CN214544159U - Phase change point system of ultrahigh-speed position-free direct current brushless motor - Google Patents
Phase change point system of ultrahigh-speed position-free direct current brushless motor Download PDFInfo
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Abstract
The utility model discloses a hypervelocity does not have position direct current brushless motor commutation point system relates to no position direct current brushless motor back electromotive force and detects technical field. A phase change point system of a super-high-speed position-free direct current brushless motor comprises a voltage acquisition module, a phase change module and a phase change module, wherein the voltage acquisition module is used for acquiring counter electromotive voltage of the direct current brushless motor; the filtering module is used for carrying out frequency division filtering on the counter electromotive voltage of the direct current brushless motor; the simulation module is used for acquiring a delay time curve corresponding to delay caused by each filtering result according to the frequency division rate filtering result; and the calculation module is used for acquiring actual delay time corresponding to delay caused by each filtering result according to the delay time curve and the rotating speed of the direct current brushless motor, and compensating the counter electromotive voltage of the direct current brushless motor according to the actual delay time. The utility model discloses simple structure, easily operation, it is low to construct the adult simultaneously, is favorable to long-term the use.
Description
Technical Field
The utility model relates to a no position DC brushless motor back electromotive force detects technical field, specifically is a hypervelocity does not have position DC brushless motor commutation point system.
Background
With the development of industrial automation technology, motor drivers are more and more widely applied, and are popular among people in various fields due to excellent speed regulation performance and obvious energy-saving effect. At present, the direct current brushless motor is widely applied due to the characteristics of high power density, high efficiency, simple motor structure, good speed regulation performance and the like, and the application of a special position-free control technology can save a position sensor when the direct current brushless motor operates, save the cost of the motor, simplify the installation and be more suitable for being applied to occasions with severe environments. The algorithm for controlling the position of the brushless DC motor is to reasonably estimate the position signal of a rotor by detecting signals such as stator voltage, stator current and the like and by the relationship between the signals and motor parameters, and comprises the following steps: back emf methods, inductance methods, state observer methods, motor equation calculation methods, artificial neural network methods, and the like. Each of these methods has its own advantages and limitations, with back-emf zero-crossing detection being the most common method in engineering applications. However, a back-emf zero-crossing comparison circuit is generally realized by a comparator, a 10-resistor method is adopted to construct a simulated neutral point, and a level jump signal of back-emf zero-crossing is obtained at the output end of the comparator by comparing a divided terminal voltage signal with the simulated neutral point. However, in the method for detecting the back emf zero-crossing signal through the comparator, because the output signal of the comparator is single, except 0, 1, only some simple filtering algorithms can be realized, and the anti-interference capability is weak. When the motor runs at low speed, the counter potential amplitude is small and is easily interfered by noise, and the output of the comparator can frequently act, so that detection errors are easily caused. With the increase of the rotating speed, the counter potential signal becomes strong, the output of the comparator becomes obvious, but the occurrence of the demagnetization event caused by the follow current also causes the malfunction of the comparator, and the wrong commutation is generated.
Chinese patent grant publication no: CN 201947215U, authorized announcement date: 24 days 08 months 2011, a no position direct current brushless motor counter electromotive force detection circuit is disclosed, which comprises 3 detection modules, wherein each detection module is respectively connected with two of three-phase windings of a motor, and each phase winding is respectively and simultaneously connected with two different detection modules. The method obtains phase change point signals by pairwise crossing and comparing the back electromotive force generated by the three-phase winding of the motor, the delayed electrical angle does not need to be processed in two sections of 0-30 degrees and 30-60 degrees, and the delayed electrical angle is directly detected and then processed. The method is simple to implement, convenient to use and low in production cost. However, in the method, three detection modules are required to sample, compare and process three-phase driving voltage output by the controller to obtain a zero crossing point signal.
Chinese patent grant publication no: CN 103337995B, authorization notice number: 2015, 09/02, a counter potential zero-crossing detection device of a brushless direct-current motor based on a data fusion technology is disclosed, which comprises a comparison circuit and a sampling circuit, wherein the comparison circuit uses a comparator to realize counter potential zero-crossing, and the sampling circuit is used for carrying out AD sampling on u, v, w and n signals in the comparison circuit; the fourth resistor and the tenth resistor, the fifth resistor and the ninth resistor, and the sixth resistor and the eighth resistor are U/V/W three-phase divider resistors of the motor respectively. According to the technical scheme of the invention, the method has the advantages of reasonable technology, convenient operation, more stability and reliability, and can accurately realize zero-crossing detection, thereby greatly promoting the application of the counter-potential zero-crossing detection method in the position-free control of the DC brushless motor. However, the invention needs to obtain the zero crossing point by constructing a virtual neutral point and comparing the neutral point voltage with the output voltage.
However, in both methods, the output voltage is subjected to voltage division and sampling through a hardware circuit, and then the counter potential zero crossing point is obtained through processing, and because the output voltage of the motor controller is a PWM signal containing a high-frequency component, a filter circuit needs to be added for processing, so that the cost is increased; on the other hand, when the rotating speed of the motor is very high, the fundamental component frequency of the output voltage is correspondingly very high, which causes difficulty in designing a hardware filter circuit, needs to adapt to a relatively wide frequency range, and the delay caused by the filter circuit needs to be compensated.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a hypervelocity does not have position direct current brushless motor commutation point system to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a phase change point system of an ultra-high-speed position-free direct current brushless motor comprises a voltage acquisition module, a filtering module, a simulation module and a calculation module, wherein the voltage acquisition module is used for acquiring counter electromotive voltage of the direct current brushless motor and sending the counter electromotive voltage to the filtering module;
the filtering module is used for carrying out frequency division rate filtering on counter electromotive voltage of the direct current brushless motor and sending a frequency division rate filtering result to the simulation module;
the simulation module is used for acquiring a delay time curve corresponding to delay caused by each filtering result according to the frequency division rate filtering result and sending the delay time curve to the calculation module;
and the calculation module is used for acquiring actual delay time corresponding to delay caused by each filtering result according to the delay time curve and the rotating speed of the direct current brushless motor, and compensating the counter electromotive voltage of the direct current brushless motor according to the actual delay time.
Furthermore, the calculation module is configured as an MCU microcontroller including an actual delay time calculation algorithm.
Furthermore, the filtering module comprises a low-frequency filter and a high-frequency filter, and both the low-frequency filter and the high-frequency filter adopt Butterworth second-order low-pass filters.
Further, the cut-off frequency of the low frequency filter is set to 750hz, the sampling frequency is set to 40khz, the cut-off frequency of the high frequency filter is set to 3500hz, and the sampling frequency is set to 160 khz.
More specifically, when the operating frequency of the dc brushless motor is 0 to 750hz, the filtering module uses a low-frequency filter to perform filtering, and when the operating frequency of the dc brushless motor is above 750hz, the filtering module uses a high-frequency filter to perform filtering.
Furthermore, return difference processing is arranged between the low-frequency filter and the high-frequency filter, and the rotating speed return difference of the direct current brushless motor is set to be 3000 revolutions.
Furthermore, a first series circuit, a second series circuit and a third series circuit are included between the calculating module and the dc brushless motor, the first series circuit, the second series circuit and the third series circuit are connected in parallel with each other, and a phase a midpoint, a phase B midpoint and a phase C midpoint of the dc brushless motor are electrically connected to the first series circuit, the second series circuit and the third series circuit through a resistor and an inductor, respectively.
Furthermore, the first series circuit comprises a first switch tube and a second switch tube, the first switch tube and the second switch tube are connected in series, and an a-phase point of the dc brushless motor is electrically connected with a midpoint of a series circuit formed by the first switch tube and the second switch tube through a resistor and an inductor;
the second series circuit comprises a third switch tube and a fourth switch tube which are connected in series, and a phase B midpoint of the direct current brushless motor is electrically connected with a midpoint of a series circuit consisting of the third switch tube and the fourth switch tube through a resistor and an inductor;
the third series circuit comprises a fifth switching tube and a sixth switching tube, the fifth switching tube and the sixth switching tube are connected in series, and a C phase midpoint of the direct-current brushless motor is electrically connected with a midpoint of a series circuit formed by the fifth switching tube and the sixth switching tube through a resistor and an inductor.
Further, the equation for calculating the voltage of the three-phase dc load end of the dc brushless motor specifically includes:
wherein:
is the voltage value of the A-phase DC load end of the DC brushless motor,
is the voltage value of the B-phase DC load end of the DC brushless motor,
is the voltage value of the C-phase DC load end of the DC brushless motor,
is a resistance value of the resistance Rs,
the current value of the A-phase DC load end of the DC brushless motor,
is the current value of the B-phase DC load end of the DC brushless motor,
is the current value of the C-phase DC load end of the DC brushless motor,
which is the inductance value of the inductor L,
in order to be the actual delay time,
is the motor back electromotive force of the A-phase DC load end of the DC brushless motor,
is the motor back electromotive force of the B-phase DC load end of the DC brushless motor,
is the motor back electromotive force of the C-phase DC load end of the DC brushless motor,
and the value of the direct-current negative voltage corresponding to the neutral point of the stator winding of the direct-current brushless motor is obtained.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a hypervelocity does not have position DC brushless motor commutation point system is through the MCU microcontroller who is provided with actual delay time deduction algorithm, concrete actual delay time when deducting out DC brushless motor commutation to according to actual delay time, utilize and calculate the module and compensate DC brushless motor's back emf voltage, thereby the utility model discloses a hypervelocity does not have position DC brushless motor commutation point system simple structure, easily operates, and the structure adult is low simultaneously, is favorable to long-term the use.
Drawings
Fig. 1 is an equivalent circuit diagram of the MCU microcontroller and the dc brushless motor of the present invention;
fig. 2 is a diagram of three-phase back electromotive force waveform and PWM modulation mode of the dc brushless motor according to the present invention;
fig. 3 is a sampling waveform diagram of the MCU microcontroller terminal voltage of the present invention;
FIG. 4 is a waveform diagram after the voltage filtering of the MCU end of the utility model;
fig. 5 is a waveform diagram of the difference between the filtered back end voltage and the midpoint voltage of the present invention;
fig. 6 is a delay fit calculation curve diagram of the segmented filter of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. The described embodiments are some, but not all embodiments of the invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
It should be noted that, in the description of the present invention, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Further, it will be appreciated that the dimensions of the various elements shown in the figures are not drawn to scale, for ease of description, and that the thickness or width of some layers may be exaggerated relative to other layers, for example.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus, once an item is defined or illustrated in one figure, it will not need to be further discussed or illustrated in detail in the description of the following figure.
Example 1
The embodiment provides a commutation point system of an ultra-high-speed position-free direct-current brushless motor, which comprises a voltage acquisition module, a filtering module, a simulation module and a calculation module. The voltage acquisition module is used for acquiring the counter electromotive voltage of the brushless direct current motor and sending the counter electromotive voltage to the filtering module. The filtering module is used for carrying out frequency division rate filtering on the counter electromotive voltage of the direct current brushless motor and sending a frequency division rate filtering result to the simulation module. The simulation module is used for acquiring a delay time curve corresponding to delay caused by each filtering result according to the frequency division rate filtering result and sending the delay time curve to the calculation module. And the calculation module is used for acquiring actual delay time corresponding to delay caused by each filtering result according to the delay time curve and the rotating speed of the direct current brushless motor, and compensating the counter electromotive voltage of the direct current brushless motor according to the actual delay time. It should be noted that, in the present embodiment, the calculating module is configured as an MCU microcontroller including an actual delay time calculating algorithm.
In this embodiment, the filtering module includes a low-frequency filter and a high-frequency filter, and both the low-frequency filter and the high-frequency filter use butterworth second-order low-pass filters. Wherein the cut-off frequency of the low frequency filter is set to 750hz, the sampling frequency is set to 40khz, the cut-off frequency of the high frequency filter is set to 3500hz, and the sampling frequency is set to 160 khz. That is, when the operating frequency of the dc brushless motor is 0 to 750hz, the filtering module uses a low frequency filter to perform filtering, and when the operating frequency of the dc brushless motor is above 750hz, the filtering module uses a high frequency filter to perform filtering. It is noted that a return difference process is provided between the low frequency filter and the high frequency filter, and the rotational speed return difference of the dc brushless motor is set to 3000 revolutions.
Referring to fig. 1, a circuit diagram of a connection between the estimation module and the dc brushless motor in the present embodiment may be converted into the circuit diagram of fig. 1 for specific explanation. Specifically, fig. 1 includes a first series circuit, a second series circuit, and a third series circuit, which are connected in parallel with each other. The first series circuit comprises a first switch tube S1 and a second switch tube S2, the first switch tube S1 and the second switch tube S2 are connected in series, and an A phase point of the direct current brushless motor is electrically connected with a middle point of a series circuit formed by the first switch tube S1 and the second switch tube S2 through a resistor Rs and an inductor L.
The second series circuit comprises a third switch tube S3 and a fourth switch tube S4, the third switch tube S3 and the fourth switch tube S4 are connected in series, and a phase B point of the direct-current brushless motor is electrically connected with a middle point of a series circuit formed by the third switch tube S3 and the fourth switch tube S4 through a resistor Rs and an inductor L.
The third series circuit comprises a fifth switch tube S5 and a sixth switch tube S6, the fifth switch tube S5 and the sixth switch tube S6 are connected in series, and a C phase midpoint of the direct current brushless motor is electrically connected with a midpoint of a series circuit formed by the fifth switch tube S5 and the sixth switch tube S6 through a resistor Rs and an inductor L.
The voltage calculation equation of the three-phase direct current load end of the direct current brushless motor specifically comprises the following steps:
wherein:
is the voltage value of the A-phase DC load end of the DC brushless motor,
is the voltage value of the B-phase DC load end of the DC brushless motor,
is the voltage value of the C-phase DC load end of the DC brushless motor,
is a resistance value of the resistance Rs,
the current value of the A-phase DC load end of the DC brushless motor,
is the current value of the B-phase DC load end of the DC brushless motor,
is the current value of the C-phase DC load end of the DC brushless motor,
which is the inductance value of the inductor L,
in order to be the actual delay time,
is the motor back electromotive force of the A-phase DC load end of the DC brushless motor,
is the motor back electromotive force of the B-phase DC load end of the DC brushless motor,
is the motor back electromotive force of the C-phase DC load end of the DC brushless motor,
and the value of the direct-current negative voltage corresponding to the neutral point of the stator winding of the direct-current brushless motor is obtained.
In this embodiment, the dc brushless motor speed control system adopts a three-phase six-step method in which two phases are conducted, and only two phases are conducted in each phase change interval. The most common PWM modulation mode is H _ PWM _ L _ ON, that is, in a certain commutation interval, the upper tube PWM chopping and the lower tube pass through, as shown in fig. 2, the optimal commutation point is 30 degrees after the zero crossing point of the opposite potential, and the electromagnetic torque generated by the commutation motor is the largest.
Because adopt two liang of conduction modes in this embodiment, so establish that C looks is unsettled, AB looks switches on, and A + B-, this moment:
wherein:
the current value of the A-phase DC load end of the DC brushless motor,
is the current value of the B-phase DC load end of the DC brushless motor,
is the current value of the C-phase DC load end of the DC brushless motor,
is the voltage value of the A-phase DC load end of the DC brushless motor,
the voltage value of the B-phase direct current load end of the direct current brushless motor is shown.
The following formula can be obtained from the voltage calculation equation of the three-phase dc load end of the dc brushless motor:
wherein:
is the voltage value of the A-phase DC load end of the DC brushless motor,
is the voltage value of the B-phase DC load end of the DC brushless motor,
is the voltage value of the C-phase DC load end of the DC brushless motor,
and the value of the direct-current negative voltage corresponding to the neutral point of the stator winding of the direct-current brushless motor is obtained.
Further, the following formula can be obtained:
wherein:
is the motor back electromotive force of the C-phase DC load end of the DC brushless motor,
is the voltage value of the A-phase DC load end of the DC brushless motor,
is the voltage value of the B-phase DC load end of the DC brushless motor,
the voltage value of the C-phase direct current load end of the direct current brushless motor is obtained.
Therefore, the zero crossing point of the C-phase reverse potential can be obtained by detecting the voltage of the C-phase end of the direct-current brushless motor in real time and comparing the voltage sum of the three-phase end.
In this embodiment, three-phase terminal voltages sampled by the MCU microcontroller are filtered, and then compared with the sum of three phases of the dc brushless motor to obtain a zero crossing point, and phase commutation is performed after a time T delay (T =30 degrees corresponding to an electrical angle — filter delay time).
As shown in fig. 3, the waveform is a voltage sampling waveform at the phase a end, and has a glitch. Fig. 4 shows the waveform of the terminal voltage filtered by the filtering module, which is relatively smooth, and it can be seen that there is a significant delay compared with the terminal voltage. Fig. 5 shows a comparison result of the voltage at the phase a terminal and the sum of three phases, which is an alternating current quantity, and the information of the phase a related commutation point can be obtained by judging the sign change in real time.
According to a fitting curve of the relationship between the angular delay and the frequency, which is designed by the simulation module, as shown in fig. 6, the fitting curve is fitted by a third-order polynomial.
Wherein after low pass filter's delay time exceeded 30 degrees electric angle time, if still with delaying 30 degrees commutation, the commutation point of calculating this moment has passed through best commutation moment, probably leads to the motor desynchronizing, so the utility model discloses a 90 degrees commutation tactics in advance.
Namely, the current three-phase power-on sequence is AB, AC, BC, BA, CA and CB. When the reverse potential of C changes from a negative value to a positive value at time t1, after an electrical angle delay of 30 degrees, CA should be turned on. If the delay caused by filtering exceeds 30 degrees, starting from the time t1, after the delay of subtracting the filtering delay time from the 90-degree electrical angle time, two phases CB are conducted.
Similarly, in order to reduce the switching of the 30-degree delay calculation phase change and the 90-degree advance strategy calculation phase change, the switching back and forth between transition intervals is carried out, and the return difference is designed to be 0.8 degree.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a hypervelocity does not have position DC brushless motor commutation point system which characterized in that: the phase change point system comprises a voltage acquisition module, a filtering module, a simulation module and a calculation module, wherein the voltage acquisition module is used for acquiring the counter electromotive voltage of the direct current brushless motor and sending the counter electromotive voltage to the filtering module;
the filtering module is used for carrying out frequency division rate filtering on counter electromotive voltage of the direct current brushless motor and sending a frequency division rate filtering result to the simulation module;
the simulation module is used for acquiring a delay time curve corresponding to delay caused by each filtering result according to the frequency division rate filtering result and sending the delay time curve to the calculation module;
and the calculation module is used for acquiring actual delay time corresponding to delay caused by each filtering result according to the delay time curve and the rotating speed of the direct current brushless motor, and compensating the counter electromotive voltage of the direct current brushless motor according to the actual delay time.
2. The system of claim 1, wherein the system comprises: the calculation module is set as an MCU microcontroller comprising an actual delay time deduction algorithm.
3. The system of claim 2, wherein the system comprises: the filtering module comprises a low-frequency filter and a high-frequency filter, wherein both the low-frequency filter and the high-frequency filter adopt Butterworth second-order low-pass filters.
4. The system of claim 3, wherein the system comprises: the cut-off frequency of the low-frequency filter is set to 750hz, the sampling frequency is set to 40khz, the cut-off frequency of the high-frequency filter is set to 3500hz, and the sampling frequency is set to 160 khz.
5. The system of claim 2 or 3, wherein the system comprises: when the operating frequency of the direct current brushless motor is 0-750 hz, the filtering module adopts a low-frequency filter for filtering, and when the operating frequency of the direct current brushless motor is more than 750hz, the filtering module adopts a high-frequency filter for filtering.
6. The system of claim 5, wherein the system comprises: and return difference processing is arranged between the low-frequency filter and the high-frequency filter, and the rotating speed return difference of the direct-current brushless motor is set to 3000 revolutions.
7. The system of claim 5, wherein the system comprises: the calculation module and the DC brushless motor comprise a first series circuit, a second series circuit and a third series circuit, the first series circuit, the second series circuit and the third series circuit are mutually connected in parallel, and the phase A midpoint, the phase B midpoint and the phase C midpoint of the DC brushless motor are respectively and electrically connected with the first series circuit, the second series circuit and the third series circuit through a resistor (Rs) and an inductor (L).
8. The system of claim 7, wherein the system comprises: the first series circuit comprises a first switching tube (S1) and a second switching tube (S2), the first switching tube (S1) and the second switching tube (S2) are connected in series, and an A phase point of the direct current brushless motor is electrically connected with a middle point of a series circuit formed by the first switching tube (S1) and the second switching tube (S2) through a resistor (Rs) and an inductor (L);
the second series circuit comprises a third switching tube (S3) and a fourth switching tube (S4), the third switching tube (S3) and the fourth switching tube (S4) are connected in series, and a phase B phase point of the direct current brushless motor is electrically connected with a middle point of a series circuit consisting of the third switching tube (S3) and the fourth switching tube (S4) through a resistor (Rs) and an inductor (L);
the third series circuit comprises a fifth switching tube (S5) and a sixth switching tube (S6), the fifth switching tube (S5) and the sixth switching tube (S6) are connected in series, and a C phase middle point of the direct current brushless motor is electrically connected with a middle point of a series circuit formed by the fifth switching tube (S5) and the sixth switching tube (S6) through a resistor (Rs) and an inductor (L).
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Effective date of registration: 20221214 Address after: Room 401, 4th floor, Jincheng Science and Technology Building, 69 Jinye Road, Xi'an High-tech Zone, Shaanxi Province Patentee after: XI'AN TSINGTECH NEW ENERGY TECHNOLOGY Co.,Ltd. Address before: Zongyang Economic Development Zone, Zongyang County, Tongling City, Anhui Province Patentee before: Zongyang shengkong New Energy Technology Co.,Ltd. |