CN104682804B - Brushless direct current motor voltage vector control method and device - Google Patents
Brushless direct current motor voltage vector control method and device Download PDFInfo
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- CN104682804B CN104682804B CN201410843855.0A CN201410843855A CN104682804B CN 104682804 B CN104682804 B CN 104682804B CN 201410843855 A CN201410843855 A CN 201410843855A CN 104682804 B CN104682804 B CN 104682804B
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Abstract
The present invention provides a kind of brushless direct current motor voltage vector control method and device, 12 voltage vectors that this method forms 6 switching devices in space vector according to state when opening, when being controlled to brushless direct current motor, above-mentioned 12 voltage vectors are turned on successively.During vectors switching, only one is switched on or off.Whereby, when the present invention can realize vectors switching, only one is switched on or off, so as to avoid occurring in 6 footworks " while open a switching device and close a switching device " the problem of, reduce cut-off current and communtation loss.
Description
Technical field
The present invention relates to motor voltage control technology field, more particularly to a kind of brushless direct current motor voltage vector control
Method and device processed.
Background technology
Three-phase brushless DC motor produces excitation field using permanent magnet, and generally use Hall element is as position sensing
Device, the 3 phase full-bridge circuits formed using 6 device for power switching (also referred to as switching device) and specific logic switch side
Formula provides required voltage energy for motor.
At present, a kind of simple control method of three-phase brushless DC motor is referred to as 6 footworks.Specifically, an electricity
In cycle, on off state has 6, therefore referred to as 6 footworks.That is, in synchronization, only two switch device conductives.This method
The switching device opened simultaneously generally only 2 phases, because switching device is few, switching loss is small under specific circumstances, therefore, 6 steps
French is used widely in X in brushless DC motor control field.
But 6 footworks when switching from a conducting state to another conducting state, it is necessary to open a switch simultaneously
Device simultaneously closes a switching device, and larger cut-off current can be produced when electric current is big, brings larger communtation loss.
The content of the invention
It is existing to solve it is an object of the invention to provide a kind of brushless direct current motor voltage vector control method and device
There is the problem of cut-off current existing for technology, communtation loss is larger.
In order to solve the above problems, brushless direct current motor voltage vector control method provided by the invention is as follows：
A kind of brushless direct current motor voltage vector control method, for controlling the action of 6 switching devices of motor, 6
Individual switching device respectively constitutes motor U phases, the Shang Qiao of V phases and W phase drive circuits, lower bridge, and the control method includes following
Step：
Demarcation, U phase switch on the bridge devices are opened, the closing of bridge switch device, while V phases and W phase bridge switch devices
Open, switch on the bridge device close when state as vector V1；
W phase bridge switch devices are opened, switch on the bridge device close, while U phases and V phase switch on the bridge devices open,
State when bridge switch device is closed is as vector V2；
V phase switch on the bridge devices are opened, bridge switch device close, while U phases and W phase bridge switch devices open,
State when switch on the bridge device is closed is as vector V3；
U phase bridge switch devices are opened, switch on the bridge device close, while V phases and W phase switch on the bridge devices open,
State when bridge switch device is closed is as vector V4；
W phase switch on the bridge devices are opened, bridge switch device close, while U phases and V phase bridge switch devices open,
State when switch on the bridge device is closed is as vector V5；
V phase bridge switch devices are opened, switch on the bridge device close, while U phases and W phase switch on the bridge devices open,
State when bridge switch device is closed is as vector V6；
U phase switch on the bridge devices and W phase bridge switch devices is open-minded, vector conduct when rest switch device turns off
M1；
V phase switch on the bridge devices and W phase bridge switch devices is open-minded, vector conduct when rest switch device turns off
M2；
V phase switch on the bridge devices and U phase bridge switch devices is open-minded, vector conduct when rest switch device turns off
M3；
W phase switch on the bridge devices and U phase bridge switch devices is open-minded, vector conduct when rest switch device turns off
M4；
W phase switch on the bridge devices and V phase bridge switch devices is open-minded, vector conduct when rest switch device turns off
M5；
U phase switch on the bridge devices and V phase bridge switch devices is open-minded, vector conduct when rest switch device turns off
M6；
12 sectors are cut into centered on above-mentioned each vector, the sector according to where the radial vector of motor rotor N poles,
Corresponding voltage vector is selected to be controlled：When motor reverse finger rotates, with V1-M1-V2-M2-V3-M3-V4-M4-V5-
M5-V6-M6-V1-M1-V2 ... order carries out vectors switching, realizes control；When motor turns clockwise, using opposite
Order be controlled.
Preferably, in above-mentioned control method, the sector section switching shifts to an earlier date or lagged certain angle in a rotational direction
Degree.
Preferably, in above-mentioned control method, the switch on the bridge for forming vector or bridge switch are subjected to pulsewidth modulation, it is real
Existing variable-frequency variable-voltage control.
Preferably, in above-mentioned control method, the slit mode of each sector is unequal and asymmetric manner.
Preferably, in above-mentioned control method, the slit mode of each sector is impartial and Central Symmetry mode.
Preferably, in above-mentioned control method, each sector is 30 degree, symmetrical centered on each vector.
Preferably, in above-mentioned control method, motor rotor position is from Hall sensor, optical encoder, rotation
Transformer or the location estimation carried out based on motor model.
Preferably, in above-mentioned control method, motor rotor position comes from 6 Hall sensors.
In order to solve the above problems, brushless direct current motor voltage vector control device provided by the invention is as follows：
A kind of brushless direct current motor voltage vector control device, for implementing any of the above-described control method, it includes：The
One switching device to the 6th switching device, for respectively constituting motor U phases, the upper bridge of V phases and W phase drive circuits or lower bridge；
Position detecting device, for detecting the position of motor rotor；Switching logic, it is connected, uses with the position detecting device
In the position testing result according to rotor, corresponding switching logic control is carried out for first switch device to the 6th switching device
System.
Preferably, in above-mentioned control device, the position detecting device is optical encoder, rotary transformer or 6
The Hall sensor being distributed in around motor rotor.
Analysis understands that the present invention is by 6 switching devices according to 12 voltages in state formation space vector when opening
Vector.When being controlled to brushless direct current motor, above-mentioned 12 voltage vectors are turned on successively.Whereby, it is of the invention
When can realize vectors switching, only one is switched on or off, " while open-minded so as to avoid occurring in 6 footworks
One switching device simultaneously closes a switching device " the problem of, reduce cut-off current and communtation loss.
Brief description of the drawings
Fig. 1 is the motor driving principle structural representation of the device embodiment of the present invention；
Fig. 2 is the schematic diagram when switch sector angular of vector when embodiment illustrated in fig. 1 is applied is impartial and symmetrical；
The switch sector angular of vector when Fig. 3 is embodiment illustrated in fig. 1 application does not wait, each vector is non-right in the sector
Schematic diagram during title.
Embodiment
The present invention is described in further details with reference to the accompanying drawings and detailed description.
As shown in figure 1, in the device embodiment of the present invention, switching device S1 (can also be referred to as power device, power
Switching device) it is to be made up of the power tube and backward dioded of positive switch conduction, which form the upper of U phase drive circuits
Bridge.Switching device S2-S6 be with switching device S1 identical switching devices, and respectively constituted U phases, V phases drive with W phases
The upper bridge or lower bridge of circuit, referring specifically to Fig. 1, S1 is the upper bridge of U phase drive circuits, and S4 is the lower bridge of U phase drive circuits, and S3 is
The upper bridge of V phase drive circuits, S6 are the lower bridge of V phase drive circuits, and S5 is the upper bridge of W phase drive circuits, and S2 is W phase drive circuits
Lower bridge.Dc source 7 can be made up of elements such as battery or electric capacity, and electric energy is provided for motor.Winding 8,9,10 distinguishes table
Show the U phases, V phases and W phase three-phase windings of motor.One end per phase winding is connected with the midpoint of each phase bridge circuit, the other end
It is connected with each other, forms the neutral point of winding.Rotor 11 is and stator is concentric forms, and wherein N and S represent the magnetic pole of rotor field.
The position detecting device 12 of rotor 11 can be Hall switch sensor, linear hall sensor, optical encoder, rotation change
The rotational position detector part such as depressor, it is preferable that position detecting device 12 is 6 hall sensings being distributed in around rotor 11
Device.Position testing result is supplied to switching logic 13 to carry out corresponding switching logic control by position detecting device 12.Open
The position realization for closing voltage instruction and rotor 11 that logic circuit 13 is typically sent according to Upper system (not expressing in figure) switchs
Control.
Fig. 2 shows space vector of voltage (the V1/M1 ...) figure of embodiment illustrated in fig. 1 in application.Wherein, V1 is represented
Switching device S6, S1 and S2 are open-minded, corresponding same phase switching device S3, S4 and S5 shut-off；V2 represents that S1, S2, S3 are open-minded, S6,
S4, S5 are turned off；V3 represents that S2, S3, S4 are open-minded, S5, S6, S1 shut-off；V4 represents that S3, S4, S5 are open-minded, S6, S1, S2, shut-off；V5
Represent that S4, S5, S6 are open-minded, S3, S1, S2 shut-off；V6 represents that S5, S6, S1 are open-minded, S2, S3, S4 shut-off.Vector M1 represents S1, S2
Conducting, remaining shut-off；M2 represents S2, S3 conducting, remaining shut-off；M3 represents S3, S4 conducting, remaining shut-off；M4 represents that S4, S5 are led
It is logical, remaining shut-off；M5 represents S5, S6 conducting, remaining shut-off；M6 represents S6, S1 conducting, remaining shut-off.
It is as implied above, it is assumed that according to V1-V2-V3- ..., V6-V1 order sequentially switchs, with regard to rotational voltage can be formed, around
Rotatory current is generated in group, produces required torque.It is similarly assumed that according to M1-M2-M3- ..., M6-M1- ... order is led successively
It is logical, rotational voltage can be also formed, and rotatory current is generated in the windings, produce required torque.But both of which only makes
With 6 vectors, the problems such as producing larger switching electric current in vectors switching just as prior art.
Therefore, the present embodiment uses V1-V6 vector M1-M6 vectors totally 12 vector controlled motor.It is specific as follows：
During rotate counterclockwise, using V1-M1-V2-M2-V3-M3-V4-M4-V5-M5-V6-M6-V1-.. sequential control
Voltage vector, when turning clockwise, using opposite sequential control voltage vector；When controlling motor based on said sequence, lead
Logical switching device is as follows：
V1 (S6, S1, S2 are opened)-M1 (S1, S2 are opened)-V2 (S1, S2, S3 are opened)-M2 (S2, S3 are opened)-V3 (S2, S3, S4
Open)-M3 (S3, S4 are opened)-V4 (S3, S4, S5 are opened)-M4 (S4, S5 are opened)-V5 (S4, S5, S6 are opened)-M5 (S5, S6 are opened)-
V6 (S5, S6, S1 are opened)-M6 (S6, S1 are opened)-V1 (S6, S1, S2 are opened).
From said sequence as can be seen that the switching of vector every time, an only switching device operation every time, only one is opened
Pass changes, during such as V1 to M1, it is only necessary to switching device S6 is closed, during from M1 to V2, it is only necessary to open switching device S3 etc.；This
Sample can make current control more smooth.
The switch time of each vector, the position that can be provided according to position sensor 12 can also be according to host computer
Control program is completed.Such as：One electrical angle cycle can be divided into 12 deciles, formed with Vx vectors or Mx vectors (x=1,
2 ..., 6) 12 sectors centered on.For example, dotted line in Fig. 2, Fig. 3 represents the border of sector, each vector opens in Fig. 2
Close sector angular αi、βi(i=1,2 ..., 6) is impartial and symmetrical centered on the vector, and each sector angular is 30 degree；V in Fig. 3
Vector M vector switch sector angulars αi、βi(i=1,2 ..., 6), each vector is in asymmetric (the i.e. each arrow in the sector
The sector of amount is asymmetric centered on the vector)；It can also require to be adjusted in real time according to Motor Control state and control.
If using 6 Hall sensors, the switching signal of 12 impartial angular sectors can be formed, is used directly for voltage arrow
The switching control of amount.
It is relatively fixed for DC voltage value, when motor speed or torque need to be adjusted, only with wherein in V vectors
One switching device can be carried out pulsewidth modulation, realize variable-frequency variable-voltage control.For example, V1 vectors are normally opened using S6 and S2, S1
Pulsewidth modulation is carried out, the mode of remaining shut-off carries out voltage-regulation.By that analogy, it is necessary in three switching devices opened, only
Need to adjust bridge or lower bridge can is realized.M vectors are due to being that 2 switching devices open composition, it is thus only necessary to therein
The pulsewidth modulation can of one switching device realizes variable-frequency variable-voltage control.
The present invention application when, the presence of motor inductance causes the effect of current lagging voltage, therefore, can suitably will respectively
The switch time of switching device shifts to an earlier date, and this adjustment can be referred to as advance angle.The advance angle in commonly used be on the occasion of, but
Zero or negative value (actually lagging) are also may be set in special applications.
Although the winding connection method of Fig. 1 descriptions is wye connection, the present invention is not limited to wye connection, for
The join end to end delta connection of composition of winding is equally applicable.
To sum up, the present invention only needs a derailing switch between vector due to being divided using 12 vectors in switching
Part is switched on or off, and high current can be avoided to switch, and improves system effectiveness and performance.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, for each side, all it is merely illustrative, is not only.Institute
Have within the scope of the present invention or be included in the invention in the change being equal in the scope of the present invention.
Claims (10)
1. a kind of brushless direct current motor voltage vector control method, for controlling the action of 6 switching devices of motor, 6
Switching device respectively constitutes motor U phases, the Shang Qiao of V phases and W phase drive circuits, lower bridge, it is characterised in that the control method
Comprise the following steps：
Demarcation, U phase switch on the bridge devices are opened, bridge switch device close, while V phases and W phase bridge switch devices open,
State when switch on the bridge device is closed is as vector V1；
W phase bridge switch devices are opened, the closing of switch on the bridge device, while U phases and V phase switch on the bridge devices are opened, lower bridge
State when switching device is closed is as vector V2；
V phase switch on the bridge devices are opened, the closing of bridge switch device, while U phases and W phase bridge switch devices are opened, upper bridge
State when switching device is closed is as vector V3；
U phase bridge switch devices are opened, the closing of switch on the bridge device, while V phases and W phase switch on the bridge devices are opened, lower bridge
State when switching device is closed is as vector V4；
W phase switch on the bridge devices are opened, the closing of bridge switch device, while U phases and V phase bridge switch devices are opened, upper bridge
State when switching device is closed is as vector V5；
V phase bridge switch devices are opened, the closing of switch on the bridge device, while U phases and W phase switch on the bridge devices are opened, lower bridge
State when switching device is closed is as vector V6；
U phase switch on the bridge devices and W phase bridge switch devices is open-minded, and vector when rest switch device turns off is as M1；
V phase switch on the bridge devices and W phase bridge switch devices is open-minded, and vector when rest switch device turns off is as M2；
V phase switch on the bridge devices and U phase bridge switch devices is open-minded, and vector when rest switch device turns off is as M3；
W phase switch on the bridge devices and U phase bridge switch devices is open-minded, and vector when rest switch device turns off is as M4；
W phase switch on the bridge devices and V phase bridge switch devices is open-minded, and vector when rest switch device turns off is as M5；
U phase switch on the bridge devices and V phase bridge switch devices is open-minded, and vector when rest switch device turns off is as M6；
12 sectors are cut into centered on above-mentioned each vector, the sector according to where the radial vector of motor rotor N poles, selection
Corresponding voltage vector is controlled：In motor rotate counterclockwise, with V1-M1-V2-M2-V3-M3-V4-M4-V5-M5-
V6-M sequential loop carries out vectors switching, realizes control；When motor turns clockwise, controlled using opposite order
System.
2. control method according to claim 1, it is characterised in that the sector section switching shifts to an earlier date in a rotational direction
Or hysteresis certain angle.
3. control method according to claim 1, it is characterised in that enter the switch on the bridge for forming vector or bridge switch
Row pulsewidth modulation, realize variable-frequency variable-voltage control.
4. control method according to claim 1, it is characterised in that the slit mode of each sector is unequal and non-right
Title mode.
5. control method according to claim 1, it is characterised in that the slit mode of each sector is impartial and center pair
Title mode.
6. control method according to claim 5, it is characterised in that each sector is 30 degree, right centered on each vector
Claim.
7. according to any described control methods of claim 1-6, it is characterised in that motor rotor position comes from hall sensing
Device, optical encoder, rotary transformer or the location estimation carried out based on motor model.
8. control method according to claim 7, it is characterised in that motor rotor position comes from 6 Hall sensors.
A kind of 9. brushless direct current motor voltage vector control device, for implementing any described controls of the claims 1-8
Method processed, it is characterised in that including：
First switch device to the 6th switching device, for respectively constitute motor U phases, V phases and W phase drive circuits upper bridge or
Lower bridge；
Position detecting device, for detecting the position of motor rotor；
Switching logic, it is connected with the position detecting device, for the position testing result according to rotor, is opened for first
Close device to the 6th switching device and carry out corresponding switching logic control.
10. control device according to claim 9, it is characterised in that the position detecting device is optical encoder, rotation
Change depressor or 6 Hall sensors being distributed in around motor rotor.
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| CN201410843855.0A CN104682804B (en) | 2014-12-25 | 2014-12-25 | Brushless direct current motor voltage vector control method and device |
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| CN201410843855.0A CN104682804B (en) | 2014-12-25 | 2014-12-25 | Brushless direct current motor voltage vector control method and device |
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| CN104682804B true CN104682804B (en) | 2018-01-12 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4480301A (en) * | 1981-08-07 | 1984-10-30 | Siemens Aktiengesellschaft | Method and apparatus for controlling a pulsed frequency converter |
| CN101383584A (en) * | 2007-08-29 | 2009-03-11 | 三洋电机株式会社 | Current detector unit and motor control device |
| CN204376796U (en) * | 2014-12-25 | 2015-06-03 | 中国电子科技集团公司第二十一研究所 | Brushless DC motor voltage vector control device |
-
2014
- 2014-12-25 CN CN201410843855.0A patent/CN104682804B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4480301A (en) * | 1981-08-07 | 1984-10-30 | Siemens Aktiengesellschaft | Method and apparatus for controlling a pulsed frequency converter |
| CN101383584A (en) * | 2007-08-29 | 2009-03-11 | 三洋电机株式会社 | Current detector unit and motor control device |
| CN204376796U (en) * | 2014-12-25 | 2015-06-03 | 中国电子科技集团公司第二十一研究所 | Brushless DC motor voltage vector control device |
Non-Patent Citations (2)
| Title |
|---|
| 《一种新的空间矢量控制方法在无刷直流电机中的应用》;林晓园 江楠 胡淑芳;《三明学院学报》;20130831;全文 * |
| 《一种新颖的混合空间矢量控制方法》;万建如，程传更，张海波，周鸣;《中国电机工程学报》;20060331;第101-103页，图1，图3 * |
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