CN207304422U - The control device and system of a kind of brshless DC motor - Google Patents
The control device and system of a kind of brshless DC motor Download PDFInfo
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- CN207304422U CN207304422U CN201720174411.1U CN201720174411U CN207304422U CN 207304422 U CN207304422 U CN 207304422U CN 201720174411 U CN201720174411 U CN 201720174411U CN 207304422 U CN207304422 U CN 207304422U
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Abstract
Disclose the control device and system of a kind of brshless DC motor.The device includes position detection unit, with reference to generation unit, current measuring unit, computing unit, phasing unit and driving unit.Wherein, position detection unit is used for the position for detecting rotor, obtains the position signal of rotor.It is used for the position signal according to rotor with reference to generation unit, selection refers to the moment.Current measuring unit, for the phase current of measurement motor, and according to the phase current of motor, obtains the phase current with reference to the moment.Computing unit is used for the direct-axis current for according to the phase current with reference to the moment, calculating motor.Phasing unit is used for the difference of the direct-axis current and target current value according to motor, adjusts the phase of electrical-coil driving voltage.Driving unit is used to, according to the position signal of rotor and the phase of electrical-coil driving voltage, the drive signal of output motor coil, rotate with pushing motor rotor.
Description
Technical field
This application involves Motor Control Field, the control device and system of more particularly to a kind of brshless DC motor.
Background technology
Brushless motor instead of mechanical commutation using electronic commutation, overcome Traditional DC motor due to brush friction and
A series of problems of generation, and there are good speed adjustment features, small, efficient, thus it is widely used in national warp
In the every field and daily life of production of helping.
The winding of brushless electric machine is in inductance characteristic, therefore electric machine phase current lags behind applied voltage.To reach efficiency
The control targe such as optimize, run at high speed, it usually needs apply certain phase advance angle on the drive voltage.In some applications
In, calculate phase advance angle through the method frequently with approximate estimation.
Traditional is by measurand, as average current, current peak, speed, or control variable are required to estimate
Advance angle, and distributed rationally on target operation points by gain or biasing etc..There are obvious limitation for this kind of algorithm：By
In simply reaching control targe (such as efficiency optimization) in particular job point, once motor deviates, target operation points are more, and motor is transported
Turning state, to can deviate from target more (such as efficiency reduction), or even the dangerous situations such as driving occur；The design parameter distributed rationally
It is all directly related with motor body parameter and load characteristic etc., control program can be caused can not to lead on a variety of motors and load
With.It is unfavorable that these reliability, uniformity and batch productions and handling of goods and materials to electric system etc. cause.
Utility model content
This application provides the control device and system of a kind of brshless DC motor.The device is selected first to refer to the moment,
The direct-axis current of motor is being calculated with reference to the moment, according to direct-axis current and the relation of target current value, adjust automatically motor
The phase of coil drive voltage, to realize self adaptive control of the brshless DC motor under different loads characteristic, and then improves nothing
Performance, reliability and the uniformity of brushless motor system, and reduce handling of goods and materials difficulty.
A kind of first aspect, there is provided control device of brshless DC motor.The device includes：Position detection unit, ginseng
Examine generation unit, current measuring unit, computing unit, phasing unit and driving unit.Wherein, position detection unit is used for
The position of rotor is detected, obtains the position signal of rotor.It is used for the position according to rotor with reference to generation unit
Signal, selection refer to the moment.Current measuring unit, for the phase current of measurement motor, and according to the phase current of motor, obtains ginseng
Examine the phase current at moment.Computing unit is used for the direct-axis current for according to the phase current with reference to the moment, calculating motor.Phase adjustment list
Member is used for the difference of the direct-axis current and target current value according to motor, adjusts the phase of electrical-coil driving voltage.Drive
Moving cell is used to be believed according to the position signal of rotor and the phase of electrical-coil driving voltage, the driving of output motor coil
Number, rotated with pushing motor rotor.
In a kind of optional realize, position detection unit includes one or more Hall elements, between each Hall element
It is separated by certain electric angle.Hall element is used to detect the position of rotor according to the magnetic field of rotor, obtains rotor
Position signal.
In a kind of optional realization, it is specifically used for the position signal according to rotor with reference to generation unit, at one
One or more is chosen in the electric cycle and refers to the moment.
In a kind of optional realization, current measuring unit is specifically used for the phase current according to motor, and measurement refers to the moment
Phase current, so as to obtain the phase current with reference to the moment.
In a kind of optional realization, current measuring unit, specifically for the phase current according to motor an electric cycle
Measured value, estimation with reference to the moment phase current, so as to obtain the phase current with reference to the moment.
In a kind of optional realization, direct-axis current idIt is expressed as：id=AMP[iUcos(θ)+iVcos(θ -2/3π)+
iWCos (π of θ+2/3)], wherein, idFor the electric current of d-axis in the rotating coordinate system synchronous with rotor, iU、iVAnd iWFor three-phase
The phase current of U axis, V axis and W axis, A in the rest frame that phase current is formedMPFor three-phase phase current formed rest frame to
The normalization coefficient of synchronous with rotor rotating coordinate system conversion, 2/3 π be U axis, V axis and W axis phase current between any two
Angle, θ are the angle in the U axis and d-axis with reference to the moment.
In a kind of optional realize, when motor is polyphase machine, phasing unit is according to the d-axis of each phase coil
The difference of electric current and corresponding prospective current target current value, it is unified to adjust the phase of each phase coil, or each phase line is adjusted respectively
The phase of circle.
In a kind of optional realization, the drive signal of the electrical-coil of driving unit output is pulse width modulation letter
Number.
A kind of second aspect, there is provided control system of brshless DC motor.The system includes：Motor control assembly includes
Control device for brushless direct current machine described in first aspect, the drive signal of output motor coil.Power switch circuit, including
Power device, the on and off of the drive signal control power device exported according to control device for brushless direct current machine, and then
To electrical-coil outputting drive voltage.Brshless DC motor, including rotor, under the action of driving voltage, pushing motor
Rotor rotates.
Brief description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
The attached drawing used is briefly described.
Fig. 1 is a kind of structure diagram of the control device for brshless DC motor that the utility model embodiment provides；
Fig. 2 is the position signal, phase current, modulation for a kind of three-phase brushless dc motor that the utility model embodiment provides
Signal and the schematic diagram with reference to the moment；
Fig. 3 is a kind of schematic diagram for three-phase brushless dc motor rotating coordinate system that the utility model embodiment provides；
Fig. 4 is a kind of brushless DC motor control system that the utility model embodiment provides；
Fig. 5 is the structure diagram that a kind of brshless DC motor corresponding with Fig. 1 controls integrated circuit；
Fig. 6 is schematic diagram of the triangular carrier to the modulated process of modulated signal.
Embodiment
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Brshless DC motor detects motor rotor position usually using one or more position sensors, and according to rotor
Position signal and modulation algorithm export each phase drive signal, and then simultaneously drive rotor rotates formation rotating excitation field.Brushless electricity
The winding of machine is in inductance characteristic, therefore electric machine phase current lags behind applied driving voltage.To reach efficiency optimization, transporting at a high speed
Turn etc. control targe, it usually needs apply certain phase advance angle on the drive voltage.
The application is selected first to refer to the moment, by calculating the direct-axis current of motor with reference to the moment, according to direct-axis current
With the relation of target current value, the phase of adjust automatically electrical-coil driving voltage, to realize brshless DC motor not
With the self adaptive control under load characteristic, and then performance, reliability and the uniformity of brushless DC motor system are improved, and drop
Low handling of goods and materials difficulty.
Wherein, direct-axis current be it is synchronous with rotor, using magnetic direction as d-axis, using perpendicular to magnetic direction as friendship
In the rotating coordinate system of axis, the sum of the current component of each phase phase current of motor on d-axis.
Below by taking three-phase brushless dc motor as an example, the motor control assembly provided the present embodiment is further explained
State.
Fig. 1 is a kind of structure diagram of the control device for brshless DC motor that the utility model embodiment provides.Such as
Shown in Fig. 1, the control device of the brshless DC motor can include：Position detection unit 110, with reference to generation unit 120, electric current
Measuring unit 130, computing unit 140, phasing unit 150 and driving unit 160.
Position detection unit 110 detects the position of rotor, and according to the position of rotor, obtains corresponding positions confidence
Number.
By taking three-phase brushless dc motor as an example, position detection unit 110 can include three Hall elements, and be separated by certain
Electric angle (such as 120 degree) arranges.Hall element detects rotor-position according to the magnetic field of rotor, obtains the position of respective rotor
Signal, the position signal are voltage signal.
It is understood that in the case of non-three-phase brushless dc motor, position detection unit 110 can be included at least
One Hall element.
As shown in Fig. 2, HU, HV and HW are three-phase position signal, IU, IV and IW are respectively the phase of U, V and W three-phase coil
Electric current, SU, SV and SW are respectively the modulated signal of U, V and W three-phase coil, that is to say, that according to three-phase position signal HU, HV and
HW and modulated signal SU, SV and the SW produced according to certain algorithm.
With reference to generation unit 120, for the position signal according to rotor, selection refers to the moment.In theory, an electric cycle
In any moment can be chosen for referring to the moment, and can choose and one or more refer to the moment.With reference to the selection at moment
It can consider from easy, control accuracy etc. is calculated.As shown in Fig. 2, RU, RV and RW are respectively and tri- phase position of HU, HV and HW
Signal is corresponding to refer to the moment.
The phase current of 130 measurement motor of current measuring unit, and according to the phase current of motor, obtain mutually electric with reference to the moment
Stream.
Specifically, measurement of the current measuring unit 130 to phase current is probably real-time, it is also possible to interruption.Correspondingly,
With reference to the size of moment phase current, it can be obtained, can also led to reference to moment directly measurement by the current measuring unit 130
The measured value of the phase current before this is crossed to estimate to obtain.For example, during using current sensor, phase current can measure in real time.Or, work as
During using the resistance detection phase current connected on coil, the detection of phase current needs on and off of the moment with corresponding power tube
Association, it may not be with reference to the moment to cause measurement time, needs to obtain the phase current with reference to the moment by estimation at this time.
Computing unit 140, for according to moment and the phase current with reference to the moment is referred to, calculating the direct-axis current of motor.
As shown in figure 3, in the rotating coordinate system synchronous with rotor, magnetic direction is d-axis (d axis), perpendicular to magnetic field side
To for quadrature axis (q axis).In the rest frame of reference, using the direction of three-phase phase current as axis, U axis, V axis and W axis are denoted as, and
It is separated by 120 ° of electric angles between any two.If referring to the moment a certain, d axis is in position shown in Fig. 3, then direct-axis current idFor：
id=AMP[iUcos(θ)+iVcos(θ-2/3π)+iWcos(θ+2/3π)]
Wherein, iU、iVAnd iWThe phase current of U axis, V axis and W axis, A in the rest frame formed for three-phase phase currentMPFor
The normalization coefficient that the rest frame that three-phase phase current is formed is changed to the rotating coordinate system synchronous with rotor, 2/3 π are
U axis, the angle of V axis and W axis phase current between any two, θ are the angle of U axis and d-axis.
Angle, θ is the angle of d axis and U axis in rest frame in a certain rotating coordinate system with reference to the moment, i.e. angle, θ is
A certain with reference to moment rotating coordinate system and the associated volume of rest frame.
The moment is referred to due to being produced with reference to generation unit 120, and moment, rotating coordinate system and static coordinate are referred to each
System all there are an angle theta, i.e., with angle theta is one-to-one with reference to the moment.
Within an electric cycle, the moment is referred to since one or more can be produced with reference to generation unit 120, that is,
Say, in an electric cycle memory in one or more angle, θs.
It is understood that since the sum of three-phase phase current is zero, i.e. iU+iV+iW=0, therefore as θ=2n π, id=
2/3AMPiU；As θ=(2n+1) π, id=-2/3AMPiU.Wherein, n is integer.That is, by the choosing with reference to the moment
Select, direct-axis current can be only calculated by a certain phase phase current.This can simplify the calculating of direct-axis current, and be advantageously implemented
More timely control.
Correspondingly, when referring to the moment by the selection of other particular forms, direct-axis current idI can also only be usedVOr iWCalculate
Obtain, such as+2/3 π of θ=2n π.
Phasing unit 150, for the difference according to direct-axis current and prospective current target current value, adjusts motor lines
Enclose the phase of driving voltage.
Further, the phase of each phase coil driving voltage of motor can be unified to adjust, and can also adjust respectively.Adjustment side
Formula depends on factors, such as control strategy, sensor installation deviation, the uniformity that magnetizes, the selection with reference to the moment.
In one example, as in fig. 2, direct-axis current when referring to moment RU is only calculated, according to the d-axis at RU moment
Electric current, the phase of unified modulated signal SU, SV and SW for adjusting U, V and W three-phase coil；It can also calculate with reference to moment RU, RV
And RW, corresponding direct-axis current is obtained, according to the signal processed of corresponding direct-axis current, respectively adjustment U, V and W three-phase coil tune
The phase of SU, SV and SW.
Driving unit 160, for the phase according to motor rotor position signal and electrical-coil driving voltage, exports each phase
The drive signal of coil.Wherein, the drive signal that driving unit 160 exports is pulse width modulating signal, it is by modulated signal
With being obtained after carrier modulation.
160 output pulse width modulated signal of driving unit, and pass through power device (such as metal-oxide semiconductor (MOS)
(Metal Oxide Semiconductor, MOS) or insulated gate bipolar transistor (Insulated Gate Bipolar
Transistor, IGBT)) to each phase coil of motor apply driving voltage.Phase current IU, IV and IW of three-phase coil form rotation
Magnetic field, and then pushing motor rotor rotates.
Fig. 4 is a kind of brushless DC motor control system that the utility model embodiment provides.It is brushless straight as shown in Fig. 4
Stream electric machine control system can include control device for brushless direct current machine 410, power switch circuit 420 and brshless DC motor
430。
Control device for brushless direct current machine 410, for performing the course of work of each functional unit in above-described embodiment, output
Drive signal.
Power switch circuit 420, for receiving the drive signal of the output of control device for brushless direct current machine 410, output is driven
Dynamic voltage.Power switch circuit 420 is controlled the conducting of system according to drive signal or circuit is closed.The power switch circuit
420 can include power device, such as metal-oxide semiconductor (MOS) or insulated gate bipolar transistor.
Brshless DC motor 430, including rotor, by applying driving voltage to electrical-coil, can make in coil
Caused electric current produces rotating excitation field, and then drive rotor rotates.
Fig. 5 is the structure diagram that a kind of brshless DC motor corresponding with Fig. 1 controls integrated circuit.As shown in figure 5, nothing
Brushless motor control integrated circuit can include position detecting circuit 510, with reference to generation circuit 520, current measurement circuit
530th, counting circuit 540, phase-adjusting circuit 550 and drive circuit 560.
Position detecting circuit 510, the hall signal produced according to external Hall element, detects motor rotor position, obtains
The position signal of rotor.
Position detecting circuit 510 can include Hall drive circuit 511 and period measurement circuit 512.
When being analog signal caused by external Hall element, Hall drive circuit 511 is converted into digital signal；
When being integrated with drive circuit on used Hall element, Hall drive circuit 511 is not essential.
Period measurement circuit 512 is used for the position according to rotor, obtains relevant position signal (voltage signal).Such as week
Phase measuring circuit 512 can be counter, and the cycle of the digital signal for being produced to Hall drive circuit 511 counts
Number.
The position signal for the rotor for being used to be obtained according to position detecting circuit 510 with reference to generation circuit 520, when choosing reference
Carve.Can be counter such as with reference to generation circuit 520, for according to position signal, being chosen by counting with reference to the moment.
Current measurement circuit 530 can include signal amplification circuit 531 (such as operational amplifier) and analog-digital converter 532.
Alternatively, current measurement circuit 530 first passes through resistance to detect and obtain the phase current of brshless DC motor.
Signal amplification circuit 531 is used to be amplified phase current.Analog-digital converter 532 is used for amplified phase current
Carry out analog-to-digital conversion.
It should be noted that the detection of phase current and non real-time, need to associate, meeting with the on and off of corresponding power tube
It may not be with reference to the moment to cause measurement time, may need to obtain the phase current with reference to the moment by estimation at this time.For straight
The calculating process of shaft current is in Fig. 1 with explanation, and details are not described herein.
Counting circuit 540 is used for the direct-axis current for according to the phase current with reference to the moment, calculating motor, arithmetic unit (such as multiplication
Device etc.).
Phase-adjusting circuit 550 is used for the difference according to direct-axis current and target current value, and adjustment electrical-coil drives
The phase of dynamic voltage.This adjustment can use proportional integral differential (Proportion Integration
Differentiation, PID) control to realize.
Drive circuit 560 is used for according to the voltage-phase after motor rotor position signal and phase adjusted the regulation of electrical circuit,
Output drive signal.
Drive circuit 560 can include control circuit of duty ratio 561, modulated signal producing circuit 562, triangular carrier and produce
Circuit 563, PWM generation circuits 564 and level shifting circuit 565.
Control circuit of duty ratio 561 is used for the control signal for producing pulse width modulating signal duty cycle.
Modulated signal producing circuit 562 is used to produce modulated signal by the control signal of modulation algorithm and duty cycle.
Triangular carrier generation circuit 563 is used for the triangular carrier for producing fixed frequency.
PWM generation circuits 564 are used to utilize carried-based PWM modulated signals, produce pulse width modulating signal.
It is to be suitable for controlling power device that level shifting circuit 565, which is used for the level conversion of pulse width modulating signal,
The drive signal being turned on and off.
Alternatively, control circuit of duty ratio 561 determines pulse width modulating signal by controlling the amplitude of modulated signal
Duty cycle.
Alternatively, PWM generation circuits 564 are additionally operable to sample compared with triangular carrier and modulated signal, so as to obtain
Take corresponding pulse width modulating signal.
It should be noted that level shifting circuit 565 can not be included within drive circuit 560.At this time, drive circuit
The pulse width modulating signal of 560 outputs possibly can not directly control being turned on and off for power device, and need to pass through outside
Level shifting circuit is implemented to control to power device.
Wherein, the modulated process of modulated signal (or modulating wave) can be joined using triangular carrier in PWM generation circuits 564
See Fig. 6.As shown in fig. 6, using rule sampling rule, triangular carrier and modulation function are sampled compared with, and then obtained
Corresponding pwm signal.The shape of the modulated signal is algorithm setting, and its amplitude is then determined by control circuit of duty ratio 561
It is fixed.Control circuit of duty ratio 561 determines the duty cycle of pwm signal by controlling the amplitude of modulated signal.It is understood that
A kind of brushless DC motor control system shown in Fig. 4 can integrate in the chips, so that the chip has brshless DC motor
Function possessed by control system.
The step of method or algorithm for being described with reference to the embodiments described herein, can use hardware, processor to perform
Software module, or the two combination are implemented.Software instruction can be made of corresponding software module, and software module can be by
Deposit in random access memory, flash memory, read-only storage, erasable programmable read-only register (erasable
Programmable read-only memory, EPROM) memory, Electrically Erasable Programmable Read-Only Memory memory
(electrically erasable programmable read-only memory, EEPROM), hard disk, CD or sheet
In the storage medium of any other form known to field.A kind of exemplary storage medium is coupled to processor, so that place
Managing device can be from the read information, and can write information to the storage medium.Certainly, storage medium can also be place
Manage the part of device.Certainly, pocessor and storage media can also be present in user equipment as discrete assembly.
Those skilled in the art are it will be appreciated that in said one or multiple examples, work(described herein
It is able to can be realized with hardware, software, firmware or their any combination., can be by these when being realized using software, firmware
Function is stored in computer-readable medium.
Above-described embodiment, has carried out further the purpose, technical solution and beneficial effect of the application
Describe in detail, it should be understood that the foregoing is merely the embodiment of the application, be not used to limit the application
Protection domain, all any modifications on the basis of the technical solution of the application, made, improvement etc., should all be included in this
Within the protection domain of application.
Claims (9)
1. a kind of control device of brshless DC motor, it is characterised in that described device includes：
Position detection unit, for detecting the position of rotor, and according to the position of the rotor, obtains the motor
The position signal of rotor；
With reference to generation unit, for the position signal according to the rotor, selection refers to the moment；
Current measuring unit, for the phase current of measurement motor, and according to the phase current of the motor, acquisition is described to refer to the moment
Phase current；
Computing unit, for according to the phase current with reference to the moment, calculating the direct-axis current of the motor；
Phasing unit, for the direct-axis current according to the motor and the difference of target current value, adjusts the electricity
The phase of machine coil drive voltage；
Driving unit, for the phase of the position signal according to the rotor and the electrical-coil driving voltage, output
The drive signal of the electrical-coil, to promote the rotor to rotate.
2. device according to claim 1, it is characterised in that the position detection unit includes one or more Hall members
Part, is each separated by certain electric angle between the Hall element；
The Hall element detects the position of the rotor according to the magnetic field of the rotor, obtains the motor and turns
The position signal of son.
3. device according to claim 1, it is characterised in that the position with reference to generation unit according to the rotor
Confidence number, selection one or more refers to the moment in an electric cycle.
4. device according to claim 1, it is characterised in that the current measuring unit is electric according to the phase of the motor
Stream, measures the phase current with reference to the moment, so as to obtain the phase current with reference to the moment.
5. device according to claim 1, it is characterised in that the current measuring unit is according to the phase current of the motor
In the measured value in an electric cycle, the phase current with reference to the moment is estimated, so as to obtain the phase current with reference to the moment.
6. device according to claim 1, it is characterised in that the direct-axis current is expressed as：
id=AMP[iUcos(θ)+iVcos(θ-2/3π)+iWCos (π of θ+2/3)],
Wherein, idFor the electric current of d-axis in the rotating coordinate system synchronous with the rotor, iU、iVAnd iWFor three-phase phase current shape
Into rest frame in U axis, V axis and W axis phase current, AMPFor the three-phase phase current formed rest frame to institute
State rotor synchronization rotating coordinate system conversion normalization coefficient, 2/3 π for the U axis, V axis and W axis phase current two-by-two it
Between angle, θ is the angle in the U axis with reference to the moment and the d-axis.
7. device according to claim 1, it is characterised in that when the motor is polyphase machine, the phase adjustment
Unit is unified to adjust each phase coil according to the direct-axis current of each phase coil and the difference of corresponding target current value
Phase, or adjust the phase of each phase coil respectively.
8. device according to claim 1, it is characterised in that the driving of the electrical-coil of the driving unit output
Signal is pulse width modulating signal.
A kind of 9. control system of brshless DC motor, it is characterised in that the system comprises：
Such as the control device of claim 1-8 any one of them brshless DC motors, the drive signal of output motor coil；
Power switch circuit, including power device, the drive signal exported according to the control device for brushless direct current machine control
The on and off of the power device, and then to the electrical-coil outputting drive voltage；
Brshless DC motor, including rotor, according to the driving voltage, promote the rotor to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720174411.1U CN207304422U (en) | 2017-02-24 | 2017-02-24 | The control device and system of a kind of brshless DC motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720174411.1U CN207304422U (en) | 2017-02-24 | 2017-02-24 | The control device and system of a kind of brshless DC motor |
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| Publication Number | Publication Date |
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ID=62270505
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| CN201720174411.1U Withdrawn - After Issue CN207304422U (en) | 2017-02-24 | 2017-02-24 | The control device and system of a kind of brshless DC motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106788062A (en) * | 2017-02-24 | 2017-05-31 | 英特格灵芯片(天津)有限公司 | A kind of control device of brshless DC motor, system and method |
-
2017
- 2017-02-24 CN CN201720174411.1U patent/CN207304422U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106788062A (en) * | 2017-02-24 | 2017-05-31 | 英特格灵芯片(天津)有限公司 | A kind of control device of brshless DC motor, system and method |
| CN106788062B (en) * | 2017-02-24 | 2023-08-18 | 上海晶丰明源半导体股份有限公司 | Control device, system and method for brushless direct current motor |
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