezoidal waves, and rotor pole logarithm is generally greater than 1, this just makes the back-emf of BLDC almost in sine wave shape, therefore, the startup control device of this motor is based on Field orientable control (FieldOrientedControl, FOC) thought, construct one " pre-determined bit+boosting constant frequency+constant voltage constant frequency " Starting mode, first the constant perseverance of amplitude is produced to stationary stator magnetic field by power tube drive circuit and inverter, realize the pre-determined bit of rotor, produce amplitude afterwards to change from small to big, after remain unchanged and always with constant rotational speed rotate stator field, stator field track is spatially in continuous state, rotor is driven to accelerate again to constant-speed operation from precalculated position.
To achieve these goals, the technical solution adopted in the utility model is, a kind of startup control device of brshless DC motor, comprise direct voltage source, power tube drive circuit, three-phase bridge type converter and start-up connector, the output of described start-up connector connects the input of power tube drive circuit, described power tube drive circuit is connected the input of described three-phase bridge type converter with the output of described direct voltage source, and the output of described three-phase bridge type converter connects brshless DC motor, described start-up connector comprises the given module of initial position, positioning time given module, the given module of position limit, the given module of positional cycle, sawtooth waveforms generation module, the given module of direct-axis voltage, the given module of quadrature-axis voltage, SVPWM module and PWM generation module, the given module of described initial position, positioning time given module, the given module of position limit and the given module of positional cycle are all connected to the input of sawtooth waveforms generation module, the output of sawtooth waveforms generation module connects the input of SVPWM module, the given module of described direct-axis voltage is all connected the input of SVPWM module with the given module of quadrature-axis voltage, the output of SVPWM module connects the input of PWM generation module, the output of PWM generation module connects the input of power tube drive circuit.
Improve as one of the present utility model, described power tube drive circuit comprises that be transformed into by the pwm signal that start-up connector exports can the IGBT/MOFET driving chip of switching signal of driving power pipe, and the output of described IGBT/MOFET driving chip connects the input of described three-phase bridge type converter; The input of described IGBT/MOFET driving chip connects the output of described start-up connector.The input variable of power tube drive circuit is the 6 road PWM weak electric signals that start-up connector exports, and this 6 road PWM weak electric signal is enlarged into 6 road PWM forceful electric power signals, in order to drive the power tube of rear class three-phase bridge type converter by this power tube drive circuit.
Improve as one of the present utility model, described three-phase bridge type converter adopts three-phase bridge voltage source inverter, comprise three brachium pontis, each brachium pontis is provided with two power tubes, described power tube can be the switching device of metal-oxide-semiconductor or IGBT pipe and so on, respectively between two power tubes from three brachium pontis on same brachium pontis draw a branch road and be connected respectively to the three-phase windings terminals of brshless DC motor, the both positive and negative polarity of described direct voltage source is connected to the both positive and negative polarity of the power input of described three-phase bridge type converter respectively.Therefore, the 6 road PWM forceful electric power signals that the input variable of three-phase bridge voltage source inverter exports for power tube drive circuit and the direct voltage that direct voltage source provides, output variable is three-phase alternating voltage, the three-phase windings of supply brshless DC motor, produces stator field with drive motors.
Improve as one of the present utility model, described start-up connector adopts the digital control microprocessor of single-chip microcomputer, DSP or FPGA and so on (being called for short " digitial controller ") to realize.
Improve as one of the present utility model, described SVPWM module comprises Park inverse transformation block, sector judging unit, vector unit action time and vectors switching dot element, the given module of described direct-axis voltage is connected the input of Park inverse transformation block with the output of the given module of quadrature-axis voltage, the output of described Park inverse transformation block connects the input of sector judging unit and vector unit action time, output difference connected vector unit action time of sector judging unit and the input of vectors switching dot element, the input of the output connected vector switching point unit of vector unit action time.The function of this module determines the action time of two voltage vectors corresponding to the stator field in certain space vector sector and zero vector; Implementation is that given direct-axis voltage and quadrature-axis voltage are transformed into three comparator count values, in order to obtain low and high level compared with the fiducial value of comparator in described PWM production module, and then forms 6 road pwm switching signals.
Improve as one of the present utility model, described PWM generation module comprises clock control cell, triangular carrier unit, dead band time setting unit and PWM generation unit, the output of described vectors switching dot element connects the input of PWM generation unit, described clock control cell is connected with triangular carrier unit, triangular carrier unit is connected with PWM generation unit, dead band time setting unit is also connected with PWM generation unit, and clock control cell determines amplitude and the frequency of the triangular carrier on triangular carrier unit.The function of this module is output 6 road PWM weak electric signal.
Relative to prior art, advantage of the present utility model is as follows, whole startup control device adopts " pre-determined bit+boosting constant frequency+constant voltage constant frequency " Starting mode, first the pre-determined bit of rotor is realized, after-applied amplitude change from small to big, after remain unchanged and always with constant rotational speed rotate stator field, drive rotor to accelerate from precalculated position again to constant-speed operation, what can realize motor rotates and reverse startup; The structure of whole control device is simple, be easy to realize, and cost is low, and adjustability is good, and stationarity is high, practical, and the brshless DC motor for high performance requirements controls occasion and provides favourable support.
Accompanying drawing explanation
Fig. 1 is implementation structure figure of the present utility model.
Fig. 2 is the structure chart of three-phase bridge type converter in the utility model.
Fig. 3 is given quadrature-axis voltage V in the utility model
qwith the oscillogram of position Setting signal θ.
Fig. 4 is the implementation structure block diagram of SVPWM module in the utility model.
Fig. 5 is the implementation structure block diagram of PWM generation module in the utility model.
Fig. 6 is the startup realization flow figure adopting brshless DC motor of the present utility model.
Embodiment
In order to deepen understanding and cognition of the present utility model, below in conjunction with accompanying drawing the utility model be further described and introduce.
As shown in Figure 1, a kind of startup control device of brshless DC motor, comprises direct voltage source, power tube drive circuit, three-phase bridge type converter and start-up connector.The output of start-up connector connects the input of power tube drive circuit, and power tube drive circuit is connected the input of three-phase bridge type converter with the output of direct voltage source, and the output of three-phase bridge type converter connects brshless DC motor.The input variable of power tube drive circuit is 6 road PWM weak electric signals, it is enlarged into 6 road PWM forceful electric power signals, in order to drive the power tube of rear class three-phase bridge type converter.
As shown in Figure 2, three-phase bridge type converter adopts three-phase bridge voltage source inverter, comprise three brachium pontis, each brachium pontis is provided with two power tubes, power tube can be the switching device of metal-oxide-semiconductor or IGBT pipe and so on, respectively between two power tubes from three brachium pontis on same brachium pontis draw a branch road and be connected respectively to the three-phase windings terminals of brshless DC motor, the both positive and negative polarity of direct voltage source is connected to the both positive and negative polarity of the power input of three-phase bridge type converter respectively.Therefore, the 6 road PWM forceful electric power signals that the input variable of three-phase bridge type converter exports for power tube drive circuit and the direct voltage that direct voltage source provides, output variable is three-phase alternating voltage, the three-phase windings of supply brshless DC motor, produces stator field with drive motors.
Start-up connector is realized by digitial controller, it comprise the given module of initial position, positioning time given module, the given module of position limit, the given module of positional cycle, sawtooth waveforms generation module, the given module of direct-axis voltage, the given module of quadrature-axis voltage, SVPWM module and PWM generation module.The given module of initial position, positioning time given module, the given module of position limit and the given module of positional cycle be all connected to the input of sawtooth waveforms generation module.The output of sawtooth waveforms generation module connects the input of SVPWM module, the given module of direct-axis voltage is all connected the input of SVPWM module with the given module of quadrature-axis voltage, the output of SVPWM module connects the input of PWM generation module, and the output of PWM generation module connects the input of power tube drive circuit.
The input variable of sawtooth waveforms generation module has the θ of the given module output of initial position
0, T that positioning time, given module exported
0, the θ that exports of the given module of position limit
maxwith the T that the given module of positional cycle exports
c, sawtooth waveforms generation module outgoing position Setting signal θ, wherein θ
0be set to the arbitrary value in 0 ° ~ 360 °, θ
maxbe set to 360 °, the span of θ is 0 ° ~ 360 °.As shown in Figure 3, θ first remains constant θ
0, hold time as T
0, be cycle T afterwards
c, amplitude increases to θ from 0
maxsawtooth waveforms.
The direct-axis voltage set-point V of the given module of direct-axis voltage
dbe set to constant 0, also it can be set to suitable negative value to improve Driving Torque, shorten start-up time.The given quadrature-axis voltage V of the given module of quadrature-axis voltage
qwaveform as shown in Figure 3, just to transfer example to, V
qt after the power-up
0keep constant in time, it is set as maximum V
qmaxrotor pre-determined bit process can be accelerated, T
0after, V
qrise from 0 by certain slope, elapsed time T
rreach V
qmax, and maintain V
qmaxconstant.Can be reversed V equally when running
qwaveform, difference is that the constant of pre-determined bit process and final stationary value are-V
qmax.
As shown in Figure 4, SVPWM module comprises Park inverse transformation block, sector judging unit, vector unit action time and vectors switching dot element, the given module of direct-axis voltage is connected the input of Park inverse transformation block with the output of the given module of quadrature-axis voltage, the output of Park inverse transformation block connects the input of sector judging unit and vector unit action time, output difference connected vector unit action time of sector judging unit and the input of vectors switching dot element, the input of the output connected vector switching point unit of vector unit action time.The input variable of this module has direct-axis voltage set-point V
d, quadrature-axis voltage given position V
qwith position Setting signal θ, its output is the count value t of three comparators
cm1, t
cm2, t
cm3.Major function determines the action time of two voltage vectors corresponding to the stator field in certain space vector sector and zero vector.
As shown in Figure 5, PWM generation module comprises clock control cell, triangular carrier unit, dead band time setting unit and PWM generation unit, the output of vectors switching dot element connects the input of PWM generation unit, clock control cell is connected with triangular carrier unit, triangular carrier unit is connected with PWM generation unit, and dead band time setting unit is also connected with PWM generation unit.The input variable of this module is the count value t of three comparators that SVPWM module exports
cm1, t
cm2, t
cm3, clock control cell determines amplitude and the frequency of the triangular carrier on triangular carrier unit, count value t
cm1, t
cm2, t
cm3hand over triangular carrier the PWM modulation signal intercepting brachium pontis 3 power tubes on three-phase bridge type converter, the PWM modulation signal of 2 power tubes on same brachium pontis is complementary, and arranging Dead Time is to prevent upper and lower bridge arm conducting simultaneously from damaging inverter.
Embodiment: adopt three timers to be loaded into count value T respectively
0, T
c, T
r, the realization flow figure of electric motor starting as shown in Figure 6.First θ is given
0, θ
max, T
0, T
c, T
r, V
d, V
qmaxassignment, and by T
0, T
c, T
rbe loaded into timer Timer0, Timer1, Timer2 respectively, V is set here
d=0.Then start timer Timer0, when spilling do not write all over by timer, make θ=θ
0, and V is set by turning to
qfor V
qmaxor-V
qmax, θ, V
dand V
qjointly determine the switching signal of six power tubes, inverter produces the stator field of constant sensing, the N pole of motor is pointed to stator field and overlaps.Until when Timer0 writes spilling all over, the pre-determined bit stage terminates, and now starts timer Timer1 and Timer2 simultaneously, and detects θ in real time
maxwith V
qmax.For Timer1, when timer does not write spilling all over and θ < θ
maxtime, θ increases an increment Delta θ, and Δ θ is by θ
maxwith T
ccommon decision, when timer writes spilling or θ>=θ all over
maxtime, the count value of θ and Timer1 is all reset to 0, again circulates.For Timer2, when timer do not write all over overflow and | V
q| <V
qmaxtime, make V by turning to
qincrease or reduce by a Δ V
q, Δ V
qby V
qmaxwith T
rcommon decision, this stage is the boosting constant frequency stage, and motor is in acceleration starting state.Until Timer2 write all over overflow or | V
q|>=V
qmaxtime, the boosting constant frequency stage terminates, this seasonal V
qremain unchanged, step into the constant voltage constant frequency stage, motor also progressively enters constant-speed operation state.
It should be noted that above-described embodiment, be not used for limiting protection range of the present utility model, equivalents done on the basis of technique scheme or the alternative scope all falling into the utility model claim and protect.
Claims (8)
1. the startup control device of a brshless DC motor, it is characterized in that: comprise direct voltage source, power tube drive circuit, three-phase bridge type converter and start-up connector, the output of described start-up connector connects the input of power tube drive circuit, described power tube drive circuit is connected the input of described three-phase bridge type converter with the output of described direct voltage source, and the output of described three-phase bridge type converter connects brshless DC motor, described start-up connector comprises the given module of initial position, positioning time given module, the given module of position limit, the given module of positional cycle, sawtooth waveforms generation module, the given module of direct-axis voltage, the given module of quadrature-axis voltage, SVPWM module and PWM generation module, the given module of described initial position, positioning time given module, the given module of position limit and the given module of positional cycle are all connected to the input of sawtooth waveforms generation module, the output of sawtooth waveforms generation module connects the input of SVPWM module, the given module of described direct-axis voltage is all connected the input of SVPWM module with the given module of quadrature-axis voltage, the output of SVPWM module connects the input of PWM generation module, the output of PWM generation module connects the input of power tube drive circuit.
2. the startup control device of a kind of brshless DC motor as claimed in claim 1, is characterized in that, the both positive and negative polarity of described direct voltage source is connected to the both positive and negative polarity of the power input of described three-phase bridge type converter respectively.
3. the startup control device of a kind of brshless DC motor as claimed in claim 2, it is characterized in that, described three-phase bridge type converter adopts three-phase bridge voltage source inverter, comprise three brachium pontis, each brachium pontis is provided with two power tubes, respectively between two power tubes from three brachium pontis on same brachium pontis draws a branch road and is connected respectively to the three-phase windings terminals of brshless DC motor.
4. the startup control device of a kind of brshless DC motor as claimed in claim 3, is characterized in that, described power tube adopts the device for power switching of metal-oxide-semiconductor or IGBT pipe.
5. the startup control device of a kind of brshless DC motor as claimed in claim 1, it is characterized in that, described power tube drive circuit comprises that be transformed into by the pwm signal that start-up connector exports can the IGBT/MOFET driving chip of switching signal of driving power pipe, and the output of described IGBT/MOFET driving chip connects the input of described three-phase bridge type converter; The input of described IGBT/MOFET driving chip connects the output of described start-up connector.
6. the startup control device of a kind of brshless DC motor as claimed in claim 1, is characterized in that, described start-up connector adopts digital control microprocessor to realize.
7. the startup control device of a kind of brshless DC motor as described in claim 1 or 6, it is characterized in that, described SVPWM module comprises Park inverse transformation block, sector judging unit, vector unit action time and vectors switching dot element, the given module of described direct-axis voltage is connected the input of Park inverse transformation block with the output of the given module of quadrature-axis voltage, the output of described Park inverse transformation block connects the input of sector judging unit and vector unit action time, output difference connected vector unit action time of sector judging unit and the input of vectors switching dot element, the input of the output connected vector switching point unit of vector unit action time.
8. the startup control device of a kind of brshless DC motor as claimed in claim 7, it is characterized in that, described PWM generation module comprises clock control cell, triangular carrier unit, dead band time setting unit and PWM generation unit, the output of described vectors switching dot element connects the input of PWM generation unit, described clock control cell is connected with triangular carrier unit, triangular carrier unit is connected with PWM generation unit, and dead band time setting unit is also connected with PWM generation unit.
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| CN201520953502.6U CN205178925U (en) | 2015-11-25 | 2015-11-25 | Brushless DC motor's start control device |
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|---|---|---|---|
| CN201520953502.6U CN205178925U (en) | 2015-11-25 | 2015-11-25 | Brushless DC motor's start control device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106208837A (en) * | 2016-07-26 | 2016-12-07 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of CPU individually controls the method for motor PWM output |
| CN110051247A (en) * | 2019-03-29 | 2019-07-26 | 宫军军 | A kind of cooking machine |
| CN110768605A (en) * | 2019-10-30 | 2020-02-07 | 中国第一汽车股份有限公司 | SVPWM modulation method, device and system |
| CN111278513A (en) * | 2017-08-24 | 2020-06-12 | 皇家飞利浦有限公司 | Mask-based breathing apparatus and control method |
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2015
- 2015-11-25 CN CN201520953502.6U patent/CN205178925U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106208837A (en) * | 2016-07-26 | 2016-12-07 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of CPU individually controls the method for motor PWM output |
| CN106208837B (en) * | 2016-07-26 | 2018-12-14 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of method that CPU individually controls motor PWM output |
| CN111278513A (en) * | 2017-08-24 | 2020-06-12 | 皇家飞利浦有限公司 | Mask-based breathing apparatus and control method |
| CN110051247A (en) * | 2019-03-29 | 2019-07-26 | 宫军军 | A kind of cooking machine |
| CN110768605A (en) * | 2019-10-30 | 2020-02-07 | 中国第一汽车股份有限公司 | SVPWM modulation method, device and system |
| CN110768605B (en) * | 2019-10-30 | 2021-09-07 | 中国第一汽车股份有限公司 | SVPWM modulation method, device and system |
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