CN103227599B - A kind of control method for brushless direct current motor based on flux trajectory - Google Patents
A kind of control method for brushless direct current motor based on flux trajectory Download PDFInfo
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- CN103227599B CN103227599B CN201310138493.0A CN201310138493A CN103227599B CN 103227599 B CN103227599 B CN 103227599B CN 201310138493 A CN201310138493 A CN 201310138493A CN 103227599 B CN103227599 B CN 103227599B
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Abstract
Based on a control method for brushless direct current motor for flux trajectory, first, according to the expectation angular speed of brshless DC motor
with expectation torque
determine benchmark magnetic linkage ψ (n); A Virtual shipyard is constructed again according to incremental model
approach this benchmark magnetic linkage ψ (n); The last state corresponding according to Approaching Results is carried out control inverter output and is obtained required PWM driving.Method of the present invention make use of flux trajectory technology, can automatically according to target torque realize ovennodulation (six clap ripple) output to linear modulation export between seamless switching.When brshless DC motor is operated under large torque conditions, controller output level is six bat ripples, makes motor have maximum DC bus-bar voltage utilance; When machine operation is under little torque conditions, then controller can take over seamlessly the wavy state of PWM to exporting through linear modulation, makes motor even running.
Description
Technical field
The present invention relates to a kind of modulator approach of brshless DC motor speed setting controller, be specifically related to a kind of control method for brushless direct current motor based on flux trajectory that effectively can reduce motor torque ripple under little torque conditions.
Background technology
At present along with the idea of environmental protection is day by day rooted in the hearts of the people, electric motor car as a kind ofly zero discharge can be realized, the clean environment firendly vehicles of no pollution are just day by day subject to people's attention.But the brshless DC motor speed setting controller that existing electric motor car uses operationally also also exists a lot of problem.Wherein, the motor torque ripple in little torque situation is an important defect factors.
Traditional brshless DC motor speed setting controller always works under output six claps the pattern of ripple, and export square wave current with the mechanical commutation of simulating Traditional DC motor, it is high that the program has DC bus-bar voltage utilance, simple and reliable advantage.But under little torque, because six clap the motor torque ripple that the factors such as the slot effect of the higher and motor of the harmonic components of ripples itself cause, can be that the work of motor bring a series of adverse effect.As produced larger noise, cause mechanical wear and cause the reduction etc. of motor working efficiency.
At present, existing solution is from general terms, set about from two aspects: be intended to the harmonic wave reducing brushless direct current motor controller output current on the one hand, namely change the modulator approach of brushless direct current motor controller specifically, optimize existing output current wave.Such as, in prior art, a kind of scheme according to brshless DC motor operating angle interval period---ovennodulation---linear modulation of carrying out linear modulation; Be intended on the other hand the mechanical structure improving motor, optimize air-gap field and to suddenly change the impact caused to reduce the magnetic flux caused due to slot effect.As in prior art, a kind of mode by installing multiple magnet in rotor core, prevents the disconnection of magnetic flux, the leakage of minimum magnetic flux.In fact, scheme based on the linear modulation of space voltage vector modulation technology (SVPWM) developed very ripe, but because traditional Over-modulation algorithm based on SVPWM is too complicated, only use the SVPWM method of linear modulation then directly to have influence on DC bus-bar voltage utilance.Therefore this problem also limits the application of traditional SVPWM scheme on brushless direct current motor controller.
Summary of the invention
Main purpose of the present invention is to overcome brshless DC motor under little torque conditions due to the motor torque ripple that harmonic wave reason causes, and makes motor a kind of control method for brushless direct current motor based on flux trajectory more stably in operation process.
The present invention adopts following technical scheme:
Based on a control method for brushless direct current motor for flux trajectory, it is characterized in that: first, according to the expectation angular speed of brshless DC motor
with expectation torque
determine benchmark magnetic linkage ψ (n); A Virtual shipyard is constructed again according to incremental model
approach this benchmark magnetic linkage ψ (n); The last state corresponding according to Approaching Results is carried out control inverter output and is obtained required PWM driving.
Further, described expectation angular speed
by expectation phase angle
closed-loop control realize, described expectation phase angle
it, by asking poor with actual phase angle theta, obtains current phase error
by the adjustment to angular velocity omega=ω+p Δ θ, realize expectation phase angle
closed-loop control.
Further, described actual phase angle theta represents brushless DC motor rotor angle position, can by the instantaneous collection of Hall element signal of brshless DC motor.
Further, described instantaneous collection refers in each circumference, and Hall element signal has 6 changes, and the rotor angular position in change moment represents respectively
then by monitoring the instantaneous of Hall element signal change, gather actual phase angle theta.
Further, described benchmark magnetic linkage ψ (n), be that brushless DC motor rotor is radius with r and the track rotated according to angular velocity omega under alpha-beta coordinate system, wherein, n represents the n-th moment after by sampling period T discretization; Described radius
u
outfor brshless DC motor exports phase voltage peak value, its value and expectation moment
be directly proportional.
Further, the span of described radius r is
u
dfor inverter driving DC voltage; When
time brshless DC motor can obtain six bat ripples drive, there is maximum voltage utilization; When
time brshless DC motor will be operated in Linear Driving, there is minimum harmonic wave.
Further, described Virtual shipyard
can by incremental model at alpha-beta coordinate system
construct, wherein
or
the on off state of the corresponding inverter of this span; U
dfor inverter driving DC voltage, Te is the electromagnetic torque of motor, and
Further, described approaching refers to magnetic linkage increment
in described span, determine a best value, make Virtual shipyard
with the norm of benchmark magnetic linkage ψ (n) under alpha-beta coordinate system apart from minimum.
Further, all magnetic linkage increments of span are calculated
and determine candidate's on off state of each sector Sector; Arrange and initially expect phase angle
often through a sampling period, phase angle increment
wherein
for the expectation phase angle by the n-th moment after sampling period T discretization; Described approaching specifically comprises the steps:
1) n=n+1, expects phase angle
upgrade, and ask for current expectation phase angle
under, benchmark magnetic linkage ψ (n) under orthogonal two axle systems, namely
2) calculate and read the sector Sector residing for current phase angle theta, calculating each candidate's magnetic linkage increment under the Sector of current sector respectively
with a upper moment Virtual shipyard
norm distance after superimposed and between benchmark magnetic linkage ψ (n)
namely
ask for best output state
namely
3) inverter exports and is somebody's turn to do
state;
4) current virtual magnetic linkage is calculated
namely
and turn back to 1).
Further, the state that described Approaching Results is corresponding refers to the inverter switching states corresponding to best value.
From the above-mentioned description of this invention, compared with prior art, the present invention has following beneficial effect:
Brushless motor control method based on flux trajectory of the present invention, be by with desirable magnetic linkage circle for benchmark, do not consider the synthesis of space voltage vector, and the magnetic linkage increment directly produced by inverter switching states follows the tracks of benchmark magnetic linkage circle, thus form the strategy of PWM ripple.Due to the thinking abandoning synthesis, and directly consider with seven space magnetic linkage incremental vectors to approach benchmark magnetic linkage circle.Therefore under little torque, benchmark magnetic linkage radius of circle is very little, the method can pass through linear modulation means, tracks out the magnetic linkage circle that an error is very little.Show in the PWM wave property of output, just can realize the stator phase currents output that a harmonic components is minimum; And under large torque, benchmark magnetic linkage radius of circle is very large, exceeded the limit of the method trace ability, therefore according to the principle that space length is minimum, the method finally can track out one orthohexagonal " magnetic linkage circle ".Show in the PWM wave property of output, just can realize six bat ripples and export.
In sum, the method can be unified to process the Over-modulation needing to treat stage by stage in the middle of SVPWM method, can according to the continuously smooth transition of torque request realization from linear modulation to six stair step fashion.The method operand is less simultaneously, transition nature.
Accompanying drawing explanation
Fig. 1 is control method schematic flow sheet of the present invention;
Fig. 2 is brushless direct current motor controller control system block diagram of the present invention;
Fig. 3 is the candidate state list of 6 sectors of the present invention;
Fig. 4 is along with benchmark magnetic linkage radius increases, the PWM wave form varies of line voltage when the linear modulation condition of brshless DC motor outputs to ovennodulation (six clap ripple) State-output.
Embodiment
Below by way of embodiment, the invention will be further described.
Brshless DC motor with have compared with brushless motor, maximum difference instead of mechanical commutation by electronic commutation---brush direct current motor is that armature is sent in interchange direct current being converted into approximate trapezoid ripple by mechanical commutator, and brshless DC motor by electronic commutator, direct current is converted to quasi-square wave electric current to send into armature.
But the harmonic component contained due to six bat ripples can produce fifth overtone torque, therefore under large torque conditions, this ripple likely can be filtered out by rotor inertia.But under little torque conditions, it will make spinner velocity fluctuate, and have a strong impact on the stability of speed, also can cause certain influence to the positioning precision of positional servosystem and repeatability simultaneously.
Probe into the process of electric machine speed regulation, can find that its essence is exactly make motor stator obtain the variable circular field of a torque.Traditional SVPWM method is the angle from power supply, is combined to form space voltage vector by the switching mode of inverter, follows the tracks of the rotational voltage of expectation.But because the method is the tracking indirectly realizing voltage by the principle of synthesis, therefore in overmodulation, rotational voltage vector cannot directly be synthesized, just need to adopt special Overmodulation Method to realize the voltage synthesis object of overmodulation.
Flux trajectory method of the present invention, be by with desirable magnetic linkage circle for benchmark, do not consider the synthesis of space voltage vector, and the magnetic linkage increment directly produced by inverter switching states follows the tracks of benchmark magnetic linkage circle, thus forms the strategy of PWM ripple.
Due to the thinking abandoning synthesis, and directly consider with seven space magnetic linkage incremental vectors to approach benchmark magnetic linkage circle.Therefore under little torque, benchmark magnetic linkage radius of circle is very little, the method can pass through linear modulation means, tracks out the magnetic linkage circle that an error is very little.Show in the PWM wave property of output, just can realize the stator phase currents output that a harmonic components is minimum; And under large torque, benchmark magnetic linkage radius of circle is very large, exceeded the limit of the method trace ability, therefore according to the principle that space length is minimum, the method finally can track out one orthohexagonal " magnetic linkage circle ".Show in the PWM wave property of output, just can realize six bat ripples and export.
A kind of control method for brushless direct current motor based on flux trajectory of the present invention, first, according to the expectation angular speed of brshless DC motor
with expectation torque
determine benchmark magnetic linkage ψ (n); A Virtual shipyard is constructed again according to incremental model
approach this benchmark magnetic linkage ψ (n); The last state corresponding according to Approaching Results is carried out control inverter output and is obtained required PWM driving.
By reference Fig. 2, the control object in this controller is brshless DC motor, therefore needs the Hell element signal utilizing brshless DC motor to carry out position-force control to motor.This control program realizes as follows:
Motor is in normal course of operation, and often rotate a Hall element signal and have 6 changes, the rotor angular position in change moment represents respectively
by monitoring the instantaneous of Hall element signal change, measure (collection) actual phase angle theta.The θ now collected can represent brushless DC motor rotor angle position.
The expectation angular speed of brshless DC motor
can by expectation phase angle
closed-loop control realize.Wherein expect phase angle
by to expectation phase angle
ask poor with actual phase angle theta, can current phase error be obtained
by the adjustment to angular velocity omega=ω+p Δ θ, the closed-loop control to expecting phase angle can be realized.
This benchmark magnetic linkage ψ (n) described in flux trajectory method, be the track being radius with r and rotating according to angular velocity omega under alpha-beta coordinate system, wherein n represents the n-th moment after by sampling period T discretization.Described radius
wherein U
outfor brshless DC motor exports phase voltage peak value, its value and expectation moment
be directly proportional; And Virtual shipyard
can by incremental model at alpha-beta coordinate system
construct, wherein
or
totally 7 spans, also corresponding inverter 7 on off states; U
dfor inverter driving DC voltage; And
Determine benchmark magnetic linkage ψ (n) and Virtual shipyard
after, can within each sampling period, from
in 7 possible spans, determine 1 best value, make Virtual shipyard
with benchmark magnetic linkage ψ (n) under alpha-beta coordinate system the most close to (apart from minimum), export this inverter switching states corresponding to best value, required PWM can be obtained and drive.
With reference to Fig. 1, concrete operation step is as follows:
1) initialization, calculates seven kinds of candidate's magnetic linkage increments, and determines the candidate state table of 6 sector Sector.The candidate state table of 6 sectors as shown in Figure 3, the corresponding on off state of often kind of candidate's magnetic linkage increment, the corresponding three kinds of on off states in each sector.Initial magnetic linkage expects phase angle
often through a sampling period phase angle increment
wherein
for the expectation phase angle by the n-th moment after sampling period T discretization;
2) n=n+1, expects phase angle
upgrade, and ask for current expectation phase angle
under, benchmark magnetic linkage ψ (n) under orthogonal two axle systems, namely
3) calculate the sector Sector residing for current phase angle theta, the corresponding relation of sector Sector and phase angle as shown in Figure 3;
4) the lower three kinds of candidate's magnetic linkage increments in current sector are calculated respectively
with a upper moment Virtual shipyard
norm distance after superimposed and between benchmark magnetic linkage ψ (n)
namely
5) by three kinds of candidates
between comparison, ask for best output state
namely
6) inverter exports
state;
7) current virtual magnetic linkage is calculated
namely
and turn back to 2).
As can be seen from Figure 4, this modulator approach can automatically according to target torque realize ovennodulation (six clap ripple) output to linear modulation export between seamless switching.When machine operation is under large torque conditions, controller output level is six bat ripples, makes motor have maximum DC bus-bar voltage utilance; When machine operation is under little torque conditions, then controller can take over seamlessly the PWM ripple to exporting through linear modulation, makes motor be able to even running.
Above are only a specific embodiment of the present invention, but design concept of the present invention is not limited thereto, all changes utilizing this design the present invention to be carried out to unsubstantiality, all should belong to the behavior of invading scope.
Claims (6)
1. based on a control method for brushless direct current motor for flux trajectory, it is characterized in that: first, according to the expectation angular speed of brshless DC motor
with expectation torque
determine benchmark magnetic linkage ψ (n); A Virtual shipyard is constructed again according to incremental model
approach this benchmark magnetic linkage ψ (n); The last state corresponding according to Approaching Results is carried out control inverter output and is obtained required PWM driving; Described expectation angular speed
by expectation phase angle
closed-loop control realize, described expectation phase angle
it, by asking poor with actual phase angle theta, obtains current phase error
by the adjustment to angular velocity omega=ω+p Δ θ, realize expectation phase angle
closed-loop control;
Described Virtual shipyard
at alpha-beta coordinate system by incremental model
construct, wherein
or
the different on off states of the corresponding inverter of span; U
dfor inverter driving DC voltage, T
efor the electromagnetic torque of motor, and
Described approaching refers to magnetic linkage increment
in described span, determine a best value, make Virtual shipyard
with the norm of benchmark magnetic linkage ψ (n) under alpha-beta coordinate system apart from minimum; Described approaching specifically comprises the steps:
1) all magnetic linkage increments of span are calculated
and determine candidate's on off state of each sector Sector; Arrange and initially expect phase angle
often through a sampling period, expect phase angle increment
wherein
for the expectation phase angle by the n-th moment after sampling period T discretization;
2) n=n+1, expects phase angle
upgrade, and ask for current expectation phase angle
under, benchmark magnetic linkage ψ (n) under orthogonal two axle systems, namely
3) calculate and read the sector Sector residing for current phase angle theta, calculating each candidate's magnetic linkage increment under the Sector of current sector respectively
with a upper moment Virtual shipyard
norm distance after superimposed and between benchmark magnetic linkage ψ (n)
namely
ask for best output state
namely
4) inverter exports and is somebody's turn to do
state;
5) current virtual magnetic linkage is calculated
namely
and turn back to 1).
2. a kind of control method for brushless direct current motor based on flux trajectory as claimed in claim 1, is characterized in that: described actual phase angle theta represents brushless DC motor rotor angle position, by the instantaneous collection of Hall element signal of brshless DC motor.
3. a kind of control method for brushless direct current motor based on flux trajectory as claimed in claim 2, it is characterized in that: described instantaneous collection refers in each circumference, Hall element signal has 6 changes, and the rotor angular position in change moment represents respectively
then by monitoring the instantaneous of Hall element signal change, gather actual phase angle theta.
4. a kind of control method for brushless direct current motor based on flux trajectory as claimed in claim 1, it is characterized in that: described benchmark magnetic linkage ψ (n), that brushless DC motor rotor is radius with r and the track rotated according to angular velocity omega under alpha-beta coordinate system, wherein, n represents the n-th moment after by sampling period T discretization; Described radius
u
outfor brshless DC motor exports phase voltage peak value, its value and expectation moment
be directly proportional.
5. a kind of control method for brushless direct current motor based on flux trajectory as claimed in claim 4, is characterized in that: the span of described radius r is
u
dfor inverter driving DC voltage; When
time brshless DC motor obtain six bat ripples drive, there is maximum voltage utilization; When
time brshless DC motor will be operated in Linear Driving, there is minimum harmonic wave.
6. a kind of control method for brushless direct current motor based on flux trajectory as claimed in claim 1, is characterized in that: the state that described Approaching Results is corresponding refers to the inverter switching states corresponding to best value.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101771361A (en) * | 2010-02-11 | 2010-07-07 | 哈尔滨工业大学 | Method for controlling direct power of grid-connected inverter without non-AC voltage sensor |
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|---|---|---|---|---|
| CN101771361A (en) * | 2010-02-11 | 2010-07-07 | 哈尔滨工业大学 | Method for controlling direct power of grid-connected inverter without non-AC voltage sensor |
Non-Patent Citations (1)
| Title |
|---|
| 一种磁链追踪型PWM法及其应用;臧英杰等;《铁道学报》;19910331;第13卷(第1期);第34-42页 * |
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Granted publication date: 20151111 Termination date: 20180419 |