WO2015109863A1 - 一种扩展ecm电机转速范围的控制方法 - Google Patents

一种扩展ecm电机转速范围的控制方法 Download PDF

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WO2015109863A1
WO2015109863A1 PCT/CN2014/087340 CN2014087340W WO2015109863A1 WO 2015109863 A1 WO2015109863 A1 WO 2015109863A1 CN 2014087340 W CN2014087340 W CN 2014087340W WO 2015109863 A1 WO2015109863 A1 WO 2015109863A1
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motor
microprocessor
bus current
speed
rotational speed
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French (fr)
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边文清
封剑龙
赵勇
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Zhongshan Broad Ocean Motor Co Ltd
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Zhongshan Broad Ocean Motor Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/15—Controlling commutation time
    • H02P6/153—Controlling commutation time wherein the commutation is advanced from position signals phase in function of the speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration

Definitions

  • the invention relates to a control method for extending the rotational speed range of an ECM motor.
  • ECM motor commonly known as electronic commutation motor, includes DC brushless motor BLDC motor.
  • the rated speed is specified, but in practice, the speed of the motor is often extended (ie, the maximum speed is increased to meet the requirements).
  • the traditional motor control scheme needs to coordinate the motor phase current for vector control, obtain the current Id and Iq on the rotor coordinate system, and realize the weak magnetic speed regulation by adjusting the value of Id.
  • the implementation is more complicated, the operation is cumbersome, and it occupies a large amount of computing resources of the microprocessor CPU. Therefore, the microprocessor CPU has high requirements and high cost, and also needs accurate rotor position and accurate phase current information, and the calculation is cumbersome.
  • the object of the present invention is to provide a control method for extending the rotational speed range of an ECM motor without using conventional vector weak magnetic control, using advanced angle control, simplifying calculation and control, reducing the computational requirements of the microprocessor, thereby reducing the cost of the product. .
  • a control method for extending a range of speeds of an ECM motor the ECM motor having a stator assembly, a rotor assembly, and a motor controller
  • the motor controller including a power circuit, a microprocessor, an inverter circuit, a bus current detecting circuit, and Hall sensor
  • the power circuit supplies power to each part of the circuit
  • the bus current detection circuit inputs the DC bus current I into the microprocessor
  • the Hall sensor inputs the rotor position signal into the microprocessor and converts the actual speed of the rotor n
  • the microprocessor controls
  • the inverter circuit drives the stator assembly, which is characterized in that it comprises the following steps:
  • Step 1) The motor is powered on and the parameters are initialized
  • Step 2) The microprocessor reads the rotor position signal of the Hall sensor and updates the rotor angle;
  • Step 3 The microprocessor reads the DC bus current I and the motor speed n;
  • the motor described above is a three-phase motor with three-phase windings a, b, and c.
  • the PWM signal crest voltages output from the inverter circuit to each phase winding are:
  • Vbus is the DC bus voltage, which is basically unchanged
  • V_D ranges from 0.1 to 1.
  • Step 3 After the microprocessor reads the DC bus current I and the motor speed n, if the DC bus current I is greater than the maximum DC bus current I-max, or the motor speed n is greater than the maximum speed n-max, the machine stops.
  • the initialization parameter of step 1 described above is to zero all of the DC bus current I, the motor speed n, the adjustment parameter V_D and the advance angle ⁇ .
  • the invention has the following advantages:
  • the invention utilizes the advance angle control to detect the DC bus current I and the motor turn Speed n calculates the advance angle, simplifies calculation and control, and reduces the computational requirements of the microprocessor, thereby reducing the cost of the product.
  • Figure 1 is a perspective view of an ECM motor of the present invention
  • Figure 2 is a perspective view of a motor controller of the ECM motor of the present invention
  • FIG. 3 is a cross-sectional view of the ECM motor of the present invention.
  • Figure 4 is a circuit block diagram of a motor controller of the ECM motor of the present invention.
  • Figure 5 is a circuit diagram corresponding to Figure 4.
  • Figure 6 is a flow chart of the present invention.
  • Figure 7 is an experimental schematic diagram of obtaining an advance angle by experimental means according to the present invention.
  • the ECM motor is generally composed of a motor controller 2 and a motor unit 1, and the motor unit 1 includes a stator assembly 12, a rotor assembly 13 and a casing assembly 11, and the stator assembly 13 Mounted on the casing assembly 11, the motor unit 1 is mounted with a Hall sensor 14 for detecting the position of the rotor.
  • the rotor assembly 13 is assembled inside or outside the stator assembly 12, and the motor controller 2 includes a control box 22 and is mounted on the control box.
  • the control circuit board 21, the control circuit board 21 generally includes a power circuit, a microprocessor, a bus current detecting circuit, an inverter circuit and a Hall sensor 14, the power circuit supplies power to each part of the circuit, and the Hall sensor 14 detects the rotor position.
  • Signal and Input to the microprocessor, the bus current detecting circuit inputs the detected bus current to the microprocessor, and the microprocessor controls the inverter circuit, and the inverter circuit controls the on and off of the coil windings of the respective phases of the stator assembly 12.
  • the ECM motor is a 3-phase brushless DC permanent magnet synchronous motor
  • the rotor position measuring circuit 14 generally adopts three Hall sensors, and the three Hall sensors respectively detect a 360-degree electrical angular period.
  • the rotor position assumes that the ECM motor is a 3-phase brushless DC permanent magnet synchronous motor.
  • Three Hall sensors are used. Three Hall sensors detect the rotor position of a 360-degree electrical angular period, and the stator is changed once every 120 degrees. The energization of the coil windings of each phase of assembly 12 results in a 3-phase 6-step control mode.
  • the DC bus voltage Vbus is output at one end of the capacitor C1.
  • Air ratio, changing the line voltage P can change the DC bus current I
  • the DC bus current I is detected by the resistor R1
  • the inverter circuit is composed of the electronic switch tubes Q1, Q2, Q3, Q4, Q5, Q6, the electronic switch tubes Q1, Q2
  • the control terminals of Q3, Q4, Q5 and Q6 are respectively controlled by 6 PWM signals (P1, P2, P3, P4, P5, P6) output by the microprocessor, and the inverter circuit is also connected with a resistor R1 for detecting the bus current I.
  • the bus current detecting circuit converts the detected bus current I of the resistor R1 and transmits it to the microprocessor.
  • a control method for expanding a range of speeds of an ECM motor the ECM motor having a stator assembly, a rotor assembly, and a motor controller, the motor controller including a power circuit, a microprocessor, and an inverter circuit
  • the bus current detecting circuit and the Hall sensor, the power circuit supplies power to each part of the circuit
  • the bus current detecting circuit inputs the DC bus current I into the microprocessor
  • the Hall sensor inputs the rotor position signal into the microprocessor and converts the actual speed of the rotor.
  • the microprocessor controls the inverter circuit to drive the stator assembly, which is characterized in that it comprises the following steps:
  • Step 1) The motor is powered on and the parameters are initialized
  • Step 2) The microprocessor reads the rotor position signal of the Hall sensor and updates the rotor angle;
  • Step 3 The microprocessor reads the DC bus current I and the motor speed n;
  • the motor described above is a three-phase motor with three-phase windings a, b, and c.
  • the PWM signal crest voltages output from the inverter circuit to each phase winding are:
  • Vbus is the DC bus voltage, which is basically unchanged.
  • Step 3 After the microprocessor reads the DC bus current I and the motor speed n, if the DC bus current I is greater than the maximum DC bus current I-max, or the motor speed n is greater than the maximum speed n-max, the machine stops. To protect the motor.
  • the initialization parameter of step 1 described above is to zero all of the DC bus current I, the motor speed n, the adjustment parameter V_D and the advance angle ⁇ .
  • the nominal motor speed on the general motor nameplate the motor running speed can not exceed the rated motor speed, but in practice, it is often necessary to widen the motor speed (ie increase the maximum speed to meet the requirements) to adapt More load.
  • the output shaft of the motor is connected to the loader, and the operating parameters of the motor are transmitted to the computer through real-time communication means, and the computer can also send the control command to the power. machine.
  • the speed PI regulator can be made pure hardware or software.
  • PI regulator, its output adjustment parameter V_D Kp ⁇ e+ ⁇ Ki ⁇ e ⁇ dt, where Kp is the amplification factor and Ki is the integral coefficient. These parameters are related to the PI regulator performance, and the speed PI regulator output adjustment parameter V_D is taken.
  • the value range is 0.1 to 1.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

一种扩展ECM电机转速范围的控制方法，它包括步骤1）电机上电，初始化参数；步骤2）微处理器读取霍尔传感器的转子位置信号，更新转子角度；步骤3）微处理器读取直流母线电流I和电机转速n；步骤4）微处理器获取外部输入目标转速S，计算转速差e=目标转速S-电机转速n，利用转速Pl调节器输出调节参数V_D；步骤5）微处理器根据直流母线电流I和电机转速n计算提前角α=F（I，n），微处理器计算转子的实时角度θ=ω×t，其中ω是角速度，可以通过电机转速n换算，t是时间；步骤6）微处理器计算输入到逆变电路的PWM信号，逆变电路输出到各相绕组的PWM斩波电压U=F（V_D，θ+α），然后跳回步骤2，它利用提前角的控制，简化计算和控制，降低微处理器的运算要求，从而降低产品的成本。

Description

一种扩展ECM电机转速范围的控制方法 技术领域
本发明涉及一种扩展ECM电机转速范围的控制方法。
背景技术
ECM电机，俗称电子换相电机，包含直流无刷电机BLDC motor，在实际使用中，额定转速是规定了，但实际应用中经常需要宽展电机的转速(即提高最高转速，以满足要求)，以适应更多的负载，传统的电机控制方案需要对电机相电流进行坐标变换进行矢量控制，得到转子坐标系上的电流Id和Iq，通过调节Id的值来实现弱磁调速，这种方法的实现比较复杂，运算繁琐，占用微处理器CPU的大量运算资源，因此对微处理器CPU要求高，成本较高，另外也需要准确的转子位置和准确的相电流信息，计算繁琐。
发明内容
本发明的目的是提供一种扩展ECM电机转速范围的控制方法，无须采用传统的矢量弱磁控制，利用提前角的控制，简化计算和控制，降低微处理器的运算要求，从而降低产品的成本。
本发明的实施技术方案如下：
一种扩展ECM电机转速范围的控制方法，所述的ECM电机具有定子组件、转子组件以及电机控制器，所述的电机控制器包括电源电路、微处理器、逆变电路、母线电流检测电路和霍尔传感器，电源电路为各部分电路供电，母线电流检测电路将直流母线电流I输入微处理器,霍尔传感器将转子位置信号输入微处理器并换算出转子的实际转速n，微处理器控制逆变电路驱动定子组件，其特征在于：它包括如下步骤：
步骤1)电机上电，初始化参数；
步骤2)微处理器读取霍尔传感器的转子位置信号，更新转子角度；
步骤3)微处理器读取直流母线电流I和电机转速n；
步骤4)微处理器获取外部输入目标转速S，计算转速差e＝目标转速S-电机转速n，利用转速PI调节器输出调节参数V_D；
步骤5)微处理器根据直流母线电流I和电机转速n计算提前角α＝F(I，n),微处理器计算转子的实时角度θ＝ω×t,其中ω是角速度，可以通过电机转速n换算，t是时间；
步骤6)微处理器计算输入到逆变电路的PWM信号，逆变电路输出到各相绕组的PWM斩波电压U＝F(V_D,θ+α)，然后跳回步骤2)。
上述所述的电机是三相电机,具有a、b、c三相绕组，逆变电路输出到各相绕组的PWM信号斩波电压分别为：
Ua＝Vbus×sin(θ+α)×V_D；
Ub＝Vbus×sin(θ+α+120°)×V_D；
Uc＝Vbus×sin(θ+α+240°)×V_D；
其中Vbus是直流母线电压，基本不变的；
上述所述的步骤5计算提前角α的函数F(I，n)是α＝K1×I+K2+n×K3,其中K1、K2、K3是系数，I为电机实时测得的直流母线电流值，n为电机实时转速。
上述所述的V_D的取值范围0.1至1。
上述所述的步骤3)微处理器读取直流母线电流I和电机转速n后，若直流母线电流I大于最大直流母线电流I-max，或者电机转速n大于最高转速n-max，则停机。
上述所述的步骤1的初始化参数是将直流母线电流I、电机转速n、调节参数V_D和提前角α全部归零。
本发明与现有技术相比具有如下优点：
1)本发明利用提前角的控制，通过检测直流母线电流I和电机转 速n计算提前角，简化计算和控制，降低微处理器的运算要求，从而降低产品的成本。计算提前角函数F(I，n)是α＝K1×I+K2+n×K3是一个一阶的函数，非常简单，进一步简化计算和控制，降低微处理器的运算要求。
2)微处理器获取外部输入目标转速S，计算转速差e＝目标转速S-电机转速n，利用转速PI调节器输出调节参数V_D，可以使系统更快更可靠地到底目标转速
3)当微处理器读取直流母线电流I和电机转速n后，若直流母线电流I大于最大直流母线电流I-max，或者电机转速n大于最高转速n-max，则停机，可以有效保护电机；
附图说明：
图1是本发明ECM电机的立体图；
图2是本发明ECM电机的电机控制器的立体图；
图3是本发明ECM电机的剖视图；
图4是本发明ECM电机的电机控制器的电路方框图；
图5是图4对应的电路图；
图6是本发明的流程图；
图7是本发明通过实验手段获得提前角的实验原理图；
具体实施方式：
如图1、图2、图3所示，ECM电机通常由电机控制器2和电机单体1,所述的电机单体1包括定子组件12、转子组件13和机壳组件11，定子组件13安装在机壳组件11上，电机单体1安装有检测转子位置的霍尔传感器14，转子组件13套装在定子组件12的内侧或者外侧组成，电机控制器2包括控制盒22和安装在控制盒22里面的控制线路板21，控制线路板21一般包括电源电路、微处理器、母线电流检测电路、逆变电路和霍尔传感器14，电源电路为各部分电路供电，霍尔传感器14检测转子位置信号并 输入到微处理器，母线电流检测电路将检测的母线电流输入到微处理器，微处理器控制逆变电路，逆变电路控制定子组件12的各相线圈绕组的通断电。
如图4、图5所示，假设ECM电机是3相无刷直流永磁同步电机，转子位置测量电路14一般采用3个霍尔传感器，3个霍尔传感器分别检测一个360度电角度周期的转子位置假设ECM电机是3相无刷直流永磁同步电机，采用3个霍尔传感器，3个霍尔传感器分别检测一个360度电角度周期的转子位置，每转过120度电角度改变一次定子组件12的各相线圈绕组的通电，形成3相6步控制模式。交流输入(AC INPUT)经过由二级管D7、D8、D9、D10组成的全波整流电路后，在电容C1的一端输出直流母线电压Vbus,直流母线电压Vbus与输入交流电压有关，交流输入(AC INPUT)的电压确定后，母线电压Vbus是恒定的，3相绕组的线电压P是PWM斩波输出电压，P＝Vbus*w，w是微处理器输入到逆变电路的PWM信号的占空比，改变线电压P可以改变直流母线电流I,直流母线电流I通过电阻R1来检测，逆变电路由电子开关管Q1、Q2、Q3、Q4、Q5、Q6组成，电子开关管Q1、Q2、Q3、Q4、Q5、Q6的控制端分别由微处理器输出的6路PWM信号(P1、P2、P3、P4、P5、P6)控制，逆变电路还连接电阻R1用于检测母线电流I，母线电流检测电路将电阻R1的检测母线电流I转换后传送到微处理器。
如图6所示，一种扩展ECM电机转速范围的控制方法，所述的ECM电机具有定子组件、转子组件以及电机控制器，所述的电机控制器包括电源电路、微处理器、逆变电路、母线电流检测电路和霍尔传感器，电源电路为各部分电路供电，母线电流检测电路将直流母线电流I输入微处理器,霍尔传感器将转子位置信号输入微处理器并换算出转子的实际转速n，微处理器控制逆变电路驱动定子组件，其特征在于：它包括如下步骤：
步骤1)电机上电，初始化参数；
步骤2)微处理器读取霍尔传感器的转子位置信号，更新转子角度；
步骤3)微处理器读取直流母线电流I和电机转速n；
步骤4)微处理器获取外部输入目标转速S，计算转速差e＝目标转速S-电机转速n，利用转速PI调节器输出调节参数V_D；
步骤5)微处理器根据直流母线电流I和电机转速n计算提前角α＝F(I，n),微处理器计算转子的实时角度θ＝ω×t,其中ω是角速度，可以通过电机转速n换算，t是时间；
步骤6)微处理器计算输入到逆变电路的PWM信号，逆变电路输出到各相绕组的PWM斩波电压U＝F(V_D,θ+α)，然后跳回步骤2)。
上述所述的电机是三相电机,具有a、b、c三相绕组，逆变电路输出到各相绕组的PWM信号斩波电压分别为：
Ua＝Vbus×sin(θ+α)×V_D；
Ub＝Vbus×sin(θ+α+120°)×V_D；
Uc＝Vbus×sin(θ+α+240°)×V_D；
其中Vbus是直流母线电压，基本不变的
上述所述的步骤3)微处理器读取直流母线电流I和电机转速n后，若直流母线电流I大于最大直流母线电流I-max，或者电机转速n大于最高转速n-max，则停机，以保护电机。
上述所述的步骤1的初始化参数是将直流母线电流I、电机转速n、调节参数V_D和提前角α全部归零。
如图7所示，一般的电机名牌上标称额定转速，电机运行的速度不能超过电机额定转速，但实际应用中经常需要宽展电机的转速(即提高最高转速，以满足要求)，以适应更多的负载。
通过如下实验步骤获得的：将电机的输出轴连接加载器，并通过实时通信手段将电机的运行参数传送到电脑，电脑也可以将控制指令发送到电 机。
A)首先给定电机最高转速命令n-max,电机设定为恒转速模式，实时增大提前角θ，使电机转速达到高转速命令n-max，使用加载器逐渐给电机加载，直到电机输出功率满足要求，此时调整提前角α，保证电机输出功率最高，记录此时电机的直流母线电流I-max和提前角α1；
B)给定电机的额定转速n-rate,设定为恒转速模式，实时增大提前角θ，使转速达到n-rate，使用加载器逐渐给电机加载，直到电机输出功率满足要求，此时调整提前角θ，保证电机输出功率为最大功率时的直流母线电流I2和提前角α2；
C)给定电机的额定转速n-rate,设定为恒转速模式，实时增大提前角θ，使转速达到n-rate，使用加载器逐渐给电机加载，保证电机输出功率为等于最大功率的1/2时，记录母线电流电流I3和提前角α3；
D)按照如下公式：α＝K1×I+K2+n×K3；
保证n＝n-rate，I＝I2时，α＝α2；n＝n-max，I＝I-max时，α＝α1；n＝n-rate，I＝I3时，α＝α3；由上述的3元一次方程，求解的K1 K2 K3,I为电机实时测得的直流母线电流值，n为实时转速，得到函数α＝F(I，n)。
上述的步骤4)微处理器获取外部输入目标转速S，计算转速差e＝目标转速S-电机转速n，利用转速PI调节器输出调节参数V_D，关于转速PI调节器可以使纯硬件或者软件的PI调节器，其输出调节参数V_D＝Kp×e+∫Ki×e×dt,其中Kp是放大系数，Ki是积分系数，这些参数与PI调节器性能有关，转速PI调节器输出调节参数V_D的取值范围0.1至1，当目标转速S与实测转速相差巨大时，V_D＝1，使电机尽快达到目标转速S；PI调节器是现有的技术，在此不在叙述。

Claims (6)

  1. 一种扩展ECM电机转速范围的控制方法，所述的ECM电机具有定子组件、转子组件以及电机控制器，所述的电机控制器包括电源电路、微处理器、逆变电路、母线电流检测电路和霍尔传感器，电源电路为各部分电路供电，母线电流检测电路将直流母线电流I输入微处理器,霍尔传感器将转子位置信号输入微处理器并换算出转子的实际转速n，微处理器控制逆变电路驱动定子组件，其特征在于：它包括如下步骤：
    步骤1)电机上电，初始化参数；
    步骤2)微处理器读取霍尔传感器的转子位置信号，更新转子角度；
    步骤3)微处理器读取直流母线电流I和电机转速n；
    步骤4)微处理器获取外部输入目标转速S，计算转速差e＝目标转速S-电机转速n，利用转速PI调节器输出调节参数V_D；
    步骤5)微处理器根据直流母线电流I和电机转速n计算提前角α＝F(I，n),微处理器计算转子的实时角度θ＝ω×t,其中ω是角速度，可以通过电机转速n换算，t是时间；
    步骤6)微处理器计算输入到逆变电路的PWM信号，逆变电路输出到各相绕组的PWM斩波电压U＝F(V_D,θ+α)，然后跳回步骤2)。
  2. 根据权利要求1所述的一种扩展ECM电机转速范围的控制方法，其特征在于：所述的电机是三相电机,具有a、b、c三相绕组，逆变电路输出到各相绕组的PWM信号斩波电压分别为：
    Ua＝Vbus×sin(θ+α)×V_D；
    Ub＝Vbus×sin(θ+α+120°)×V_D；
    Uc＝Vbus×sin(θ+α+240°)×V_D；
    其中Vbus是直流母线电压，基本不变的
  3. 根据权利要求1或2所述的一种扩展ECM电机转速范围的控制方法，其特征在于：步骤5计算提前角α的函数F(I，n)是α＝K1×I+K2+n×K3,其中K1、K2、K3是系数，I为电机实时测得的直流母线电流值，n为电机实时转速。
  4. 根据权利要求1或2所述的一种扩展ECM电机转速范围的控制方法，其特征在于：V_D的取值范围0.1至1。
  5. 根据权利要求1或2所述的一种扩展ECM电机转速范围的控制方法，其特征在于：步骤3)微处理器读取直流母线电流I和电机转速n后，若直流母线电流I大于最大直流母线电流I-max，或者电机转速n大于最高转速n-max，则停机。
  6. 根据权利要求1或2所述的一种扩展ECM电机转速范围的控制方法，其特征在于：步骤1的初始化参数是将直流母线电流I、电机转速n、调节参数V_D和提前角α全部归零。
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