KR101531710B1 - System and method for controlling rotational speed of BLDC motor by one phase feedback and record media recorded program for implement thereof - Google Patents

Abstract

An embodiment of the present invention for a rotational speed of brushless direct current (BLDC) motor by one phase feedback controlling system comprises: a BLDC motor; a motor driver, which is connected with the BLDC motor and applies a driving signal to the BLDC motor; and a motor speed controller, which extracts a signal of one of three phases of the BLDC motor, modulates the extracted signal, and applies the modulated signal to a motor driver. Accordingly, the rotational speed of the BLDC motor may be estimated by using a signal of or information on one of three phases, which gives a command from the BLDC motor driver to the motor, without using a separate sensor such as a hall sensor or an encoder.

Description

TECHNICAL FIELD [0001] The present invention relates to a rotational speed control system and a control method using a phase feedback of a BD motor, a recording medium on which a program for performing the method is recorded, implement it}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotational speed control system and control method using a phase feedback of a BD motor, and a recording medium on which a program for performing the method is recorded.

Generally, a three-phase brushless direct current (BLDC) motor is a motor that removes mechanical contacts such as brushes and commutators from a DC motor and electrically switches the contacts. Since there is no mechanical contact, the BLDC motor can prevent high speed, noise generation, and brush wear.

In order to measure the speed of the BLDC motor, that is, the rotation speed, a hall sensor or an encoder is provided to detect the position of the permanent magnet, and the speed is measured using the differential value of the hall sensor or encoder do.

However, when the rotational speed of the BLDC motor is measured using a Hall sensor or an encoder, the structure of the motor becomes complicated or a separate electronic circuit is required. As a result, the volume of the motor driver is increased and the weight is increased. There is a problem that production or maintenance costs increase. Particularly, when a BLDC motor is used in applications such as a small unmanned aerial vehicle (UAV), if a hall sensor or an encoder is used to measure the rotation speed of a BLDC motor, the overall size and weight of the vehicle increase , Which affects the performance of the flight (reduction of the flight time) and increases the production cost of the flight.

Accordingly, there is a growing demand for a technique capable of controlling the rotational speed of a BLDC motor without using a separate sensor or circuit or structure.

Korean Patent Publication No. 2007-0000946 discloses "Control device for three-phase BLDC motor and control method for three-phase BLDC motor ". The present invention is characterized in that the rotational speed of a rotor is calculated using a counter electromotive voltage or an induced voltage of any one of the phases, and a method of determining the rotational speed of the rotor during the initial operation of the motor is provided . However, a separate speed detection unit 33 is required and does not control the rotation speed of the BLDC motor by a sensorless method.

The present invention provides a rotational speed control system and a control method using a one-phase feedback of a bi-dc motor capable of measuring or controlling a rotational speed of a motor without using a separate sensor.

The present invention provides a rotational speed control system and method for controlling a rotational speed of a motor using a driving voltage of any one of three phases of a BDC motor through a one-phase feedback of a BDC motor.

According to an aspect of the present invention, there is provided a system for controlling a rotation speed of a BIU DC motor through one-phase feedback, A motor driver connected to the BI system to apply a driving signal to the BI system; And a motor speed controller for extracting a signal of any one of the three phases of the BI DC motor, modulating the extracted signal, and applying the modulated signal to the motor driver.

By configuring as described above, it is possible to estimate the rotation speed of the BI DC motor by using a signal or information of any one of the three phases, which commands the motor by the BD motor driver without using a separate sensor such as a Hall sensor or a tachometer .

The phase signal extracted from the BIST engine can be input to the motor speed control unit without passing through the motor driver.

The motor speed control unit may modulate the extracted one phase signal into a speed control command signal and apply the modulated signal to the motor driver.

Wherein the motor speed control unit comprises: an analog-to-digital converter receiving an image signal extracted from the BI DC motor; A low-pass filter for integrating a plurality of combinations of pulses among the converted signals from the converter and removing noise; A pulse frequency estimator for estimating a pulse frequency in a signal passed through the filter; A rotation speed estimating unit that estimates a rotation speed of the BI DC motor using a pulse frequency obtained from the pulse frequency estimating unit; And a rotation speed controller for generating a speed control command signal of the BI DC motor using the rotation speed obtained by the rotation speed estimating unit, wherein the speed control command signal generated by the rotation speed controller is applied to the motor driver .

The rotation speed estimator may remove noise included in the rotational speed estimated by using the Kalman filter and resampling the noise caused by the sampling period and resolution of the one-phase analog digital converter.

According to another aspect of the present invention, there is provided a method of controlling a rotational speed of a BD motor, the method comprising: obtaining a signal of any one of three phases for commanding a BD motor from a BD motor driver; Converting the phase signal into an analog signal to a digital signal; Integrating a plurality of combinations of pulses among the converted digital signals and removing noise; Estimating a pulse frequency in the integrated signal; Estimating a rotational speed of the BDC motor using the estimated pulse frequency; And generating and outputting a speed control command signal of the BDC motor using the estimated rotational speed to the motor driver.

Wherein estimating the pulse frequency comprises: converting a low state value of a pulse using a dead zone; Measuring a low state of the pulse using a heat crossing; Deriving the rise or fall time of the pulse through the derivative; And estimating a rising or falling period or frequency of the pulse.

In the step of estimating the rotation speed of the BI DC motor, the white Gaussian noise included in the rotational speed estimated using the resampling of the signal and the Kalman filter can be removed. This method is a method designed to avoid the high-speed sampling required in the step of estimating the motor rotation speed in the step of estimating the rising or falling period or the frequency of the pulse.

Generating a speed control command signal using the rotation speed, and applying the generated speed control command signal to the motor driver.

In the step of generating the speed control command signal and applying the speed control command signal to the motor driver, the PID controller may be provided based on the dynamic modeling, and the gain of the PID controller may be determined using the root locus method. At this time, it is possible to add anti-windup to remove the integral accumulation generated by the integral control of the PID controller.

The present invention can provide a recording medium on which a program for performing a rotational speed control method of a BD motor is recorded.

The rotational speed control system and the control method using the phase feedback of the BISTEC motor according to the present invention can measure or control the rotational speed of the BISTYCOM even without using a structure such as a sensor or a circuit. Also, a method (resampling, Kalman filtering) designed to avoid the high-speed sampling required in the step of estimating the rotation speed in the rising or falling period of the pulse or the step of estimating the frequency is to reduce the size or weight of the device in which the BIST motor is used And can reduce production costs.

The rotational speed control system and the control method of the BD motor according to the present invention do not need to increase the size of the robot even if it is applied to a small robot such as a quadrotor type unmanned aerial vehicle.

FIG. 1 is a view showing a configuration of a rotational speed control system through a one-phase feedback of a BDC motor according to an embodiment of the present invention.
2 is a diagram showing a configuration of a motor speed control unit in the control system according to FIG.
FIG. 3 and FIG. 4 are flowcharts for explaining a rotational speed control method using a one-phase feedback of a BISTEC motor according to an embodiment of the present invention.
5 is a diagram illustrating a process of measuring a pulse frequency.
FIGS. 6 to 10 are diagrams showing the results of the speed estimation (1100 to 1500 in FIG. 3) according to an embodiment of the present invention.
FIG. 11 is a result of performing experimental dynamic modeling to design the rotational speed controller of the present invention.
12 is a view showing a PI rotation speed controller used in a control method according to an embodiment of the present invention.
FIG. 13 is a view showing a result of controlling a rotation speed of a motor using a control method according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. Like reference symbols in the drawings denote like elements.

FIG. 1 is a view showing a configuration of a rotational speed control system through a one-phase feedback of a BDC according to an embodiment of the present invention. FIG. 2 is a view showing the configuration of a motor speed control unit in the control system according to FIG. FIGS. 3 and 4 are flow charts for explaining a rotation speed control method using one phase feedback of a BDC according to an embodiment of the present invention, FIG. 5 is a diagram illustrating a process of measuring a pulse frequency, FIG. 10 is a view showing the results up to the speed estimation (1100 to 1500 in FIG. 3) according to an embodiment of the present invention, FIG. 11 is a drawing showing experimental dynamic modeling for designing the rotation speed controller of the present invention FIG. 12 is a view showing a PI rotation speed controller used in a control method according to an embodiment of the present invention. FIG. 13 is a view showing a rotation speed control of a motor using a control method according to an embodiment of the present invention. And it shows a.

The BLDC motor according to the present invention (hereinafter referred to as a "BI-DC motor") described below is preferably applied to a quadrotor-type unmanned aerial vehicle, but it is not necessarily applied to a quadrotor-type unmanned aerial vehicle. The present invention can be applied to a device in which a conventional BIST motor is used.

Referring to FIG. 1, a rotational speed control system 100 for one-phase feedback of a BDC according to an embodiment of the present invention is connected to a BD motor 110, a BD motor 110, A motor speed control unit 120 for extracting a signal of any one of three phases of the motor driver 120 and the bi-directional motor 110 for applying a driving signal to the motor 110, modulating the extracted signal and applying the modulated signal to the motor driver 120, (130).

In further detail, the rotational speed control system 100 of the BDC according to an embodiment of the present invention extracts signals of any one of the three phases of the BDC motor 110 and the BDC motor 110, And a motor driver 120 that receives the modulated signal from the motor speed controller 130 and the motor speed controller 130 and drives the PD motor 110.

By configuring as described above, it is possible to estimate the rotation speed of the BI DC motor by using a signal or information of any one of the three phases, which commands the motor by the BI DC motor driver, without using a separate sensor such as a Hall sensor or an encoder .

The motor driver 120 is connected to the connector (not shown) of the BI DC motor 110 to drive the BI handheld motor 110. The commercial BDDC motor driver (BLDC Motor Driver) can be used for the BDD motor driver 120.

The BD motor 110 according to the present invention is a three-phase BI DC motor. That is, a three-phase two-pole Y-connection BI DC motor is used as the BI handheld motor 110. Therefore, the current or voltage applied to the three windings has a phase difference of 120 degrees. In addition, the drive signal or the drive command applied to the BI DC motor 110 in the BD motor driver 120 may be classified according to three phases (see Phase A, Phase B, and Phase C in FIG. 1).

The rotational speed control system 100 of the BDC according to an embodiment of the present invention estimates the rotational speed of the BDC motor 110 using any one of the three phase signals of the BDC motor 110 Can be controlled. At this time, the signal used is the driving voltage.

(Signal of phase A) of any one of the three-phase signals of the Bielscreen motor 110 using a measuring instrument (not shown), and sends the extracted one-phase signal to the motor speed controller 130. Here, the phase signal extracted from the BI DC motor 110 can be input directly to the motor speed control unit 130 without going through the motor driver 120. [

The motor speed control unit 130 processes the one phase signal extracted from the BISTYNC motor 110 to generate a speed control command signal and transmits the speed control command signal to the BI DC motor 110 through the motor driver 120 So that the rotational speed of the bielsym motor 110 can be estimated and controlled. That is, the motor speed controller 130 may apply the extracted one phase signal to the motor driver 120 by modulating the extracted one phase signal into a speed control command signal.

The one phase signal input to the motor speed control unit 130 bypasses the motor driver 120 without passing through the motor driver 120 and is input to the motor speed control unit 130, The speed control command signal output from the motor driver 120 is input to the motor driver 120 first.

2, the motor speed control unit 130 includes an analog-to-digital converter (ADC) 180 receiving the one-phase signal extracted from the BDC motor 110, a digital-to- A pulse frequency (pulse frequency) is estimated from a signal that passes through a low-pass filter (140), a low-pass filter (140) that integrates a combination of several pulses of the signal and removes noise from the digital signal The rotation speed estimating unit 160 and the rotation speed estimating unit 160 for estimating the rotation speed of the BI DC motor 110 using the pulse frequency obtained from the pulse frequency estimating unit 150 and the pulse frequency estimating unit 150 And a rotation speed control unit 170 for generating a speed control command signal of the BDC motor 110 using the obtained rotation speed.

Here, the speed control command signal generated by the rotation speed controller 170 may be applied to the motor driver 120.

The phase signal extracted from the bielsym motor 110 using the measuring instrument is received by the motor speed controller 130 using the analogue digital converter 180. At this time, the sampling frequency of the measuring instrument is 25,000 Hz and the resolution of the converter 180 is 16 bits (0 to 5 V).

The speed control command signal applied to the motor driver 120 in the rotation speed controller 170 may be modulated in the form of a pulse width modulation (PWM) signal required by the commercial BDD motor driver 120. [ A PWM type speed control command signal is applied to the motor driver 120, the result of which is shown in FIG. 6 is a graph showing the voltage output result of one phase during PWM application.

6 (a) shows the result when the applied value of the PWM signal is 1.3 ms and the rotational speed of the propeller of the quadrotor flight equipped with the BD motor 110 is 1097 rpm. FIG. 6 (b) Is 1.45 ms and the rotation speed of the propeller of the quadrotor flight equipped with the BI DSC motor 110 is 2073 rpm. As can be seen from FIG. 5, the pulse period decreases (see the x-axis value of the graph) and the potential difference increases (see the y-axis value of the graph) as the PWM applied value (i.e., the rotational speed of the propeller rises) . In this case, the period of the pulse has a relation with the rotation speed and is closely related to the characteristics of the BDC motor 110. The relationship between the pulse period and the characteristic of the BI DC motor 110 can be expressed as shown in Equation (1).

Where f _pulse is the pulse frequency and N _pole is the polarity of the BI DC motor. An approximate value can be obtained by comparing the measured value of the tachometer, which is an actual reference instrument, using Equation (1).

As can be seen from FIG. 6 and [Equation 1], the most important factor in the rotational speed estimation is to measure the period or frequency of the pulse in real time. However, since the value of the pulse received using the analog-digital converter 180 is composed of a combination of several pulses, the signal converted by the converter 180 is integrated into the low-pass filter 140 . The cut-off frequency of the low-pass filter 140 is preferably determined experimentally. The filtering result using the low-pass filter 140 is shown in Fig. FIG. 7 shows the voltage output result of one phase when passing through the low-pass filter.

When the noise-removed signal from the low-pass filter 140 passes through the pulse-frequency estimating unit 150, a pulse frequency can be obtained. The pulse frequency can be measured or estimated by a process as shown in Fig.

The signal from the low pass filter 140 is subjected to a process of converting a value of a low state of a pulse using a dead zone (refer to 151 and Step # 1 in FIG. 5). At this time, the low state value of the pulse is preferably converted to zero. Next, the low state of the pulse is measured using Hit Crossing (High to Low) (refer to 152 and Step # 2 in FIG. 5). After the low state of the pulse is measured, the rise and / or fall time of the pulse is derived through the differential (see 153 and Step # 3 in FIG. 5). Finally, it estimates the rising-rising or falling-falling period and / or frequency of the pulse (see 154, Step # 4 in FIG. 5).

The results for these four processes are shown in FIGS. 8 and 9. Fig. 8A is a dead zone result, Fig. 8B is a heat crossing result, Fig. 9A is a differential result, and Fig. 9B is a graph showing a result of descending-descending frequency measurement.

The pulse frequency value obtained through the process shown in FIG. 5 is substituted into Equation (1) to estimate the rotation speed of the BDC motor 110 as shown in FIG. 10 (a). That is, FIG. 10 (a) is a graph showing the estimated rotational speed results. The number of poles of the BIE DC motor 110 used was 20, which was compared with a tachometer as a reference.

It can be seen from the result of the rotational speed estimated in FIG. 10 (a) that the range of the estimated rotational speed (see Estimated speed) is larger than the value measured by the tachometer (see Speed from Tachometer). Although this is a matter of being dependent on the sampling period or the resolution of the analog to digital converter 180, it is desirable to correct this by using resampling and Kalman filters. This method is a method designed to avoid the high-speed sampling required in the step of estimating the motor rotation speed in the step of estimating the rising or falling period or the frequency of the pulse. The state variable (X _k ) of the Kalman filter is expressed by the following equation (2).

Here, Ω _k is the estimated rotational speed, and if the rotational speed of the object is 0 and the white Gaussian noise with a variance close to 0 is mixed, the model can be expressed as follows: .

Here, Q and R can be experimentally designed, and the result is shown in FIG. 10 (b). As can be seen from FIG. 10 (b), the width of the noise is remarkably reduced and the rotational speed is reduced from 40 RPM to about 20 RPM in the range of 2σ.

In this manner, the rotation speed estimating unit 160 can remove the noise included in the estimated rotation speed using the resampling and the Kalman filter.

This rotation speed estimation can be performed in the rotation speed estimation unit 160. [ The rotation speed controller 170 may use a rotation speed controller to generate a speed command control signal using the estimated rotation speed.

Applicants have performed experimental dynamic modeling to design a rotational speed controller. In order to obtain a reliable model, the model was estimated through the Prediction Error Method using the input and output data of the real system, and it was verified by comparing the new experimental data with the predicted model. The estimated model is expressed by Equation (4), and the verification result is shown in Fig.

11 (a) is a graph showing the first test result of the model estimation, and FIG. 11 (b) is a graph showing the second test result. Based on this model, we implemented a PID controller and determined the controller gain using the root-locus method. The control law used at this time is shown in Equation (5).

In addition, anti-windup is added to eliminate the cumulative integration generated by the integral control, and the structure of the overall controller 200 is as shown in FIG. The controller shown in Fig. 12 is a PI rotational speed controller 200 obtained by additionally adding a half-windup.

The rotation speed control unit 170 can generate a speed control command signal using the PI rotation speed controller 200. [

FIG. 13 is a graph showing the results of rotational speed control using the rotational speed control system 100 of the BDC according to an embodiment of the present invention. As can be seen from FIG. 13, step input was performed at 1950 rpm at 2200 rpm. The result was that the natural frequency (ω _n ) was increased from 20 rad / s to 25 rad / s and 58 rad / s, The steady-state error shows an accuracy of ± 10 RPM.

3, the present invention includes a step of acquiring a signal of any one of the three phases, which commands the BDC motor 110 from the BDC motor driver 120 1100), converting the phase signal to an analog signal to a digital signal (1200), removing noise from the converted digital signal (1300), estimating a pulse frequency in the noise-free signal (Step 1500) of estimating the rotation speed of the PDC motor 110 using the estimated pulse frequency, and generating a speed control command signal of the PDC motor 110 using the estimated rotation speed, And a step 1600 of applying the bias voltage to the bias motor 110. [

In step 1100 of obtaining a signal of any one of the three phases, a driving voltage of one phase among the three-phase signals of the bielsym Motor 110 is extracted using a measuring instrument. At this time, the extracted one-phase signal (i.e., driving voltage) bypasses the motor driver 120 without passing through the motor driver 120 and is input to the motor speed control unit 130, 130 are directly input to the motor driver 120.

In step 1300 of removing noise from the converted digital signal, a low pass filter 140 is used to integrate the converted digital signal and remove noise from the converted digital signal. By removing the noise included in the converted digital signal, the frequency of the pulse or the frequency of the pulse can be measured in real time. At this time, the cut-off frequency of the low-pass filter 140 can be experimentally determined.

Referring to FIGS. 4 and 5, a step 1400 of estimating a pulse frequency in the noise-canceled signal includes a step of converting a low state value of a pulse using a dead zone A step 1420 of measuring the pulse width by using a pulse width of the pulses, a step 1420 of measuring a pulse width of the pulses through a differential circuit 1420, a step 1420 of measuring a pulse width by using Hit Crossing, Or estimating a frequency (step 1440).

In step 1410 of transforming the low state value of the pulse using the dead zone, the low state value of the pulse can be converted to zero.

In step 1430 of deriving the rise or fall time of the pulse through the derivative, the rise and / or fall time of the pulse may be derived through the derivative after measuring the low state of the pulse. The rise time of the pulse or the fall time of the pulse can be obtained by differentiating the pulse.

In step 1440 of estimating a rising or falling period or frequency of the pulse, the period or frequency of the rising or rising of the pulse may be estimated, or the period or frequency of the falling or falling of the pulse may be estimated.

In the step 1500 of estimating the rotational speed of the BI DC motor, the white Gaussian noise included in the rotational speed estimated using the Kalman filter may be removed. The range of the estimated rotational speed (see Estimated speed in FIG. 10 (a)) is larger than the value measured by the tachometer (see Speed from Tachometer in FIG. 10 (a)). The difference between the measured rotational speed value and the estimated rotational speed value can be reduced by eliminating the Gaussian noise.

In operation 1600 of generating and transmitting the speed control command signal to the motor driver 120, dynamic modeling may be performed using a prediction error technique. At this stage, the model estimated through the dynamic modeling is as shown in the above-mentioned equation (4).

In addition, in step 1600 of generating and transmitting the speed control command signal to the motor driver 120, the PID controller may be provided based on the dynamic modeling, and the gain of the PID controller may be determined using the root locus method . The control law used in this step is as shown in Equation (5).

The step 1600 of generating and transmitting the speed control command signal to the motor driver includes a PI rotation speed controller (not shown) obtained by adding anti-windup to remove the integral accumulation generated by the integral control of the PID controller 200) can be used. In this step, the PI rotation speed controller 200 may be used to generate the speed control command signal of the BI DC motor 110.

Meanwhile, the present invention can provide a recording medium on which a program for performing a rotational speed control method of the BDC motor 110 is recorded. Embodiments of the present invention include computer readable media including program instructions for performing various computer implemented operations. The computer-readable medium may include program instructions, local data files, local data structures, etc., alone or in combination. The media may be those specially designed and constructed for the present invention or may be those known to those skilled in the computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floppy disks, and ROMs, And hardware devices specifically configured to store and execute the same program instructions. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

As described above, the rotational speed control system and the control method of the BDC according to the embodiment of the present invention can be applied to any one of the three-phase signals of the BDC motor without using a separate sensor or circuit, It is possible to estimate and control the rotation speed of the motor, so that the device or the system to which the motor is applied or mounted can be prevented from becoming large and heavy, and the production cost can be reduced. In addition, even if such a BIST DC motor is applied to a quadrotor type UAV, since the size and weight of the UAV are not increased, it is advantageous to increase the flight time of the UAV and reduce the size of the UAV, and more accurately control the UAV.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

100: Rotation speed control system of BI
110: BI DSC motor 120: motor driver
130: motor speed control unit 140: low pass filter
150: pulse frequency estimation unit 160: rotation speed estimation unit
170: rotational speed control unit 180: analog-to-digital converter
200: PI rotation speed controller

Claims (12)

Biel DC Motor;
A motor driver connected to the BI system to apply a driving signal to the BI system; And
And a motor speed control unit for extracting a signal of any one of the three phases of the BI DC motor, modulating the extracted signal into a speed control command signal of the BI DC motor, and applying a speed control command signal to the motor driver, ,
Wherein the motor speed control unit estimates the rotation speed of the BI DC motor using the pulse frequency estimated from the phase signal extracted from the BI DC motor, .
The method according to claim 1,
Wherein the phase signal extracted from the BIST engine is input to the motor speed control unit without passing through the motor driver.
The method according to claim 1,
Wherein the motor speed control unit comprises:
And a rotation speed control unit for modulating the extracted one-phase signal into rotation speed information of the motor,
And the speed control command signal of the rotation speed control unit is applied to the motor driver.
3. The method according to claim 1 or 2,
Wherein the motor speed control unit comprises:
An analog digital converter receiving the one phase signal extracted from the BI DSC;
A low-pass filter for integrating a plurality of combinations of pulses among the converted signals from the converter and removing noise;
A pulse frequency estimator for estimating a pulse frequency in a signal passed through the filter;
A rotation speed estimating unit that estimates a rotation speed of the BI DC motor using a pulse frequency obtained from the pulse frequency estimating unit; And
And a rotation speed controller for generating a speed control command signal of the BI DC motor using the rotation speed obtained by the rotation speed estimating unit,
And the speed control command signal generated by the rotation speed control unit is applied to the motor driver.
5. The method of claim 4,
Wherein the rotation speed estimator removes noise included in the rotational speed estimated by using the Kalman filter and resampling the noise caused by the sampling period and resolution of the one-phase analog digital converter. Rotational speed control system.
A method of controlling a rotational speed of a BI-DC motor,
Obtaining a signal on any one of the three phases that commands the BI DS motor driver in the BI handheld motor driver;
Converting the phase signal into an analog signal to a digital signal;
Integrating a plurality of combinations of pulses among the converted digital signals and removing noise from the digital signals;
Estimating a pulse frequency in the noise-canceled signal;
Estimating a rotational speed of the BDC motor using the estimated pulse frequency; And
Generating a speed control command signal of the BI DC motor using the estimated rotational speed and applying the generated speed control command signal to the motor driver;
Wherein the rotational speed control is performed by one phase feedback of the BD motor.
The method according to claim 6,
Wherein the step of estimating the pulse frequency comprises:
Converting a low state value of the pulse using the dead zone;
Measuring a low state of the pulse using a heat crossing;
Deriving the rise or fall time of the pulse through the derivative; And
And estimating a rising or falling period or a frequency of the pulse of the pulse signal.
8. The method of claim 7,
Wherein the step of estimating the rotation speed of the BI DC motor removes the white Gaussian noise included in the estimated rotation speed using the resampling and the Kalman filter.
8. The method of claim 7,
And generating a speed control command signal using the rotation speed and applying the generated speed control command signal to the motor driver.
10. The method of claim 9,
Wherein the step of generating the speed control command signal and applying the speed control command signal to the motor driver provides the PID controller based on the dynamic modeling and determines the gain of the PID controller using the root locus method. A method of controlling the rotational speed through feedback.
11. The method of claim 10,
Wherein the step of generating the speed control command signal and applying the speed control command signal to the motor driver adds anti-windup to eliminate integration accumulation generated by the integral control of the PID controller. Method of controlling rotational speed through phase feedback.
A recording medium on which a program for carrying out the method according to any one of claims 6 to 11 is recorded.

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