CN102790568B - Soft start control system for high-speed brushless DC motor - Google Patents
Soft start control system for high-speed brushless DC motor Download PDFInfo
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- CN102790568B CN102790568B CN201210272028.1A CN201210272028A CN102790568B CN 102790568 B CN102790568 B CN 102790568B CN 201210272028 A CN201210272028 A CN 201210272028A CN 102790568 B CN102790568 B CN 102790568B
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Abstract
A soft start control system for a high-speed brushless DC motor mainly comprises a digital controller, a controllable three-phase rectifier bridge, a DC chopper, a three-phase inverter bridge, a current sensor, the high-speed brushless DC motor and other parts. In order to solve the problem that the start current of the high-speed brushless DC motor is large, the controllable three-phase rectifier bridge and the DC chopper are adopted to carry out two-stage voltage modulation so as to control the DC bus voltage of the three-phase inverter bridge; and the digital controller is adopted to regulate the duty ratio of five-path PWM (Pulse-Width Modulation) drive signals and six-path phase commutation signals according to three-phase inverter bridge DC bus current feedback signals and motor rotation speed feedback signals and control the three-phase inverter bridge DC bus voltage and the phase commutation frequency so as to realize the voltage-reduction variable-frequency soft start of the brushless DC motor. The soft start control system provided by the invention effectively solves the soft start problem of the high-speed brushless DC motor, and has a significant application value for the research of the soft start control of the high-speed brushless DC motor.
Description
Technical field
The present invention relates to high-speed brushless direct-current flexible starter for electric motor control system, particularly adopt the soft start control system of the low generator loss under brushless DC motor position transducer control mode, can be used as a kind of soft start control system of the Large-power High-Speed equipment such as molecular pump, centrifuge, compressor Large-power High-Speed motor.
Background technology
The Large-power High-Speed equipment such as molecular pump, centrifuge, compressor have the feature of small armature inductance conventionally with Large-power High-Speed brushless DC motor.Small armature inductance brushless DC motor easily occurs that starting current is large, the problem that harmonic content is high.Large starting current can cause the increase of motor copper loss, and harmonic content height can cause motor rotor eddy current loss to increase.Excessive generator loss can form pyrotoxin fast in motor interior, causes motor moment to be heated up, and affects motor performance and life-span, even directly causes motor stator winding to burn out or rotor permanent magnet demagnetization.The large starting current that harmonic content is high in addition impacts serious to electrical network, form electric network pollution, affects the normal work of other power consumption equipments of same mains supply.Therefore, need to use starting device of motor to realize flexible starter for electric motor.
At present, the starting device of motor can be divided into voltage reducing starter and the large class of varying frequency starting device two.Voltage reducing starter can not complete the commutation of brushless DC motor, can only serve as the servicing unit of Brushless DC Motor Controller.Varying frequency starting device mainly contains thyristor motor soft starter and variable-frequency governor etc.Varying frequency starting device is the combination product of modern control theory, microcontroller technology and Technics of Power Electronic Conversion technology.Thyristor motor soft starter can make terminal voltage of motor start from scratch and rise to gradually supply voltage according to the control mode setting in advance, have advantages of that output voltage range is wide, but owing to not having commutation signal to detect arbitration functions, can not ensure the correct commutation of brushless DC motor, motor back emf cannot normally be set up, and causes motor starting electric current large.Variable-frequency governor can change output voltage and frequency simultaneously, has starting torque large, the advantage that power factor is high, but starting current harmonic content is high, can cause motor stator eddy current loss to increase, the insulation of damage motor and cable.
Therefore, existing starting device of motor still can not solve Large-power High-Speed brushless DC motor starting current greatly and the high problem of starting current harmonic content, can not meet the demand of Large-power High-Speed brushless DC motor soft start.
Summary of the invention
The technical problem that the present invention solves is: solve the problem that existing Large-power High-Speed brushless DC motor starting current is large, harmonic content is high; Propose a kind of soft start control system for Large-power High-Speed brushless DC motor, this system has advantages of that starting current is little, starting current harmonic content is low.
Technical solution of the present invention is: a kind of high-speed brushless direct-current flexible starter for electric motor control system, comprises controlled three-phase commutation bridge, electrochemical capacitor group, DC chopper, braking circuit, current sensor, three phase inverter bridge, brushless DC motor, line back electromotive force zero-crossing signal deteching circuit, digitial controller, filter circuit, programmable amplifier, the first voltage sensor, second voltage transducer.Three-phase power electric is through controlled three-phase commutation bridge output voltage U 1, U1 is through the filtering of electrochemical capacitor group, and by the first voltage sensor senses, then send into DC chopper, through modulation output dc voltage U2, U2 is detected by second voltage transducer, two ends braking circuit in parallel, after U2 series current transducer, be input to the three phase inverter bridge of logic commutation, drive brushless DC motor starting.In starting process, the first voltage sensor output signal and current sensor output signal are sent into programmable amplifier and are amplified after filter circuit carries out filtering, and this two-way analog signal and second voltage transducer outputting analog signal Gong San road signal are sent into the AD translation interface of digitial controller.The line back electromotive force warp back electromotive force zero-crossing signal deteching circuit of brushless DC motor is sent into digitial controller CAP after processing catches interface.In the time that the CAP of digitial controller interface is caught line back electromotive force zero-crossing signal, forbidding DC chopper reduces high frequency chopping noise jamming, and enables braking circuit absorption chopper circuit higher-order of oscillation noise.In the time that the CAP of digitial controller interface is caught line back electromotive force zero-crossing signal, forbidding DC chopper is used for reducing high frequency chopping noise jamming, and enables braking circuit for absorbing chopper circuit higher-order of oscillation noise.
Described digitial controller is according to the feedback signal of current sensor, the first voltage sensor, second voltage transducer, adopt the two closed-loop controls of current closed-loop and speed closed loop, ensure that three phase inverter bridge bus current value is not more than setting current value, and three phase inverter bridge forces commutation frequency values to equal the anti-electronic crossover point signal frequency values of brushless DC motor line, regulates in real time the modulation signal duty ratio of controlled three-phase commutation bridge and DC chopper circuit simultaneously.
Described three phase inverter bridge only carries out logic commutation to brushless DC motor, does not carry out line voltage modulated.
Principle of the present invention is: high-speed brushless direct-current flexible starter for electric motor control system of the present invention mainly comprises controlled three-phase commutation bridge, electrochemical capacitor group, DC chopper, braking circuit, current sensor, three phase inverter bridge, brushless DC motor, line back electromotive force zero-crossing signal deteching circuit, digitial controller, filter circuit, programmable amplifier, the first voltage sensor, second voltage transducer.Brushless DC motor Soft Start-up Process comprises control system initial phase, motor starting boost phase and synchronous switch step three phases.
At the initial phase of control system, digitial controller completes program and data space distributes, and exports the controlled three-phase commutation bridge output dc voltage of three road low frequency pwm signal control U1, and U1 charges to given voltage to electrochemical capacitor group; Meanwhile, digitial controller control DC chopper, braking circuit and three phase inverter bridge make three all in disabled status.After the initialization of brushless DC motor System for Soft-starting completion system, enter the starting boost phase of brushless DC motor.
At the starting boost phase of brushless DC motor, digitial controller is exported a road high-frequency PWM signal controlling DC chopper direct voltage U1 is carried out to second level voltage modulated output three phase inverter bridge DC bus-bar voltage U2; Meanwhile, commutation frequency increments Liu road logical signal is forced in digitial controller output, and this frequency conversion commutation signal control three phase inverter bridge carries out starting starting and accelerate to control from zero-speed to brushless DC motor.The starting of motor is accelerated to control and is adopted current closed-loop and the two closed-loop controls of speed closed loop to realize.Digitial controller regulates DC chopper circuit to drive signal dutyfactor to carry out motor current closed-loop control in real time, regulates in real time controlled three-phase commutation bridge to drive signal dutyfactor and three phase inverter bridge commutation frequency to carry out motor speed closed-loop control.Motor current closed-loop control and speed closed loop control principle are: three phase inverter bridge DC bus current detects in real time and sends into filter circuit through current sensor and carries out low-pass filtering, then send into programmable amplifier and amplify the AD interface that conditioning sends into digitial controller and carry out analog-to-digital conversion, the digital signal after conversion is as the feedback signal of current closed-loop control; Digitial controller judges whether the current feedback signal that sampling obtains is greater than brushless DC motor soft start current setting value, if be greater than set point, regulate in real time DC chopper to drive the Duty ratio control three phase inverter bridge DC bus-bar voltage of signal according to the error amount of current feedback signal and current setting value, form the current closed-loop control of brushless DC motor soft start.If current sampling data is not more than set point, the CAP interface Real-time Obtaining brushless DC motor back electromotive force zero-crossing signal of digitial controller calculate its frequency values, contrast the pressure commutation frequency values of this frequency values and three phase inverter bridge, if two frequency values are not identical, show that electromotor velocity set-point and speed feedback value have error, digitial controller regulates controlled three-phase commutation bridge to drive the duty ratio of signal according to velocity error and the first voltage sensor feedback signal in real time, carries out the speed closed loop control of brushless DC motor soft start; If two frequency values are identical, enter the synchronous switch step of brushless DC motor soft start.
In the synchronous switch step of brushless DC motor soft start, line back electromotive force zero-crossing signal deteching circuit detects the line back electromotive force zero-crossing signal of brushless DC motor.The CAP interface of digitial controller is caught crossover point signal as brushless DC motor commutation signal, and according to the current rotating speed of crossover point signal frequency computation part brushless DC motor.The controlled three-phase commutation bridge of digitial controller control, DC chopper circuit and three phase inverter bridge reach the rotating speed speed stabilizing control of brushless DC motor.If brushless DC motor rotating speed is not more than 0.1% with respect to setting speed value error, show brushless DC motor soft start success, drive signal dutyfactor to carry out the adjustment of rotational speed of brushless DC motor otherwise digitial controller readjusts controlled three-phase commutation bridge.
In brushless DC motor soft start control system, digitial controller output Liu road logical signal control three phase inverter bridge only carries out logic commutation, and do not carry out motor line voltage modulation, reduce the harmonic content of brushless DC motor starting current, be convenient to reduce three phase inverter bridge DC bus current signal noise amplitude and brushless DC motor line back electromotive force zero-crossing signal noise amplitude.In the time that digitial controller obtains line back electromotive force zero-crossing signal and judges signal as brushless DC motor phase change logic, high frequency chopping noise jamming during for minimizing line back electromotive force zero-crossing signals collecting, digitial controller is temporary transient forbidding DC chopper conventionally, and enable braking circuit, increase circuit damping, absorption of noise disturbs.
The present invention's advantage is compared with prior art: (1) the present invention adopts closed-loop control to regulate in real time the driving signal dutyfactor of controlled three-phase commutation bridge and DC chopper, realize the two-stage voltage modulated to three phase inverter bridge DC bus-bar voltage, be different from the system that traditional frequency conversion soft starter only carries out inverter bridge voltage modulated, reduced high-speed brushless direct-current motor starting electric current.(2) in the present invention, three phase inverter bridge only carries out brushless DC motor frequency conversion commutation, is different from the system that traditional frequency conversion soft starter inverter bridge is carried out voltage modulated and carried out again motor frequency change commutation.The harmonic content that has reduced high-speed brushless direct-current motor stator currents, has reduced rotor block eddy current loss, has improved operational efficiency and the life-span of high-speed brushless direct-current motor.
Brief description of the drawings
Fig. 1 is high-speed brushless direct-current flexible starter for electric motor control system figure of the present invention;
Fig. 2 is the digitial controller figure of high-speed brushless direct-current motor control system of the present invention;
Fig. 3 is the digitial controller software flow pattern of high-speed brushless direct-current motor control system of the present invention;
Fig. 4 is the programmable amplifier figure of high-speed brushless direct-current motor control system of the present invention;
Embodiment
Be illustrated in figure 1 a kind of high-speed brushless direct-current flexible starter for electric motor control system, comprise controlled three-phase commutation bridge 1, electrochemical capacitor group 2, DC chopper 3, braking circuit 4, current sensor 5, three phase inverter bridge 6, brushless DC motor 7, line back electromotive force zero-crossing signal deteching circuit 8, digitial controller 9, filter circuit 10, programmable amplifier 11, second voltage transducer 12, the first voltage sensor 13.Three-phase power electric is output dc voltage U1 after controlled three-phase commutation bridge 1, U1 electrochemical capacitor group 2 in parallel is carried out filtering, electrochemical capacitor group 2 two ends the first voltage sensor 13 in parallel carries out voltage detecting, and this voltage is as DC chopper 3 input voltages, after DC chopper, the controlled direct voltage U2 that output amplitude is lower, U2 two ends second voltage transducer 12 in parallel carries out voltage detecting, and series current transducer 5 is to three phase inverter bridge 6, detects three phase inverter bridge 6 DC bus currents.Three phase inverter bridge 6 drives brushless DC motor 7 to start by logic commutation.The line back electromotive force of brushless DC motor 7 is exported three and is passed by zero signal after line back electromotive force zero-crossing signal deteching circuit.The first voltage sensor 13 is exported a road voltage analog signal, second voltage transducer 12 is exported a road voltage analog signal, current sensor 5 is exported a road current analog signal, rear two-way analog signal is first sent into filter circuit 10 filtering noise reductions, then sends into programmable amplifier 11 conditionings and amplifies output two-way analog signal.The AD interface of digitial controller 9 receives above-mentioned three tunnel analog signals and carries out analog-to-digital conversion; The universal digital interface GPIO of digitial controller 9 sends gain selection signal to programmable amplifier 11, and receiving gain selection information feedback; The interface CAP that catches of digitial controller 9 receives three-route back electromotive force zero-crossing signal.Digitial controller 9 is according to the AD two-way voltage signal He Yi road current signal obtaining of sampling, and the controlled three-phase commutation bridge 1 of output three road pwm signal control, regulates direct voltage U1; Meanwhile, output one road pwm signal control DC chopper 3, regulates direct voltage U2, the DC bus-bar voltage of restriction three phase inverter bridge 6; Export a road pwm signal, control the work of braking circuit 4.Digitial controller 9 entered the computing of in house software control routine according to line back electromotive force zero-crossing signal, export six tunnel logic commutation signals, control the commutation frequency of three phase inverter bridge 6, brushless DC motor 7 is carried out to commutation and speed governing, and the outer synchronous and motor synchronizing switching point of judgement.
As shown in Figure 2, digitial controller 9 adopts dsp chip TMS320F28335, is mainly made up of CPU, A/D module, PWM module and universal digital interface (GPIO) etc.CPU is the CPU of controller.Voltage analog signal, the voltage analog signal of second voltage transducer output and the current analog signal of current sensor output of A/D module to the first voltage sensor output carries out analog to digital conversion, the data that the data after analog to digital conversion are calculated as code after CPU reads register and obtains.PWM module arranges and code computing through CPU register, controlled generation five road pwm signals, wherein three road low frequency pwm signals are used for the control of controlled three-phase commutation bridge 1, wherein a road 10kHz high-frequency PWM signal is used for the control of DC chopper 3, the control that the little duty ratio pwm signal of an other road 1kHz frequency is used for braking circuit 4.PWM module also produces commutation and the speed governing of six road phase change logic signals for brushless DC motor 7.GPIO can be input/output interface by CPU arbitrary disposition, output two ways of digital signals, and input two ways of digital signals, the former is as the gain selection signal of programmable amplifier 11, and the latter is the gain selection feedback signal that programmable amplifier 11 feeds back to digitial controller 9.
Described digitial controller 9 is according to the feedback signal of current sensor 5, the first voltage sensor 13, second voltage transducer 12, adopt the two closed-loop controls of current closed-loop and speed closed loop, ensure that three phase inverter bridge bus current value is not more than setting current value, and three phase inverter bridge forces commutation frequency values to equal the anti-electronic crossover point signal frequency values of brushless DC motor line, regulates in real time the modulation duty cycle of controlled three-phase commutation bridge 1 and DC chopper circuit 3 simultaneously.
Described three phase inverter bridge 6 carries out logic commutation to 7 of brushless DC motors, does not carry out line voltage modulated.
As shown in Figure 3, software flow comprises system initialization module, starting accelerating module and synchronous handover module.System initialization module is carried out master controller initialization, complete the distribution of program and data memory space, and electrochemical capacitor group 2 is precharged to given voltage, meanwhile, digitial controller 9 is controlled DC chopper 3, braking circuit 4 and three phase inverter bridge 6 and is made three all in disabled status.In starting accelerating module, digitial controller 9 enables and controls in real time DC chopper 3 input voltages and three phase inverter bridge 6 DC bus-bar voltage.Digitial controller 9 is exported six tunnels forces phase change logic signal driver three phase inverter bridge 6 to force commutation, and forcing commutation frequency values is f1.Three phase inverter bridge 6 DC bus currents are through detecting in real time and judging whether it is greater than 1.5 times of motor operation load current value, if be greater than 1.5 times of motor operation load current value, reduce DC chopper 3 and drive signal dutyfactor control three phase inverter bridge 6 DC bus-bar voltage, form the current closed-loop control of brushless DC motor 7 soft starts.If be not more than 1.5 times of motor operation load current value, digitial controller 9 Real-time Obtaining brushless DC motor 7 back electromotive force zero-crossing signals calculate its frequency values f2, and three phase inverter bridge 6 is forced commutation frequency values f1 contrast.If frequency values f1 is greater than frequency values f2, reduce controlled three-phase commutation bridge and drive signal dutyfactor, if frequency values f1 is less than frequency values f2, increases controlled three-phase commutation bridge and drive signal dutyfactor, carry out brushless DC motor 7 soft start speed closed loop controls.If two frequency values f1 are identical with f2, enter synchronous handover module, detect brushless DC motor 7 line back electromotive force zero-crossing signals as commutation signal.In brushless DC motor line back electromotive force zero-crossing signal detection process, forbid DC chopper 3, open braking circuit 4, ensure the accuracy that crossover point signal gathers.If brushless DC motor 7 rotating speeds are not more than 0.1% with respect to setting speed value error, show brushless DC motor soft start success, drive signal dutyfactor to enter starting accelerating module and synchronous handover module carries out motor speed adjustment otherwise digitial controller 9 readjusts controlled three-phase commutation bridge 1.
As shown in Figure 4, programmable amplifier 11 comprises instrumentation amplifier, programmable amplifier.Instrumentation amplifier by filter circuit 10 export voltage sample analog signal He Yi road, Yi road current sample analog signal altogether two-way sampled analogue signals isolate, then send into programmable amplifier and amplify.Programmable amplifier receives the two-way gain selection signal that digitial controller 9 is exported, and programmable amplifier is programmed to gain amplifier according to this signal.Programmable amplifier feeds back two-way current gain value to digitial controller 9, and digitial controller 9 is according to the gain amplifier of this signal distinguishing programmable amplifier.Programmable amplifier 11 is exported voltage signal analog quantity He Yi road, a road current signal analog quantity, and the former is three phase inverter bridge DC bus-bar voltage signal imitation amount, and the latter is three phase inverter bridge DC bus current signal imitation amount.
Claims (1)
1. a high-speed brushless direct-current flexible starter for electric motor control system, is characterized in that, comprises controlled three-phase commutation bridge (1), electrochemical capacitor group (2), DC chopper (3), braking circuit (4), current sensor (5), three phase inverter bridge (6), brushless DC motor (7), line back electromotive force zero-crossing signal deteching circuit (8), digitial controller (9), filter circuit (10), programmable amplifier (11), second voltage transducer (12), the first voltage sensor (13), three-phase power electric is through controlled three-phase commutation bridge (1) rectifier output voltage U1, U1 is through electrochemical capacitor group (2) filtering, and detected by the first voltage sensor (13), then send into DC chopper (3), through high frequency modulated output dc voltage U2, U2 is detected by second voltage transducer (12), and after current sensor (5), be input to three phase inverter bridge (6), drive brushless DC motor (7) starting, second voltage transducer (12) output voltage analog signal and current sensor (5) output current analog signal are sent into programmable amplifier (11) and are amplified after filter circuit (10) carries out filtering, and the AD translation interface that this two-way analog signal and the first voltage sensor (13) outputting analog signal Gong San road signal are sent into digitial controller (9) carries out analog-to-digital conversion, the line back electromotive force warp back electromotive force zero-crossing signal deteching circuit (8) of brushless DC motor (7) obtains line back electromotive force zero-crossing signal after processing, and judges signal as the logic commutation of brushless DC motor (7), in the time that the CAP interface of digitial controller (9) is caught line back electromotive force zero-crossing signal, forbidding DC chopper (3) reduces high frequency chopping noise jamming, and enables braking circuit (4) absorption chopper circuit higher-order of oscillation noise, system initialization module is carried out master controller initialization, complete the distribution of program and data memory space, and electrochemical capacitor group (2) is precharged to given voltage, meanwhile, digitial controller (9) control DC chopper (3), braking circuit (4) and three phase inverter bridge (6) make three all in disabled status, in starting accelerating module, digitial controller (9) enables and controls in real time DC chopper (3) input voltage and three phase inverter bridge (6) DC bus-bar voltage, digitial controller (9) output six tunnels force phase change logic signal driver three phase inverter bridge (6) to force commutation, and forcing commutation frequency values is f1, three phase inverter bridge (6) DC bus current is through detecting in real time and judging whether it is greater than 1.5 times of motor operation load current value, if be greater than 1.5 times of motor operation load current value, reduce DC chopper (3) and drive signal dutyfactor control three phase inverter bridge (6) DC bus-bar voltage, form the current closed-loop control of brushless DC motor (7) soft start, if be not more than 1.5 times of motor operation load current value, digitial controller (9) Real-time Obtaining brushless DC motor (7) back electromotive force zero-crossing signal calculate its frequency values f2, and three phase inverter bridge (6) is forced commutation frequency values f1 contrast, if frequency values f1 is greater than frequency values f2, reduce controlled three-phase commutation bridge and drive signal dutyfactor, if frequency values f1 is less than frequency values f2, increase controlled three-phase commutation bridge and drive signal dutyfactor, carry out brushless DC motor 7 soft start speed closed loop controls, if two frequency values f1 are identical with f2, enter synchronous handover module, detect brushless DC motor (7) line back electromotive force zero-crossing signal as commutation signal, in brushless DC motor line back electromotive force zero-crossing signal detection process, forbid DC chopper (3), open braking circuit (4), ensure the accuracy that crossover point signal gathers, if brushless DC motor (7) rotating speed is not more than 0.1% with respect to setting speed value error, show brushless DC motor soft start success, otherwise digitial controller (9) readjusts, controlled three-phase commutation bridge (1) driving signal dutyfactor enters starting accelerating module and synchronous handover module carries out motor speed adjustment.
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| CN201210272028.1A CN102790568B (en) | 2012-08-01 | 2012-08-01 | Soft start control system for high-speed brushless DC motor |
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| CN103248291B (en) * | 2013-05-30 | 2015-09-09 | 北京航空航天大学 | A kind of high-speed brushless direct-current motor control system without position sensor |
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| CN112398373B (en) * | 2019-08-13 | 2022-11-04 | 江苏美的清洁电器股份有限公司 | Control method and device of brushless direct current motor and storage medium |
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