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CN102437805B - Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor - Google Patents

Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor Download PDF

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Publication number
CN102437805B
CN102437805B CN2011103340533A CN201110334053A CN102437805B CN 102437805 B CN102437805 B CN 102437805B CN 2011103340533 A CN2011103340533 A CN 2011103340533A CN 201110334053 A CN201110334053 A CN 201110334053A CN 102437805 B CN102437805 B CN 102437805B
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phase
voltage
electromotive force
terminal voltage
signal
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CN102437805A (en
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孟凡民
徐殿国
杨明
曹何金生
王公旺
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Weihai Creditfan Ventilator Co Ltd
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WEIHAI CREDIT MOTOR CO Ltd
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Abstract

The invention relates to the technical field of brushless direct current (DC) motors, and in particular relates to a compensation calculation method of the heavy load phase of a brushless DC motor without a position sensor. The method is characterized by adopting a back electromotive force detection method to detect the three-phase terminal voltage with a back electromotive force detection circuit, carrying out depth filtering with a filter circuit, comparing the voltage with an analog neutral point, generating a rotor position signal with a digital signal processor (DSP), dividing the terminal voltage into a back electromotive force signal and a follow current interference signal, calculating the phases and amplitudes of the two signals to obtain a phase advance angle, caused by the follow current, of the rotor position signal and compensating the phase advance angle. The method has the following beneficial effects that: the controller can determine the phase advance angle in real time by only detecting the phase current of the motor; and phase angle compensation can be appropriately carried out according to the current and the rotating speed as the advance phase change of the phase angle is beneficial to the reduction of the torque ripple of the brushless DC motor, thus ensuring the motor to reach the best operation state.

Description

Brushless DC motor without position sensor heavy duty phase compensation computational methods
Technical field
The present invention relates to the brshless DC motor technical field, specifically a kind of brushless DC motor without position sensor heavy duty phase compensation computational methods.
Background technology
Brushless DC motor (Brushless DC Motor, hereinafter to be referred as BLDC) rely on the characteristics such as its high reliability, high efficiency, speed governing convenience, life-span length to obtain in the world developing comparatively fully, comparatively flourishing countries at some, brushless DC motor will become capstan motor within the coming years, and progressively replace the motor of other types.
BLDC drives control mode to be divided into two kinds of position sensor formula and position-sensor-free formulas.The existence meeting of position transducer brings a lot of defects and inconvenience to the application of brushless electric machine, and at first, position transducer can increase volume and the cost of motor; Secondly, the position transducer that line is numerous can reduce the motor reliability of operation, and again, in some severe operational environment, in the compressor of air conditioner in sealing, due to the severe corrosive of cold-producing medium, conventional position transducer just can't use at all.In addition, the installation accuracy of position transducer also can affect the runnability of motor, the technology difficulty of increase producing, particularly when motor size little to a certain extent the time, the disadvantage of use location transducer is day by day obvious.
Through retrieval, on October 24th, 2006, BJ University of Aeronautics & Astronautics has applied for that a kind of application number is: 2006101139873, patent name is: a kind of patent of invention of phase-lock steady speed control system of high speed permanent-magnetic brushless DC motor, it is by the phase-locked loop speed control device, wave digital lowpass filter, power amplifier, brushless, permanently excited direct current motor, the Hall effect rotor-position sensor forms, this invention obtains speed feedback by the Hall effect rotor-position sensor of low precision, realized the high accuracy speed stabilizing control of magnetic suspension control torque gyroscope with the high-speed permanent-magnet brushless direct current machine, there is magnetic immunity region to a certain degree in actual applications in this Hall effect rotor-position sensor, also exist phase-locked speed slow, the frequency and phase discrimination scope is low, the modulus range of counter is narrow, motor speed must just can phase-lockedly wait not enough in phase locking range.
Use the position-sensor-free type of drive to save position detecting device, reduced cost, dwindled the volume of driver, more easily realization and driver and motor is integrated.Consider volume, operational environment and the production cost problem of blower fan, the mode of position Sensorless Control brshless DC motor is better selection.In the position-sensor-free square wave is controlled, the most frequently used is to adopt conduction mode in twos to control, but this control mode exists electric current to cross conference, causes afterflow long, and then causes the problem of commutation failure.
In June, 2010, " the special journal of Heilungkiang water " the 37th volume the 2nd periodical has been stepped on one piece of " research based on the sensorless brushless DC motor control system " literary composition by name, in literary composition, set forth by detecting the back-emf voltage signal and replace hall signal after phase demodulation being processed, exchange is simultaneously constantly carried out software compensation mutually, realizes the approximate accurately commutation of BLDCM.Its deficiency is: by detecting three phase terminals voltage; carry out with the simulation neutral point, comparing again after depth filtering; generate rotor-position signal; but because electric current is very large, time of afterflow is long when heavy duty, can affect the three phase terminals voltage waveform of " ideal "; cause wave distortion; affect the accuracy of the position signalling detected, can not guarantee correctly carrying out of commutation, and phase angle time delay commutation has been unfavorable for reducing the torque pulsation of brshless DC motor.
Therefore, this is also the technical difficult points of position Sensorless Control mode in the application of high-power field.
Summary of the invention
The objective of the invention is supplementary perfect to back electromotive force method brushless direct current motor sensorless control technology, make the back electromotive force detection technique can be in the situation that the large electric current afterflow of heavy duty still keeps good performance, widen the range of application of back electromotive force detection technique, provide a kind of by detecting electric current, rotating speed, duty ratio, busbar voltage and the parameter of electric machine are determined the deviation angle of electric current afterflow impact, then this deviation angle is compensated, thereby make commutation constantly approach best commutation constantly, guarantee the brushless DC motor without position sensor correctly the carried out heavy duty phase compensation computational methods of commutation.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of brushless DC motor without position sensor heavy duty phase compensation computational methods, it is characterized in that adopting the back electromotive force detection method, detect three phase terminals voltage by counter electromotive force detection circuit (as Fig. 1), after carrying out depth filtering, with the simulation neutral point, compares again by filter circuit, generate rotor-position signal through dsp processor, terminal voltage is divided into to back-emf signal and electric current afterflow interference signal, two kinds of signals are carried out to the calculating of phase place and amplitude, obtain the phase advance angle degree of the rotor-position signal that caused by the electric current afterflow, compensated, concrete steps are as follows: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under heavy duty is analyzed:
Because counter electromotive force detection circuit is a low pass filter, high fdrequency component will, by filtering, therefore can be done following simplification through testing circuit:
1) cut-off frequency much larger than the low pass filter of counter electromotive force detection circuit because of the PWM modulating frequency, the PWM chopping voltage of high frequency can be approximate with its average voltage;
2) same, the generator neutral point voltage fluctuation, can be approximate with its mean value also by filtering;
3) the phase back electromotive force is that 120 ° of flat-tops are wide, the PWM ripple that equivalent amplitude value is busbar voltage;
Brachium pontis modulation on adopting, during lower brachium pontis conduction mode (PWM-ON), terminal voltage can be simplified to model as shown in Figure 4, wherein,
Figure 2011103340533100002DEST_PATH_IMAGE001
for the voltage sum of ideal line back electromotive force and desirable neutral point,
Figure 2011103340533100002DEST_PATH_IMAGE002
for the voltage distortion that the electric current afterflow causes, terminal voltage
Figure 2011103340533100002DEST_PATH_IMAGE003
equal
Figure 2011103340533100002DEST_PATH_IMAGE004
with
Figure 2011103340533100002DEST_PATH_IMAGE005
sum, =
Figure 2011103340533100002DEST_PATH_IMAGE007
+
Figure 2011103340533100002DEST_PATH_IMAGE008
(voltage reference points is the bus negative pole);
Terminal voltage in Fig. 4
Figure 2011103340533100002DEST_PATH_IMAGE009
can be divided into 6 states, wherein, for the phase angle of controlling phase from during 0 °-60 °,
Figure 2011103340533100002DEST_PATH_IMAGE011
for phase angle from 60 °- ,
Figure 2011103340533100002DEST_PATH_IMAGE014
for phase angle from
Figure 203734DEST_PATH_IMAGE013
during-120 °,
Figure 2011103340533100002DEST_PATH_IMAGE015
for phase angle from during 120 °-240 °,
Figure 2011103340533100002DEST_PATH_IMAGE016
for phase angle from 240 °-
Figure 2011103340533100002DEST_PATH_IMAGE018
during this time,
Figure 2011103340533100002DEST_PATH_IMAGE019
for phase angle from
Figure 67916DEST_PATH_IMAGE018
during-300 °,
Figure 2011103340533100002DEST_PATH_IMAGE020
for phase angle from 300 °-360 °, wherein 60 °<
Figure 889021DEST_PATH_IMAGE013
<120 °, 240 °<
Figure 51012DEST_PATH_IMAGE018
<300 °, its state is respectively:
1)
Figure 50192DEST_PATH_IMAGE010
with
Figure 272226DEST_PATH_IMAGE020
constantly: this descends brachium pontis conducting, terminal voltage mutually
Figure 622436DEST_PATH_IMAGE003
with
Figure 2011103340533100002DEST_PATH_IMAGE021
equating, is the bus cathode voltage, is labeled as 0,
Figure 2011103340533100002DEST_PATH_IMAGE022
be also 0, now
Figure 2011103340533100002DEST_PATH_IMAGE023
the not detection of impact position signal;
2) time period: the motor commutation, electric current is through the afterflow of upper brachium pontis anti-paralleled diode, and voltage is busbar voltage by clamper
Figure 2011103340533100002DEST_PATH_IMAGE024
,
Figure 2011103340533100002DEST_PATH_IMAGE025
the linear rising with the increase of phase back electromotive force;
Figure 2011103340533100002DEST_PATH_IMAGE026
for
Figure 2011103340533100002DEST_PATH_IMAGE027
with
Figure 2011103340533100002DEST_PATH_IMAGE028
poor, ;
3) time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum.Neutral point voltage is direct current biasing, and back electromotive force is linear to rise, terminal voltage with
Figure 333275DEST_PATH_IMAGE025
the linear rising; be 0, inoperative;
4)
Figure 105534DEST_PATH_IMAGE015
time period: this goes up brachium pontis modulation, duty ratio mutually
Figure 2011103340533100002DEST_PATH_IMAGE032
with busbar voltage
Figure 2011103340533100002DEST_PATH_IMAGE033
product with
Figure 2011103340533100002DEST_PATH_IMAGE034
pass be
Figure 2011103340533100002DEST_PATH_IMAGE035
, terminal voltage
Figure 422377DEST_PATH_IMAGE030
equal
Figure 724045DEST_PATH_IMAGE025
, have
Figure 2011103340533100002DEST_PATH_IMAGE036
;
Figure 959986DEST_PATH_IMAGE022
be 0, the not detection of impact position signal;
5) time period: the motor commutation, electric current is through the afterflow of lower brachium pontis anti-paralleled diode, and terminal voltage is bus ground voltage 0 by clamper,
Figure 2011103340533100002DEST_PATH_IMAGE037
with back electromotive force reduce and linear decline, for
Figure 2011103340533100002DEST_PATH_IMAGE039
with poor, ;
6)
Figure 340075DEST_PATH_IMAGE019
time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum, and neutral point voltage is direct current biasing, and back electromotive force is linear to descend, terminal voltage
Figure 168354DEST_PATH_IMAGE030
with
Figure 2011103340533100002DEST_PATH_IMAGE042
linear decline, be 0, the not detection of impact position signal;
By the decomposition to terminal voltage,
Figure 2011103340533100002DEST_PATH_IMAGE044
the same with when heavy duty in underloading, and
Figure 2011103340533100002DEST_PATH_IMAGE045
very large difference is arranged, and during underloading, electric current is little,
Figure 2011103340533100002DEST_PATH_IMAGE046
with it is very short,
Figure 259730DEST_PATH_IMAGE045
action time very short, its voltagesecond product is very little, has
Figure 2011103340533100002DEST_PATH_IMAGE047
(
Figure 2011103340533100002DEST_PATH_IMAGE048
=
Figure 2011103340533100002DEST_PATH_IMAGE049
,
Figure 183955DEST_PATH_IMAGE016
), therefore the position input only being caused to faint impact, can ignore, during heavy duty, electric current is large,
Figure 2011103340533100002DEST_PATH_IMAGE050
with
Figure 2011103340533100002DEST_PATH_IMAGE051
continue the longer time, voltagesecond product
Figure 2011103340533100002DEST_PATH_IMAGE052
can not ignore, it is serious on the impact of position detection signal, and the phase advance angle of generation is spent greatly, and Fig. 5 is terminal voltage
Figure 4756DEST_PATH_IMAGE009
voltage with its decomposition
Figure 2011103340533100002DEST_PATH_IMAGE053
with
Figure 2011103340533100002DEST_PATH_IMAGE054
the signal of the generation after low pass filter, the leading back-emf signal of afterflow interference signal, make their synthetic terminal voltage signals that superposes be ahead of back-emf signal, the amplitude of afterflow interference signal is larger, the leading angle of terminal voltage signal is larger, the terminal voltage phase place makes the zero crossing of terminal voltage constantly arrive in advance in advance, the zero crossing that detection obtains departs from real back electromotive force zero-crossing, when the increase along with load current, the phase advance angle degree increases thereupon, when leading angle is excessive, it is severe that the commutation situation becomes, cause current distortion, have influence on conversely terminal voltage waveform and position detection signal, cause the further deterioration of commutation, finally cause commutation failure,
By the foundation of above-mentioned model, to the decomposition analysis of terminal voltage, back electromotive force detection signal phase relation when we can obtain underloading and heavy duty is exactly in fact
Figure 785761DEST_PATH_IMAGE025
with
Figure 2011103340533100002DEST_PATH_IMAGE055
+
Figure 2011103340533100002DEST_PATH_IMAGE056
phase relation, due to
Figure 2011103340533100002DEST_PATH_IMAGE057
with
Figure 2011103340533100002DEST_PATH_IMAGE058
cycle is the same, equal through the phase delay of low pass filter, so the difference of the position signalling phase angle under underloading and heavy duty depends on
Figure 2011103340533100002DEST_PATH_IMAGE059
with angle and amplitude, thus, draw the heavy duty under the phase compensation computational methods:
Under step voltage, low pass filter zero state response computing formula is
Figure 2011103340533100002DEST_PATH_IMAGE060
(1)
Wherein
Figure 2011103340533100002DEST_PATH_IMAGE061
, ,
Figure 2011103340533100002DEST_PATH_IMAGE063
with
Figure 2011103340533100002DEST_PATH_IMAGE064
mean
Figure 967399DEST_PATH_IMAGE063
with an end warp after the C series connection with a phase terminal voltage signal input part, be connected, the other end is connected with square wave back electromotive force circuit, as shown in Figure 1.Voltage through low pass filter
Figure 2011103340533100002DEST_PATH_IMAGE065
with the simulation neutral point voltage
Figure 2011103340533100002DEST_PATH_IMAGE066
relatively, thereby obtain the zero crossing of back electromotive force, ignore the fluctuation of neutral point voltage, for
Figure 2011103340533100002DEST_PATH_IMAGE068
mean value, therefore, only consider
Figure 2011103340533100002DEST_PATH_IMAGE069
alternating current component, have
(2)
In counter electromotive force detection circuit, select suitable resistance and electric capacity shown in accompanying drawing 1, make
Figure 2011103340533100002DEST_PATH_IMAGE071
, obtain
Figure 2011103340533100002DEST_PATH_IMAGE072
(3)
Will
Figure 2011103340533100002DEST_PATH_IMAGE073
make the step signal of Approximate Equivalent and process, bring formula (3) into and obtain
Figure 365853DEST_PATH_IMAGE045
the AC amplitude of output voltage after low pass filter
Figure 2011103340533100002DEST_PATH_IMAGE074
have
Figure 2011103340533100002DEST_PATH_IMAGE075
(4)
Wherein, for the afterflow angle, it is the electric current time of afterflow
Figure 2011103340533100002DEST_PATH_IMAGE077
the electrical degree of conversion,
Figure 2011103340533100002DEST_PATH_IMAGE078
for the frequency of counter electromotive force of motor,
Figure 2011103340533100002DEST_PATH_IMAGE079
for revising scale factor, get here
Figure 2011103340533100002DEST_PATH_IMAGE080
=1,
In like manner
Figure 575380DEST_PATH_IMAGE053
the AC amplitude of output voltage after low pass filter
Figure 2011103340533100002DEST_PATH_IMAGE081
have
Figure 2011103340533100002DEST_PATH_IMAGE082
(5)
Figure 2011103340533100002DEST_PATH_IMAGE083
with
Figure 2011103340533100002DEST_PATH_IMAGE084
phase place
Figure 2011103340533100002DEST_PATH_IMAGE085
basically with
Figure 2011103340533100002DEST_PATH_IMAGE086
with fundamental phase consistent, with relevant, its relational expression can be expressed as
(6)
And meet ,
Figure 2011103340533100002DEST_PATH_IMAGE091
to solve be nonlinear, calculation of complex, but due to
Figure 2011103340533100002DEST_PATH_IMAGE092
fluctuation range is less, adopts the method for engineering approximation, can think that it is for often being worth approximate calculation
According to formula (4) and formula (5), as shown in Figure 6,
Figure 2011103340533100002DEST_PATH_IMAGE093
with
Figure 2011103340533100002DEST_PATH_IMAGE094
phase angle
Figure 994390DEST_PATH_IMAGE095
meet
Figure 2011103340533100002DEST_PATH_IMAGE096
(7)
When
Figure 2011103340533100002DEST_PATH_IMAGE097
while getting 20 °, can try to achieve
Figure 2011103340533100002DEST_PATH_IMAGE098
(8)
In formula:
Figure 51952DEST_PATH_IMAGE095
for offset angle,
Figure 122676DEST_PATH_IMAGE094
aC amplitude for back-emf signal after low pass filter,
Figure 113765DEST_PATH_IMAGE084
for the AC amplitude of current interference signal after low pass filter,
Present microprocessor can easily process calculate above-mentioned formula push away the leading angle of phase place, therefore after the relation that records electric current afterflow angle and size of current, only need to detect electric machine phase current, controller can be determined leading phase angle in real time, because the commutation of phase angular advance is conducive to reduce the torque pulsation of brshless DC motor, so can according to size of current and rotating speed suitable carry out phase angle compensation, thereby make motor reach optimal operational condition.
the accompanying drawing explanation
Fig. 1 is counter electromotive force detection circuit in the present invention.
Fig. 2 is under heavy duty, back electromotive force detection signal when current time is very long and Hall detection signal.Wherein signal 1 is back electromotive force U phase detection signal, and signal 2 is Hall U phase detection signal, and signal 3 is the back-emf signal after depth filtering, and signal 4 is simulation neutral point voltage signal.
The signal waveforms of phase compensation when Fig. 3 is the process heavy duty.
Fig. 3-1st, phase signal oscillogram during underloading.
Fig. 3-2nd, phase compensation signal waveforms during heavy duty.
In figure: 1, terminal voltage, 2, the back electromotive force commutation, 3, the Hall commutation, 4, signal location, 5, the simulation neutral point.
Fig. 4 is terminal voltage and exploded view thereof.
Fig. 5 is the terminal voltage after low pass filter and decomposes figure.
In figure: 1, afterflow interference signal, 2, terminal voltage signal, 3, the phase back-emf signal.
Fig. 6 is for analyzing the phase relation between each voltage.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further illustrated:
As shown in drawings, a kind of brushless DC motor without position sensor heavy duty phase compensation computational methods, it is characterized in that adopting meal electromotive force detection method, detect three phase terminals voltage by counter electromotive force detection circuit (as Fig. 1), after carrying out depth filtering, with the simulation neutral point, compares again by filter circuit, generate rotor-position signal through dsp processor, the method when heavy duty because electric current is very large, time of afterflow is long, can affect the three phase terminals voltage waveform of " ideal ", cause wave distortion, affected the accuracy of the position signalling detected, be the position detection signal experimental waveform under heavy duty as shown in Figure 2, wherein signal 1 is the back electromotive force detection signal, signal 4 is the hall position detection signal, clearly, the back electromotive force detection signal has larger deviation with the Hall detection signal that approaches the best commutation moment, as then accompanying drawing 3 is divided into terminal voltage back-emf signal and electric current afterflow interference signal, two kinds of signals are carried out to the calculating of phase place and amplitude, obtain the phase advance angle degree of the rotor-position signal that caused by the electric current afterflow, compensated, concrete compensation computational methods are as follows: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under heavy duty is analyzed:
Because counter electromotive force detection circuit is a low pass filter, high fdrequency component will, by filtering, therefore can be done following simplification through testing circuit:
1) cut-off frequency much larger than the low pass filter of counter electromotive force detection circuit because of the PWM modulating frequency, the PWM chopping voltage of high frequency can be approximate with its average voltage;
2) same, the generator neutral point voltage fluctuation, can be approximate with its mean value also by filtering;
3) the phase back electromotive force is that 120 ° of flat-tops are wide, the PWM ripple that equivalent amplitude value is busbar voltage;
Brachium pontis modulation on adopting, during lower brachium pontis conduction mode (PWM-ON), terminal voltage can be simplified to model as shown in Figure 4, wherein,
Figure 891229DEST_PATH_IMAGE001
for the voltage sum of ideal line back electromotive force and desirable neutral point,
Figure 309572DEST_PATH_IMAGE002
for the voltage distortion that the electric current afterflow causes, terminal voltage
Figure 539696DEST_PATH_IMAGE003
equal with
Figure 966446DEST_PATH_IMAGE005
sum,
Figure 618007DEST_PATH_IMAGE006
=
Figure 601007DEST_PATH_IMAGE007
+ (voltage reference points is the bus negative pole);
Terminal voltage in Fig. 4
Figure 417446DEST_PATH_IMAGE009
can be divided into 6 states, wherein,
Figure 443170DEST_PATH_IMAGE010
for the phase angle of controlling phase from during 0 °-60 °,
Figure 647887DEST_PATH_IMAGE011
for phase angle from 60 °-
Figure 784470DEST_PATH_IMAGE013
,
Figure 125453DEST_PATH_IMAGE014
for phase angle from
Figure 384396DEST_PATH_IMAGE013
during-120 °,
Figure 14091DEST_PATH_IMAGE015
for phase angle from during 120 °-240 °, for phase angle from 240 °-
Figure 209242DEST_PATH_IMAGE018
during this time,
Figure 576769DEST_PATH_IMAGE019
for phase angle from during-300 °,
Figure 968884DEST_PATH_IMAGE020
for phase angle from 300 °-360 °, wherein 60 °<
Figure 550039DEST_PATH_IMAGE013
<120 °, 240 °<
Figure 822888DEST_PATH_IMAGE018
<300 °,
Its state is respectively:
1)
Figure 489493DEST_PATH_IMAGE010
with
Figure 568307DEST_PATH_IMAGE020
constantly: this descends brachium pontis conducting, terminal voltage mutually
Figure 3968DEST_PATH_IMAGE003
with
Figure 444789DEST_PATH_IMAGE021
equating, is the bus cathode voltage, is labeled as 0,
Figure 598690DEST_PATH_IMAGE022
be also 0, now
Figure 418878DEST_PATH_IMAGE023
the not detection of impact position signal;
2)
Figure 709045DEST_PATH_IMAGE011
time period: the motor commutation, electric current is through the afterflow of upper brachium pontis anti-paralleled diode, and voltage is busbar voltage by clamper
Figure 589276DEST_PATH_IMAGE024
,
Figure 964894DEST_PATH_IMAGE025
the linear rising with the increase of phase back electromotive force;
Figure 323194DEST_PATH_IMAGE026
for
Figure 795764DEST_PATH_IMAGE027
with
Figure 581317DEST_PATH_IMAGE028
poor,
Figure 441301DEST_PATH_IMAGE029
;
3)
Figure 603292DEST_PATH_IMAGE014
time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum.Neutral point voltage is direct current biasing, and back electromotive force is linear to rise, terminal voltage
Figure 868052DEST_PATH_IMAGE030
with the linear rising; be 0, inoperative;
4)
Figure 202715DEST_PATH_IMAGE015
time period: this goes up brachium pontis modulation, duty ratio mutually
Figure 321981DEST_PATH_IMAGE032
with busbar voltage product with
Figure 552422DEST_PATH_IMAGE034
pass be
Figure 118533DEST_PATH_IMAGE035
, terminal voltage
Figure 925313DEST_PATH_IMAGE030
equal
Figure 489149DEST_PATH_IMAGE025
, have
Figure 813951DEST_PATH_IMAGE036
; be 0, the not detection of impact position signal;
5)
Figure 949715DEST_PATH_IMAGE016
time period: the motor commutation, electric current is through the afterflow of lower brachium pontis anti-paralleled diode, and terminal voltage is bus ground voltage 0 by clamper, with back electromotive force reduce and linear decline,
Figure 293288DEST_PATH_IMAGE038
for
Figure 404464DEST_PATH_IMAGE039
with
Figure 352828DEST_PATH_IMAGE040
poor,
Figure 255538DEST_PATH_IMAGE041
;
6)
Figure 289353DEST_PATH_IMAGE019
time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum, and neutral point voltage is direct current biasing, and back electromotive force is linear to descend, terminal voltage
Figure 735378DEST_PATH_IMAGE030
with
Figure 803828DEST_PATH_IMAGE042
linear decline, be 0, the not detection of impact position signal;
By the decomposition to terminal voltage, the same with when heavy duty in underloading, and
Figure 588878DEST_PATH_IMAGE045
very large difference is arranged, and during underloading, electric current is little,
Figure 574152DEST_PATH_IMAGE046
with
Figure 821593DEST_PATH_IMAGE016
it is very short,
Figure 830001DEST_PATH_IMAGE045
action time very short, its voltagesecond product is very little, has
Figure 818161DEST_PATH_IMAGE047
( =
Figure 76284DEST_PATH_IMAGE049
, ), therefore the position input only being caused to faint impact, can ignore, during heavy duty, electric current is large,
Figure 101189DEST_PATH_IMAGE050
with
Figure 733158DEST_PATH_IMAGE051
continue the longer time, voltagesecond product
Figure 322403DEST_PATH_IMAGE052
can not ignore, it is serious on the impact of position detection signal, and the phase advance angle of generation is spent greatly, and Fig. 5 is terminal voltage
Figure 305402DEST_PATH_IMAGE009
voltage with its decomposition
Figure 700611DEST_PATH_IMAGE053
with
Figure 187087DEST_PATH_IMAGE054
the signal of the generation after low pass filter, the leading back-emf signal 3 of afterflow interference signal 1, make their synthetic terminal voltage signals 2 that superposes be ahead of back-emf signal 3, the amplitude of afterflow interference signal 1 is larger, the leading angle of terminal voltage signal 2 is larger, the terminal voltage phase place makes the zero crossing of terminal voltage constantly arrive in advance in advance, the zero crossing that detection obtains departs from real back electromotive force zero-crossing, when the increase along with load current, the phase advance angle degree increases thereupon, when leading angle is excessive, it is severe that the commutation situation becomes, cause current distortion, have influence on conversely terminal voltage waveform and position detection signal, cause the further deterioration of commutation, finally cause commutation failure,
By the foundation of above-mentioned model, to the decomposition analysis of terminal voltage, back electromotive force detection signal phase relation when we can obtain underloading and heavy duty is exactly in fact
Figure 209883DEST_PATH_IMAGE025
with
Figure 414599DEST_PATH_IMAGE055
+
Figure 285603DEST_PATH_IMAGE056
phase relation, due to
Figure 892165DEST_PATH_IMAGE057
with
Figure 88791DEST_PATH_IMAGE058
cycle is the same, equal through the phase delay of low pass filter, so the difference of the position signalling phase angle under underloading and heavy duty depends on
Figure 515224DEST_PATH_IMAGE059
with angle and amplitude, thus, draw the heavy duty under the phase compensation computational methods:
Under step voltage, low pass filter zero state response computing formula is
Figure 978884DEST_PATH_IMAGE060
(1)
Wherein
Figure 80832DEST_PATH_IMAGE061
, ,
Figure 735597DEST_PATH_IMAGE063
with
Figure 51171DEST_PATH_IMAGE064
mean
Figure 589600DEST_PATH_IMAGE063
with an end warp after the C series connection
Figure 990626DEST_PATH_IMAGE062
with a phase terminal voltage signal input part, be connected, the other end is connected with square wave back electromotive force circuit, as shown in Figure 1, and through the voltage of low pass filter with the simulation neutral point voltage
Figure 708363DEST_PATH_IMAGE066
relatively, thereby obtain the zero crossing of back electromotive force, ignore the fluctuation of neutral point voltage,
Figure 152114DEST_PATH_IMAGE067
for
Figure 303085DEST_PATH_IMAGE068
mean value, therefore, only consider
Figure 123273DEST_PATH_IMAGE069
alternating current component, have
Figure 475757DEST_PATH_IMAGE070
(2)
In counter electromotive force detection circuit, select suitable resistance and electric capacity shown in accompanying drawing 1, make
Figure 90409DEST_PATH_IMAGE071
, obtain
(3)
Will make the step signal of Approximate Equivalent and process, bring formula (3) into and obtain
Figure 234580DEST_PATH_IMAGE045
the AC amplitude of output voltage after low pass filter
Figure 285713DEST_PATH_IMAGE074
have
Figure 210943DEST_PATH_IMAGE075
(4)
Wherein,
Figure 372934DEST_PATH_IMAGE076
for the afterflow angle, it is the electric current time of afterflow
Figure 572447DEST_PATH_IMAGE077
the electrical degree of conversion,
Figure 794481DEST_PATH_IMAGE078
for the frequency of counter electromotive force of motor,
Figure 941428DEST_PATH_IMAGE079
for revising scale factor, get here
Figure 907110DEST_PATH_IMAGE080
=1,
In like manner
Figure 26376DEST_PATH_IMAGE053
the AC amplitude of output voltage after low pass filter
Figure 419311DEST_PATH_IMAGE081
have
Figure 256817DEST_PATH_IMAGE082
(5)
with
Figure 796700DEST_PATH_IMAGE084
phase place
Figure 357607DEST_PATH_IMAGE085
basically with
Figure 416830DEST_PATH_IMAGE086
with
Figure 724314DEST_PATH_IMAGE087
fundamental phase consistent,
Figure 818172DEST_PATH_IMAGE085
with
Figure 615227DEST_PATH_IMAGE088
relevant, its relational expression can be expressed as
(6)
And meet ,
Figure 955707DEST_PATH_IMAGE091
to solve be nonlinear, calculation of complex, but due to fluctuation range is less, adopts the method for engineering approximation, can think that it is for often being worth approximate calculation
According to formula (4) and formula (5), as shown in Figure 6,
Figure 915669DEST_PATH_IMAGE093
with
Figure 627273DEST_PATH_IMAGE094
phase angle
Figure 695723DEST_PATH_IMAGE095
meet
Figure 772263DEST_PATH_IMAGE096
(7)
When
Figure 27795DEST_PATH_IMAGE097
while getting 20 °, can try to achieve
Figure 480773DEST_PATH_IMAGE098
(8)
In formula:
Figure 466047DEST_PATH_IMAGE095
for offset angle,
aC amplitude for back-emf signal after low pass filter,
Figure 456317DEST_PATH_IMAGE084
for the AC amplitude of current interference signal after low pass filter,
Present microprocessor can easily process calculate above-mentioned formula push away the leading angle of phase place, therefore after the relation that records electric current afterflow angle and size of current, only need to detect electric machine phase current, controller can be determined leading phase angle in real time, because the commutation of phase angular advance is conducive to reduce the torque pulsation of brshless DC motor, so can according to size of current and rotating speed suitable carry out phase angle compensation, thereby make motor reach optimal operational condition.

Claims (1)

1. brushless DC motor without position sensor heavy duty phase compensation computational methods, it is characterized in that adopting the back electromotive force detection method, detect three phase terminals voltage by counter electromotive force detection circuit, after carrying out depth filtering, with the simulation neutral point, compares again by filter circuit, generate rotor-position signal through dsp processor, terminal voltage is divided into to back-emf signal and electric current afterflow interference signal, two kinds of signals are carried out to the calculating of phase place and amplitude, obtain the phase advance angle degree of the rotor-position signal that caused by the electric current afterflow, compensated, concrete steps are as follows: in order to analyze the phase deviation phenomenon that makes motor position detection signal when the heavy duty, below the terminal voltage under heavy duty is analyzed:
Because counter electromotive force detection circuit is a low pass filter, high fdrequency component will, by filtering, therefore be done following simplification through testing circuit:
1) cut-off frequency much larger than the low pass filter of counter electromotive force detection circuit because of the PWM modulating frequency, the PWM chopping voltage of high frequency is approximate with its average voltage;
2) same, the generator neutral point voltage fluctuation is also by filtering, approximate with its mean value;
3) the phase back electromotive force is that 120 ° of flat-tops are wide, the PWM ripple that equivalent amplitude value is busbar voltage;
Brachium pontis modulation on adopting, during lower brachium pontis conduction mode (PWM-ON), terminal voltage is simplified to as drag, wherein,
Figure 2011103340533100001DEST_PATH_IMAGE001
for the voltage sum of ideal line back electromotive force and desirable neutral point,
Figure 2011103340533100001DEST_PATH_IMAGE002
for the voltage distortion that the electric current afterflow causes, terminal voltage equal
Figure 2011103340533100001DEST_PATH_IMAGE004
with
Figure 2011103340533100001DEST_PATH_IMAGE005
sum, =
Figure 2011103340533100001DEST_PATH_IMAGE007
+
Figure 2011103340533100001DEST_PATH_IMAGE008
;
Terminal voltage
Figure 2011103340533100001DEST_PATH_IMAGE009
be divided into 6 states, wherein,
Figure 2011103340533100001DEST_PATH_IMAGE010
for the phase angle of controlling phase from during 0 °-60 °,
Figure DEST_PATH_IMAGE011
for phase angle from 60 °-
Figure DEST_PATH_IMAGE013
,
Figure 2011103340533100001DEST_PATH_IMAGE014
for phase angle from
Figure 271991DEST_PATH_IMAGE013
during-120 °,
Figure DEST_PATH_IMAGE015
for phase angle from during 120 °-240 °, for phase angle from 240 °-
Figure 2011103340533100001DEST_PATH_IMAGE018
during this time,
Figure DEST_PATH_IMAGE019
for phase angle from
Figure 862504DEST_PATH_IMAGE018
during-300 °,
Figure 2011103340533100001DEST_PATH_IMAGE020
for phase angle from 300 °-360 °, wherein 60 °<
Figure 218530DEST_PATH_IMAGE013
<120 °, 240 °<
Figure 734741DEST_PATH_IMAGE018
<300 °,
Its state is respectively:
1) with
Figure 223808DEST_PATH_IMAGE020
constantly: this descends brachium pontis conducting, terminal voltage mutually with
Figure DEST_PATH_IMAGE021
equating, is the bus cathode voltage, is labeled as 0,
Figure 2011103340533100001DEST_PATH_IMAGE022
be also 0, now
Figure DEST_PATH_IMAGE023
the not detection of impact position signal;
2)
Figure 343522DEST_PATH_IMAGE011
time period: the motor commutation, electric current is through the afterflow of upper brachium pontis anti-paralleled diode, and voltage is busbar voltage by clamper
Figure DEST_PATH_IMAGE024
,
Figure DEST_PATH_IMAGE025
the linear rising with the increase of phase back electromotive force;
Figure DEST_PATH_IMAGE026
for
Figure DEST_PATH_IMAGE027
with
Figure DEST_PATH_IMAGE028
poor, ;
3) time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum;
Neutral point voltage is direct current biasing, and back electromotive force is linear to rise, terminal voltage
Figure DEST_PATH_IMAGE030
with
Figure 113956DEST_PATH_IMAGE025
the linear rising;
Figure DEST_PATH_IMAGE031
be 0, inoperative;
4)
Figure 811785DEST_PATH_IMAGE015
time period: this goes up brachium pontis modulation, duty ratio mutually
Figure DEST_PATH_IMAGE032
with busbar voltage
Figure DEST_PATH_IMAGE033
product with
Figure DEST_PATH_IMAGE034
pass be
Figure DEST_PATH_IMAGE035
, terminal voltage
Figure 826621DEST_PATH_IMAGE030
equal
Figure 963204DEST_PATH_IMAGE025
, have
Figure DEST_PATH_IMAGE036
;
Figure 569766DEST_PATH_IMAGE022
be 0, the not detection of impact position signal;
5)
Figure 500813DEST_PATH_IMAGE016
time period: the motor commutation, electric current is through the afterflow of lower brachium pontis anti-paralleled diode, and terminal voltage is bus ground voltage 0 by clamper,
Figure DEST_PATH_IMAGE037
with back electromotive force reduce and linear decline, for
Figure DEST_PATH_IMAGE039
with
Figure DEST_PATH_IMAGE040
poor,
Figure DEST_PATH_IMAGE041
;
6)
Figure 940628DEST_PATH_IMAGE019
time period: this is mutually unsettled, and phase terminal voltage is phase back electromotive force and neutral point voltage sum, and neutral point voltage is direct current biasing, and back electromotive force is linear to descend, terminal voltage
Figure 880902DEST_PATH_IMAGE030
with
Figure DEST_PATH_IMAGE042
linear decline,
Figure DEST_PATH_IMAGE043
be 0, the not detection of impact position signal;
By the decomposition to terminal voltage, the same with when heavy duty in underloading, and
Figure DEST_PATH_IMAGE045
very large difference is arranged, and during underloading, electric current is little,
Figure DEST_PATH_IMAGE046
with
Figure 89773DEST_PATH_IMAGE016
it is very short, action time very short, its voltagesecond product is very little, has
Figure DEST_PATH_IMAGE047
(
Figure DEST_PATH_IMAGE048
=
Figure DEST_PATH_IMAGE049
,
Figure 246396DEST_PATH_IMAGE016
), therefore the position input is only caused to faint impact, ignore, during heavy duty, electric current is large, with continue the longer time, voltagesecond product do not ignore, it is serious on the impact of position detection signal, and the phase advance angle of generation is spent greatly, terminal voltage
Figure DEST_PATH_IMAGE053
voltage with its decomposition
Figure DEST_PATH_IMAGE054
with the signal of the generation after low pass filter, the leading back-emf signal of afterflow interference signal, make their synthetic terminal voltage signals that superposes be ahead of back-emf signal, the amplitude of afterflow interference signal is larger, the leading angle of terminal voltage signal is larger, the terminal voltage phase place makes the zero crossing of terminal voltage constantly arrive in advance in advance, the zero crossing that detection obtains departs from real back electromotive force zero-crossing, when the increase along with load current, the phase advance angle degree increases thereupon, when leading angle is excessive, it is severe that the commutation situation becomes, cause current distortion, have influence on conversely terminal voltage waveform and position detection signal, cause the further deterioration of commutation, finally cause commutation failure,
By the foundation of above-mentioned model, to the decomposition analysis of terminal voltage, the back electromotive force detection signal phase relation while obtaining underloading and heavy duty is exactly in fact
Figure 410268DEST_PATH_IMAGE025
with +
Figure DEST_PATH_IMAGE057
phase relation, due to
Figure DEST_PATH_IMAGE058
with
Figure DEST_PATH_IMAGE059
cycle is the same, equal through the phase delay of low pass filter, so the difference of the position signalling phase angle under underloading and heavy duty depends on
Figure DEST_PATH_IMAGE060
with
Figure 473645DEST_PATH_IMAGE023
angle and amplitude, thus, draw the heavy duty under the phase compensation computational methods:
Under step voltage, low pass filter zero state response computing formula is
Figure DEST_PATH_IMAGE061
(1)
Wherein
Figure DEST_PATH_IMAGE062
,
Figure DEST_PATH_IMAGE063
,
Figure DEST_PATH_IMAGE064
with expression R 2after connecting with C, an end is through R 1with a phase terminal voltage signal input part, be connected, the other end is connected with square wave back electromotive force circuit,
Voltage through low pass filter
Figure DEST_PATH_IMAGE065
with the simulation neutral point voltage
Figure DEST_PATH_IMAGE066
relatively, thereby obtain the zero crossing of back electromotive force, ignore the fluctuation of neutral point voltage, for
Figure DEST_PATH_IMAGE068
mean value, therefore, only consider
Figure DEST_PATH_IMAGE069
alternating current component, have
Figure DEST_PATH_IMAGE070
(2)
In counter electromotive force detection circuit, select suitable resistance and electric capacity, make
Figure DEST_PATH_IMAGE071
, obtain
Figure DEST_PATH_IMAGE072
(3)
Will
Figure DEST_PATH_IMAGE073
make the step signal of Approximate Equivalent and process, bring formula (3) into and obtain
Figure 323659DEST_PATH_IMAGE045
the AC amplitude of output voltage after low pass filter
Figure DEST_PATH_IMAGE074
have
Figure DEST_PATH_IMAGE075
(4)
Wherein,
Figure DEST_PATH_IMAGE076
for the afterflow angle, it is the electric current time of afterflow the electrical degree of conversion,
Figure DEST_PATH_IMAGE078
for the frequency of counter electromotive force of motor,
Figure DEST_PATH_IMAGE079
for revising scale factor, get here
Figure DEST_PATH_IMAGE080
=1,
In like manner
Figure 371291DEST_PATH_IMAGE054
the AC amplitude of output voltage after low pass filter
Figure DEST_PATH_IMAGE081
have
Figure DEST_PATH_IMAGE082
(5)
Figure DEST_PATH_IMAGE083
with phase place
Figure DEST_PATH_IMAGE085
basically with
Figure DEST_PATH_IMAGE086
with fundamental phase consistent,
Figure 338853DEST_PATH_IMAGE085
with
Figure DEST_PATH_IMAGE088
relevant, its relational expression can be expressed as
Figure DEST_PATH_IMAGE089
(6)
And meet
Figure DEST_PATH_IMAGE090
,
Figure DEST_PATH_IMAGE091
to solve be nonlinear, calculation of complex, but due to
Figure DEST_PATH_IMAGE092
fluctuation range is less, adopts the method for engineering approximation, and it is normal value approximate calculation,
According to formula (4) and formula (5),
Figure DEST_PATH_IMAGE093
with
Figure DEST_PATH_IMAGE094
phase angle
Figure DEST_PATH_IMAGE095
meet
Figure DEST_PATH_IMAGE096
(7)
When
Figure DEST_PATH_IMAGE097
while getting 20 °, can try to achieve
Figure DEST_PATH_IMAGE098
(8)
In formula:
Figure 945153DEST_PATH_IMAGE095
for offset angle,
Figure 654483DEST_PATH_IMAGE094
aC amplitude for back-emf signal after low pass filter,
Figure 542804DEST_PATH_IMAGE084
for the AC amplitude of current interference signal after low pass filter,
Utilize microprocessor calculate above-mentioned formula push away the leading angle of phase place.
CN2011103340533A 2011-09-15 2011-10-28 Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor Expired - Fee Related CN102437805B (en)

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