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CN106130418B - Steady electromagnetic braking method and apparatus suitable for brshless DC motor - Google Patents

Steady electromagnetic braking method and apparatus suitable for brshless DC motor Download PDF

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Publication number
CN106130418B
CN106130418B CN201610498046.XA CN201610498046A CN106130418B CN 106130418 B CN106130418 B CN 106130418B CN 201610498046 A CN201610498046 A CN 201610498046A CN 106130418 B CN106130418 B CN 106130418B
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motor
modulation strategy
phase
commutation
braking
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CN106130418A (en
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史婷娜
牛兴卓
李新旻
陈炜
夏长亮
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Tianjin University
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Tianjin University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/24—Arrangements for stopping
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple

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

Abstract

本发明属于无刷直流电机控制技术领域，为实现保持电磁转矩换相无波动，又能使制动转矩大小可控的制动方法，提升电机在制动状态下的转矩控制性能，此过程中无换相转矩波动，控制性能不受电机转速的影响。本发明采用的技术方案是，适用于无刷直流电机的平稳电磁制动方法，包括调制策略切换和换相电流控制两部分；调制策略切换：根据特定电机参数以及设计者要求将电机转速进行合理分区，分为高速区和低速区；高速区使用回馈制动即调制策略1，低速区使用反接制动即调制策略2；换相电流控制是设计换相占空比补偿控制器，使其与主控制器相互配合构成电流控制器，最终计算出合适的换相占空比。本发明主要应用于无刷直流电机的设计制造场合。

The invention belongs to the technical field of brushless direct current motor control, in order to realize a braking method which can maintain electromagnetic torque commutation without fluctuation, and can make the magnitude of braking torque controllable, and improve the torque control performance of the motor in the braking state, There is no commutation torque fluctuation in this process, and the control performance is not affected by the motor speed. The technical scheme adopted by the present invention is that a smooth electromagnetic braking method suitable for brushless DC motors includes two parts: modulation strategy switching and commutation current control; Zone, divided into high-speed area and low-speed area; high-speed area uses feedback braking, namely modulation strategy 1, and low-speed area uses reverse-connection braking, namely modulation strategy 2; commutation current control is to design a commutation duty cycle compensation controller to make it It cooperates with the main controller to form a current controller, and finally calculates the appropriate commutation duty cycle. The invention is mainly applied to the design and manufacture occasions of the brushless direct current motor.

Description

Steady electromagnetic braking method and apparatus suitable for brshless DC motor
Technical field
The invention belongs to brshless DC motor control technology fields, are related to a kind of electromagnetic braking torque of brshless DC motor Steady control method.
Background technique
The features such as brshless DC motor is small in size with its, high reliablity, big output torque be widely used in aerospace, In industrial production and household electrical appliance.But biggish torque ripple will affect brshless DC motor in the high-quality fortune in certain fields Row, such as on electric car and electric bicycle, torque ripple can reduce the safety of the comfort and vehicle of occupant, On servo-controlled numerically-controlled machine tool, torque ripple will affect part processing precision, reduce the qualification rate of product.
The torque ripple of brshless DC motor mostlys come from commutation torque ripple.Currently, turning for electric operation area Square fluctuation suppressing method mainly has: PWM copped wave method, Direct torque preparation method, the method for adding preceding stage DC-DC converter etc..So And the Controllability of commutation torque ripple minimization problem and torque in full speed range under motor braking state is studied It is very few.
On-position is the important stage of brshless DC motor operation, by improving the direct torque under on-position Can, brshless DC motor torque even running section can be expanded, the reliability and service life of motor are improved, especially certain Special occasions, such as the braking process of electric car and electric bicycle inhibit torque ripple that the comfortable of occupant can be improved The safety of property and electric vehicle.Therefore designing a kind of steady control method of brshless DC motor electromagnetic braking torque is ten Divide necessary.In addition, smoothly electromagnetic braking method can also be reduced by mechanical braking bring mechanical loss, reduce mechanical system Dynamic device volume improves braking flexibility.
The electromagnetic braking mode of motor is divided into three kinds: regenerative braking, dynamic braking and reversing braking.Regenerative braking is will be electric Maneuver energy is converted first into electric energy, then is stored in energy storage device by peripheral circuit (such as DC-DC circuit).Dynamic braking be by Motor kinetic energy is converted to electric energy, then is converted into thermal energy consumption by resistive load and dissipates.The two common ground is all must be by one Fixed motor kinetic energy generates sufficient braking electromagnetic torque, so to be particularly suited for motor speed higher for both the above method Section.Reversing braking makes motor generate reversed electromagnetic torque using source voltage polarity or machine winding turn-on sequence is changed.By In it independent of motor speed, so abundance cannot be provided under the low speed by being particularly suited for making up regenerative braking and dynamic braking The shortcomings that braking moment.
In actual production and life, regenerative braking can satisfy the requirement of energy-saving and emission-reduction, energy recycling, with The development of electric car industry, regenerative braking also more and more have been favored by people.But due to being returned used in early stage Braking method is presented, needs to realize stream of the electric energy from motor to energy storage device by peripheral circuits such as DC-DC, super capacitors mostly It is dynamic, so that it compared with dynamic braking, does not have a clear superiority on low-power machine.There is scholar to cut using bridge-type inverter The method of wave and the inductance of brshless DC motor itself realize regenerative braking, reduce periphery required when motor regenerative braking Circuit reduces the complexity of regenerative braking.But sufficient system cannot be provided when revolving speed is lower by relying solely on regenerative braking In addition dynamic torque does not solve the commutation torque ripple problem under on-position yet in above method.
Summary of the invention
In order to overcome the deficiencies of the prior art, the present invention is intended to provide a kind of full speed model in brshless DC motor braking process In enclosing, electromagnetic torque commutation had not only been able to maintain without fluctuation, but also the braking method that braking moment size can be made controllable, promote motor and making Torque control performance under dynamic state.Braking moment can be made in a smaller value to carrying out any adjusting between rated value, and And theoretically, without commutation torque ripple during this.Entire braking method is to the control performance of motor braking torque not by motor The influence of revolving speed.The technical solution adopted by the present invention is that the steady electromagnetic braking method suitable for brshless DC motor, including adjust The switching of system strategy and converting commutating current control two parts；Modulation strategy switching: being required according to particular motor parameter and designer will Motor speed carries out rationalization partition, is divided into high velocity and low regime；High velocity uses regenerative braking, that is, modulation strategy 1, low regime Use reversing braking, that is, modulation strategy 2；
Converting commutating current control is design commutation duty ratio compensating controller, so that it is cooperated with master controller and constitutes electric current Controller finally calculates suitable commutation duty ratio.
Specific design procedure is as follows:
1) voltage source that voltage value is Rated motor voltage is added in bridge-type inverter front end；
2) modulation strategy 1 and modulation strategy 2 are write as modulation strategy used by this control method；
3) revolving speed point ω needed for calculating modulation strategy switching judging program according to the following formulacutAnd ωcon:
In formula, Iref=Tref/(2Ke), TrefFor the amplitude of braking moment reference value, KeFor opposite potential coefficient, RsFor electricity The nominal value of phase winding, v on machine nameplatedFor the forward conduction pressure of metal-oxide-semiconductor anti-paralleled diode used in bridge inverter main circuit Drop；ωcutAnd ωconTwo crucial revolving speed points when being switching between two kinds of modulation strategies, in ωcutStrategy switching is modulated to use To guarantee that braking moment size in full speed range is controllable, in ωconStrategy switching is modulated to guarantee braking moment complete It is fluctuated in fast range without commutation；
4) the permitted torque capacity in entire braking process is calculated according to the following formula fluctuates corresponding current change quantity Δ I:
Δ i=Δ Te/(2Ke)
5) modulation strategy switching judging process is designed are as follows: first determine whether motor transient speed ωmLess than or equal to ωcutWhether It sets up, carries out next step judgement if condition is set up, otherwise modulation strategy is set as modulation strategy 1；If above-mentioned condition is set up, sentence Power machine current setting value and value of feedback difference are less than Δ i and motor transient speed ωmMore than or equal to ωconIt is whether true, if item Part establishment then maintains modulation strategy 1, and otherwise modulation strategy is set as modulation strategy 2, and only area's period is connected in motor in the above judgement Property carry out；
6) compensating controller output duty cycle D during motor commutation is calculated according to the following formulaf, the value is in commutation initial time It calculates, is remained unchanged in commutation overall process:
In formula,The dutyfactor value for starting previous moment output in commutation for master controller, when modulation strategy is modulation plan When slightly 1, Dx=D1, expression formula is as follows
When modulation strategy is modulation strategy 2, Dx=D2, expression formula is as follows
In above two formula, ωmFor motor speed instantaneous value, UdcFor the voltage magnitude in bridge-type inverter front voltage source.
Area is connected in motor, the duty ratio of compensating controller output is 0；
7) master controller is designed；The output of ultimate current controller is that master controller output and compensating controller export it With.
The brshless DC motor is tactful using six step commutations driving within an electric period, brushless straight in each step Galvanic electricity machine only has two-phase there are driving current, and driving current is not present in another phase, there are the motor stator winding of driving current and Three-phase bridge type converter corresponds to bridge arm and is referred to as conducting phase, and there is no the motor stator winding of driving current and three-phase bridge type inverses Device corresponds to bridge arm and is referred to as disconnection phase.Within an electric period, 120 ° of electrical angles are connected in each phase altogether.It is a certain relative to motor When being conducted, if there is electric current inflow, it is called forward conduction phase, if there is electric current outflow, is called negative sense conducting phase；
The modulation strategy 1 refers in particular to as following modulation strategy: each phase of conducting, in first 60 ° of its conducting, corresponds to Upper and lower bridge arm metal-oxide-semiconductor be held off simultaneously.In latter 60 ° of its conducting, if conducting is mutually forward conduction phase, correspond to Upper bridge arm metal-oxide-semiconductor with calculated duty ratio carry out copped wave；If conducting is mutually negative to conducting phase, corresponding lower bridge arm Metal-oxide-semiconductor carries out copped wave with calculated duty ratio；
The modulation strategy 2 refers in particular to as following modulation strategy: each phase of conducting, if forward conduction phase, then leads at it In logical first 60 °, corresponding upper bridge arm metal-oxide-semiconductor carries out copped wave with calculated duty ratio, in latter 60 ° of its conducting, Corresponding upper bridge arm metal-oxide-semiconductor keeps Heng Tong；Phase is connected if negative sense, then in first 60 ° of its conducting, corresponding lower bridge arm Metal-oxide-semiconductor carries out copped wave with calculated duty ratio, and in latter 60 ° of its conducting, corresponding lower bridge arm metal-oxide-semiconductor keeps Heng Tong；
Step 5) the modulation strategy switching flow can also be changed to according to actual needs in revolving speed point ωcutSwitching is adjusted System is tactful or in revolving speed point ωconSwitch modulation strategy or in ωcutWith ωconBetween any point switch modulation strategy, in revolving speed point ωcutSwitch modulation strategy can theoretically guarantee that braking moment size in full speed range is controllable, in revolving speed point ωconIt cuts Modulation strategy is changed, can theoretically guarantee that braking moment fluctuates in full speed range without commutation, between two revolving speed points Certain point switch modulation strategy can comprehensively consider torque controllability and commutation torque ripple minimization.
The master controller is one of segmentation PI controller, fuzzy controller, Sliding Mode Controller.
Suitable for the steady electro-magnetic braking device of brshless DC motor, by DC voltage source Udc, three-phase bridge type converter, nothing Brushless motor, current sensor, Hall sensor and brake monitor are constituted, wherein are terminated with before three-phase bridge type converter Filter capacitor and DC voltage source, the size of DC voltage source are Udc；DC voltage source should be battery group or electric current can be two-way Flowing and the constant converters of voltage；Current sensor and Hall sensor are all by current sampling data and hall signal Phase property input brake controller；Brake monitor calculates current error according to current sampling data, obtains accounting for needed for PWM copped wave Empty ratio, while motor speed calculated according to hall signal, judge motor operation region, for modulation strategy switching judging and commutation Logic control, final brake monitor carry out integrated treatment to duty ratio, modulation strategy switching judging signal and phase change logic, Selection modulation strategy simultaneously exports PWM chopping signal driving three-phase bridge type converter, realizes motor braking.
Brake monitor is cut by current controller, impulse generator, modulation strategy selector, phase change logic, modulation strategy It changes determining device and Non-commutation phase current calculates six parts and constitutes.According to the difference of current feedback values and reference value and judge at motor Area is still connected in commutation area, current controller calculates suitable duty ratio, input pulse generator；Impulse generator according to The carrier signal of input duty cycle and inner setting exports PWM chopping signal；The PWM chopping signal is selected via modulation strategy Device and phase change logic finally enter three-phase bridge type converter and correspond to metal-oxide-semiconductor；In the process, modulation strategy selector is according to tune Modulation strategy used by the output signal selection of tactful switching judging device is made, phase change logic judges electricity according to motor present position Phase, both above metal-oxide-semiconductor for judging to need to carry out copped wave in 6 metal-oxide-semiconductors on inverter jointly is connected in machine.
Above-mentioned three-phase bridge type converter is by T1~T6Six metal-oxide-semiconductors and D1~D6Six anti-paralleled diodes are constituted, ia、ib、 icFor the phase current of a, b, c three-phase；
In each turn-on cycle, the three-phase windings of brshless DC motor can all be divided into positive guide according to electric current actual direction Logical phase, negative sense conducting phase and disconnection phase；Forward conduction phase, negative sense conducting are mutually and the end voltage of disconnection phase is denoted as v respectivelyp、vn、vo, The reference zero level for holding voltage is DC voltage source cathode；Forward conduction phase, negative sense conducting are mutually distinguished with the phase current of disconnection phase It is denoted as ip、in、io, similarly, each opposite potential is denoted as e respectivelyp、en、eo；Each phase winding resistance of brshless DC motor and inductance difference For RsAnd Ls, neutral point potential vNO；Anti-paralleled diode forward conduction voltage drop is vd。
During motor braking, by using regenerative braking, that is, modulation strategy 1 and reversing braking, that is, modulation strategy 2 proper When revolving speed point switch over, and be made of master controller and commutation compensating controller current controller output suitably account for Sky is than to ensure braking moment, steadily controllable and commutation torque ripple is smaller.
The features of the present invention and beneficial effect are:
(1) present invention realizes brshless DC motor and steadily decelerates to zero or smaller turn under its any tachometer value allowed Speed value, whole process realize complete electromagnetic braking, independent of mechanical brake device, avoid mechanical loss, reduce system Dynamic device volume, improves the flexibility of braking.
(2) regenerative braking is utilized in high velocity, the kinetic energy of motor is converted to power storage in energy storage device, in low speed Area maintains the steady controllable of low regime torque by consumption part energy using reversing braking.The two organically combines, both The utilization rate for improving energy realizes recycling for energy, and realizes the steady controllable of torque.
(3) using on-position modulation strategy 1 when carrying out regenerative braking, using braking when carrying out reversing braking State modulation strategy 2.Both the above modulation strategy maximum feature be can inhibit brshless DC motor in the braking state under change Phase torque ripple, and it can be very good to be connected to the revolving speed section of commutation torque ripple minimization.So using this method When carrying out electromagnetic braking to brshless DC motor, it is ensured that brshless DC motor commutation torque ripple is in a lesser range It is interior.
(4) entire braking process is only it needs to be determined that the control algolithm of master controller and modulation strategy switching point, and master control The control algolithm of device processed can be directly used existing by the lesser control algolithm of plant model parametric variations.Except bridge-type Outside inverter and brshless DC motor, only a set of electric current need to be especially arranged in outside can two-way flow voltage source.Realization process is simple, Braking moment control effect is good.
Detailed description of the invention:
Fig. 1 brshless DC motor electromagnetic braking torque trim control system for tree block diagram.
Fig. 2 on-position counter potential waveform function and phase current relationship and modulation strategy figure, a on-position counter potential waveform Function and phase current relationship, b modulation strategy 1, c modulation strategy 2.
The common brshless DC motor driving principle of Fig. 3 and modulator loop figure, the common brshless DC motor driving principle figure of a.
B is for deriving ωcutModulator loop figure.
Fig. 4 uses the commutation modulator loop figure of modulation strategy 1.
Fig. 5 modulation strategy switching judging flow chart.
Fig. 6 is segmented PI controller design schematic diagram.
Fig. 7 current controller internal algorithm flow chart.
Specific embodiment
For the commutation torque ripple problem of brshless DC motor, have PWM copped wave method, Direct torque preparation method, addition The control methods such as preceding stage DC-DC converter.However above method mainly solves brshless DC motor in electric operation, by electric current Commutation torque ripple problem caused by commutation, for the commutation torque ripple problem under on-position, above method is not related to And.
For the electromagnetic braking problem of brshless DC motor, use more method for dynamic braking and feedback system at present It is dynamic, but the braking moment that both of the above generates is related with motor kinetic energy, and sufficient braking moment cannot be provided in low-speed situations, To which good braking effect cannot be reached.
The present invention is intended to provide it is a kind of in the full speed range of brshless DC motor braking process, both it is able to maintain electromagnetic torque Commutation is without fluctuation, and the braking method that braking moment size can be made controllable, with overcome the deficiencies in the prior art, promotes motor and is making Torque control performance under dynamic state.Braking method of the invention, can make braking moment a smaller value to rated value it Between carry out any adjusting, and theoretically, without commutation torque ripple during this.Entire braking method is to motor braking torque Control performance is not influenced by motor speed.
One kind being used for the steady control method of brshless DC motor electromagnetic braking torque, which mainly includes modulation plan Slightly switching and converting commutating current control two parts.
Motor speed section is divided into high velocity and low regime by the present invention, uses feedback system respectively in high velocity and low regime Dynamic (modulation strategy 1) and reversing braking (modulation strategy 2).It, can be in the braking state after modulation strategy 1 and modulation strategy 2 combine The outstanding commutation torque ripple minimization performance of lower realization and guarantee that braking moment size is controllable.
In order to make braking moment commutation without fluctuation and size is controllable in full speed range, need to judge two kinds of modulation strategies Switching point.The main task of modulation strategy switching point judgement is exactly to require to turn in motor according to particular motor parameter and designer Speed carries out rationalization partition, when ensuring to use modulation strategy 1 and modulation strategy 2 respectively in high velocity and low regime, motor system Dynamic torque size is sufficiently controllable and commutation torque ripple is substantial access to theoretical value zero.
Converting commutating current control mainly design commutation duty ratio compensating controller, makes it cooperate with master controller and constitutes Current controller finally calculates suitable commutation duty ratio, realizes that brshless DC motor braking moment is managed in full speed range Purpose without commutation fluctuation on.
The specific design procedure of the control method is as follows:
1) voltage source that voltage value is Rated motor voltage is added in bridge-type inverter front end.
2) modulation strategy 1 and modulation strategy 2 are write as modulation strategy used by this control method.
3) revolving speed point ω needed for calculating modulation strategy switching judging program according to the following formulacutAnd ωcon。
In formula, Iref=Tref/(2Ke), TrefFor the amplitude of braking moment reference value, KeFor opposite potential coefficient, RsFor electricity The nominal value of phase winding, v on machine nameplatedFor the forward conduction pressure of metal-oxide-semiconductor anti-paralleled diode used in bridge inverter main circuit Drop.ωcutAnd ωconTwo crucial revolving speed points when being switching between two kinds of modulation strategies, in ωcutBeing modulated strategy switching can To guarantee that braking moment size in full speed range is controllable, in ωconBeing modulated strategy switching can guarantee braking moment complete It is fluctuated in fast range without commutation.
4) the permitted torque capacity in entire braking process is calculated according to the following formula fluctuates corresponding current change quantity Δ i。
Δ i=Δ Te/(2Ke)
5) modulation strategy switching judging process is designed are as follows: first determine whether motor transient speed ωmLess than or equal to ωcutWhether It sets up, carries out next step judgement if condition is set up, otherwise modulation strategy is set as modulation strategy 1.If above-mentioned condition is set up, sentence Power machine current setting value and value of feedback difference are less than Δ i and motor transient speed ωmMore than or equal to ωconIt is whether true, if item Part establishment then maintains modulation strategy 1, and otherwise modulation strategy is set as modulation strategy 2.Only area's period is connected in motor in the above judgement Property carry out.
6) compensating controller output duty cycle D during motor commutation is calculated according to the following formulaf.The value is in commutation initial time It calculates, is remained unchanged in commutation overall process.
In formula,Start the dutyfactor value of previous moment output in commutation for master controller.When modulation strategy is modulation plan When slightly 1, Dx=D1, expression formula is as follows
When modulation strategy is modulation strategy 2, Dx=D2, expression formula is as follows
In above two formula, ωmFor motor speed instantaneous value, UdcFor the voltage magnitude in bridge-type inverter front voltage source.
Area is connected in motor, the duty ratio of compensating controller output is 0.
7) master controller is designed.Master controller, which can be used, any is influenced lesser controller by parameter of electric machine variation.Finally The output of current controller is the sum of master controller output and compensating controller output.
The voltage source should be battery group or electric current and two-way flow and can be capable of providing the power electronics of burning voltage and become Parallel operation.
The brshless DC motor is within an electric period using six step commutations driving strategy.It is brushless straight in each step Galvanic electricity machine only has two-phase there are driving current, and driving current is not present in another phase, there are the motor stator winding of driving current and Three-phase bridge type converter corresponds to bridge arm and is referred to as conducting phase, and there is no the motor stator winding of driving current and three-phase bridge type inverses Device corresponds to bridge arm and is referred to as disconnection phase.Within an electric period, 120 ° of electrical angles are connected in each phase altogether.It is a certain relative to motor When being conducted, if there is electric current inflow, it is called forward conduction phase, if there is electric current outflow, is called negative sense conducting phase.
The modulation strategy 1 refers in particular to as following modulation strategy: each phase of conducting, in first 60 ° of its conducting, corresponds to Upper and lower bridge arm metal-oxide-semiconductor be held off simultaneously.In latter 60 ° of its conducting, if conducting is mutually forward conduction phase, correspond to Upper bridge arm metal-oxide-semiconductor with calculated duty ratio carry out copped wave；If conducting is mutually negative to conducting phase, corresponding lower bridge arm Metal-oxide-semiconductor carries out copped wave with calculated duty ratio.
The modulation strategy 2 refers in particular to as following modulation strategy: each phase of conducting, if forward conduction phase, then leads at it In logical first 60 °, corresponding upper bridge arm metal-oxide-semiconductor carries out copped wave with calculated duty ratio, in latter 60 ° of its conducting, Corresponding upper bridge arm metal-oxide-semiconductor keeps Heng Tong；Phase is connected if negative sense, then in first 60 ° of its conducting, corresponding lower bridge arm Metal-oxide-semiconductor carries out copped wave with calculated duty ratio, and in latter 60 ° of its conducting, corresponding lower bridge arm metal-oxide-semiconductor keeps Heng Tong.
Step 5) the modulation strategy switching flow, which also can according to need, to be changed in revolving speed point ωcutSwitch modulation plan Slightly or in revolving speed point ωconSwitch modulation strategy or in ωcutWith ωconBetween any point switch modulation strategy.In revolving speed point ωcut Switch two kinds of modulation strategies, can theoretically guarantee that braking moment size in full speed range is controllable, in revolving speed point ωconIt cuts Change two kinds of modulation strategies, can theoretically guarantee braking moment in full speed range without commutation fluctuate, two revolving speed points it Between certain point switch modulation strategy can comprehensively consider torque controllability and commutation torque ripple minimization.
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further Ground detailed description.
Basic principle of the invention is as shown in Figure 1.System includes: DC voltage source Udc, it is three-phase bridge type converter, brushless straight The mechanical, electrical flow sensor of galvanic electricity and brake monitor, wherein filter capacitor and DC voltage are terminated with before three-phase bridge type converter Source, the size of DC voltage source are Udc.DC voltage source should be battery group or electric current can two-way flow and the constant electricity of voltage Power electronic converter.Current sensor and Hall sensor control current sampling data and hall signal periodicity input brake Device.Brake monitor calculates current error according to current sampling data, then obtains PWM copped wave by inner current controller Required duty ratio, while motor speed calculated according to hall signal, judge motor operation region, for modulation strategy switching judging It is controlled with phase change logic.Final brake monitor carries out duty ratio, modulation strategy switching judging signal and phase change logic comprehensive Conjunction processing selects modulation strategy and exports PWM chopping signal driving three-phase bridge type converter, realizes motor braking.
Wherein, brshless DC motor, three-phase bridge type converter and current sensor and common brshless DC motor drive Structure in system is identical, and the embodiment of the present invention does not repeat them here this.
Brake monitor in Fig. 1 can be sub-divided into current controller, impulse generator, modulation strategy selector, change Phase logic, modulation strategy switching judging device and Non-commutation phase current calculate six parts.Wherein current controller, modulation strategy selection Device and modulation strategy switching judging device are major part of the invention.
A referring to fig. 2, fa(θ)、fb(θ)、fc(θ) is the opposite potential wave function of a, b, c three-phase.It is mutually electric under on-position Stream and counter potential waveform functional relation are more special, but equally 360 ° of electric periods can be divided into six under conduction mode two-by-two A area (I, II ... VI), each area accounts for 60 ° of electrical angles.
B referring to fig. 2, according under on-position phase current and the special relationship of counter potential waveform function, by theory deduction, High velocity under motor braking state, modulation strategy shown in Fig. 2 b theoretically may insure that output torque is controllable and commutation torque Fluctuation goes to zero, and being selected by this method is modulation strategy 1.
C referring to fig. 2, according under on-position phase current and the special relationship of counter potential waveform function, by theory deduction, Low regime under motor braking state, modulation strategy shown in Fig. 2 c theoretically may insure that output torque is controllable and commutation torque Fluctuation goes to zero, and being selected by this method is modulation strategy 2.
Referring to Fig. 3 a, voltage source is that amplitude size battery group identical with brshless DC motor voltage rating or electric current can With two-way flow and the converters of voltage value constant, it is used to that inverter front voltage is maintained to stablize in motor braking And braking energy can be provided for motor, while also can be by the energy stores of motor feedback in energy storage device.
Above-mentioned three-phase bridge type converter is by T1~T6Six metal-oxide-semiconductors and D1~D6Six anti-paralleled diodes are constituted.ia、ib、 icFor the phase current of a, b, c three-phase.
Referring to Fig. 3 b, in each turn-on cycle, the three-phase windings of brshless DC motor all can be according to electric current actual direction It is divided into forward conduction phase, negative sense conducting phase and disconnects phase.Forward conduction phase, negative sense conducting are mutually remembered with the end voltage of disconnection phase respectively For vp、vn、vo, holding the reference zero level of voltage is O level point in Fig. 3 b.Forward conduction phase, negative sense are connected mutually and disconnect phase Phase current is denoted as i respectivelyp、in、io, similarly, each opposite potential is denoted as e respectivelyp、en、eo.Each phase winding resistance of brshless DC motor It is respectively R with inductancesAnd Ls, neutral point potential vNO.Anti-paralleled diode forward conduction voltage drop is vd。
When motor carries out electromagnetic braking, regenerative braking and dynamic braking cannot by motor from rated speed drop to zero or compared with Small revolving speed and the braking moment for keeping abundance.The present invention is by using regenerative braking (modulation strategy 1) and reversing braking (modulation plan 2) method that summary combines overcomes individually the shortcomings that using when regenerative braking or dynamic braking method well.But feedback system Dynamic (modulation strategy 1) needs to judge switching point rotational speed omega when being switched to reversing braking (modulation strategy 2)cut, otherwise arbitrarily switching meeting Cause torque uncontrollable.
Referring to Fig. 3 b, through analyzing, switching point rotational speed omegacutFor make circuit 1. or circuit 2. in current changing rate zero turn Speed.Wherein, circuit is 1. by motor forward conduction phase, negative sense conducting phase and DnH、TpHComposition, circuit 2. by motor forward conduction phase, Negative sense conducting phase and DpL、TnLComposition.By KVL law, can be acquired in the above circuit
Within a control period, there is t < < τ i.e. e-t/τ≈ 1, τ=Ls/Rs.It is zero that current changing rate is enabled in the circuit, Switching point rotational speed omega can be acquiredcutFor
IrefFor reference current amplitude.
When motor is braked, commutation torque ripple should also ensure that most while guaranteeing that braking moment size is controllable It is small.Referring to fig. 4, brushless at this time straight by motor using modulation strategy 1 and from area I is connected in Fig. 2 a to for the switching of conducting area II Galvanic electricity set end voltage equation is as follows:
In above formula phase current be all one modulation period TsInterior average value, D1For the duty ratio under modulation strategy 1.With Fig. 4 Phase current and opposite potential direction are positive direction, and back-emf changes when ignoring commutation, there is ea=E (ωm)=Keωm, eb=ec=- E(ωm)=- Keωm, with ia *+ib *+ic *=0 substitutes into formula (3) together and arranges
In order to keep commutation torque without fluctuation, di is enableda */ dt=0 and | ia *|=Iref, i as shown in Figure 4a *< 0, therefore ia *=- Iref, substituting into formula (4) can obtain
For a certain revolving speed section, if there is 0≤D1≤ 1, then on the revolving speed section, it can be guaranteed using modulation strategy 1 Commutation torque is without fluctuation.Formula (5) are substituted into 0≤D1≤ 1, acquiring the revolving speed section is (2vd+3IrefRs)/(4Ke)≤ωm, and by In ωm≤ωmN, ωmNFor Rated motor revolving speed, therefore when using modulation strategy 1, the pulsation-free revolving speed section of commutation torque is ωm ∈[(2vd+3IrefRs)/(4Ke), ωmN].When can similarly obtain using on-position modulation strategy 2, pulsation-free turn of commutation torque Fast section is ωm∈ [0, (2vd+3IrefRs)/(4Ke)], output duty cycle D at this time2For
Modulation strategy 1 and modulation strategy 2 maintain the pulsation-free revolving speed of commutation torque to be connected just, and interface point ωconFor
The pulsation-free interface point ω of commutation torqueconWith the switching point ω for maintaining braking moment controllablecutCan not be overlapped and ωcon<ωcut, but the two difference is smaller.In the full speed range of braking, according to ωcutAs cutting for two kinds of modulation strategies It changes a little, it is ensured that braking moment size in full speed range is controllable, but cannot be guaranteed that braking moment nothing in full speed range is changed It mutually fluctuates, according to ωconSwitching point as two kinds of modulation strategies, it is ensured that braking moment is in full speed range without commutation Fluctuation, but cannot be guaranteed that braking moment size is controllable, for balanced two above switching point, this method is according to ωcut、ωconWith And the torque capacity allowed fluctuates corresponding current change quantity Δ i, to judge final modulation strategy speed-changing.
Referring to Fig. 5, in switch modulation strategy, motor transient speed ω is first determined whethermWith ωcutSize relation, next is sentenced The difference and Δ i size relation of disconnected current reference value and value of feedback, while judging motor transient speed ωmWith ωconSize is closed System, finally judges whether switch modulation strategy, to guarantee that the controllability of torque and commutation torque ripple are minimum.
1 parameter of electric machine of table
In the present embodiment, vd=1.3V, reference current Iref=14A.According to the parameter of electric machine in table 1, the present invention one is provided Kind is used for the specific embodiment of the steady control method of brshless DC motor electromagnetic braking torque:
(1) ω is calculated according to formula (2)cut=26.2rad/s is converted into revolving speed ncut=250.1r/min.
(2) ω is calculated according to formula (7)con=20.9rad/s is converted into revolving speed ncon=199.7r/min.
(3) the torque ripple maximum value allowed in the present embodiment is Δ T=0.2Nm, by Δ i=Δ T/ (2Ke) ask Obtaining the corresponding largest current change amount of torque capacity fluctuation is Δ i=0.78A.
(4) by ωcut、ωconModulation strategy switching judging process, that is, Fig. 5 is substituted into Δ i.
(5) segmentation PI control algolithm is write as master controller algorithm.Referring to Fig. 6, the present embodiment is segmented PI controller by 3 A conventional PI control device f1、f2And f3Composition, output are respectively d1、d2And d3.Wherein controller f1Control the low of on-position Fast area [0, n*], n* are determined by modulation strategy switching judging device；Controller f2And f3Respectively control on-position high velocity [n*, 600] different zones in, specific revolving speed are segmented into
As can be seen from the above equation, D is always exportedbThrough d1It is switched to d2When modulation strategy changed, need to switch immediately, And through d2It is switched to d3When, modulation strategy does not change, needs smooth transition.In transition region [400,450], D is always exportedbFor d2And d3The result of weighted sum.
In formula (8), α, β ∈ [0,1] are PI controller f2、f3Output d2、d3Linear weighted function coefficient, the two size is only Related with revolving speed, effect is to guarantee total output DbThrough d2It is smoothly transitted into d3, in the present embodiment, the table of two above coefficient It is up to formula
(6) it calculates and compensates device output processed: commutation moment, Df=Dx–Db*, non-commutation moment Df=0.D in formulaxAccording to difference Modulation strategy is selected as D1Or D2, Db *For the output valve of commutation previous moment master controller.The output of compensating controller is only in commutation Start time is calculated, and is remained unchanged in commutation process.
(7) referring to Fig. 7, the output duty cycle D of periodical calculating current controller.
(8) a to Fig. 2 c referring to fig. 2, according to on-position modulation strategy 1 and modulation strategy 2 and counter potential waveform function pair It should be related to and write modulation strategy program, and be stored in modulation strategy selector, so that modulation strategy selector is according to modulation plan The slightly timely switch modulation strategy of output of switching judging device.
The embodiment of the present invention to the model of each device in addition to doing specified otherwise, the model of other devices with no restrictions, As long as the device of above-mentioned function can be completed.
In conclusion the present invention can maintain the commutation of braking moment to fluctuate close to theoretical value zero and be protected in full speed range Demonstrate,prove that its size is controllable, and method is simple.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention Serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

Claims (5)

1.一种适用于无刷直流电机的平稳电磁制动方法，其特征是，适用于无刷直流电机的平稳电磁制动方法，包括调制策略切换和换相电流控制两部分；调制策略切换：根据特定电机参数以及设计者要求将电机转速进行合理分区，分为高速区和低速区；高速区使用回馈制动即调制策略1，低速区使用反接制动即调制策略2；换相电流控制是设计换相占空比补偿控制器，使其与主控制器相互配合构成电流控制器，最终计算出合适的换相占空比；具体步骤如下：1. a smooth electromagnetic braking method applicable to brushless DC motor, is characterized in that, is applicable to the smooth electromagnetic braking method of brushless DC motor, comprises modulation strategy switching and commutation current control two parts; Modulation strategy switching: According to the specific motor parameters and the designer's requirements, the motor speed is divided into high-speed areas and low-speed areas; the high-speed area uses feedback braking, which is modulation strategy 1, and the low-speed area uses reverse braking, which is modulation strategy 2; commutation current control It is to design the commutation duty cycle compensation controller, so that it cooperates with the main controller to form a current controller, and finally calculates the appropriate commutation duty cycle; the specific steps are as follows: 1)在桥式逆变器前端加入电压值为电机额定电压的电压源；1) Add a voltage source whose voltage value is the rated voltage of the motor at the front end of the bridge inverter; 2)编写调制策略1和调制策略2作为本控制方法所采用的调制策略；2) Write modulation strategy 1 and modulation strategy 2 as the modulation strategy adopted by this control method; 3)根据下式计算调制策略切换判断程序所需转速点ωcut和ωcon：3) Calculate the rotational speed points ω cut and ω con required by the modulation strategy switching judgment program according to the following formula: 式中，Iref＝Tref/(2Ke)，Tref为制动转矩参考值的幅值，Ke为相反电势系数，Rs为电机铭牌上相绕组的标称值，vd为桥式逆变电路中所使用MOS管反并联二极管的正向导通压降；ωcut和ωcon是两种调制策略间切换时的两个关键转速点，在ωcut进行调制策略切换用以保证制动转矩在全速范围内大小可控，在ωcon进行调制策略切换用以保证制动转矩在全速范围内无换相波动；In the formula, I ref =T ref /(2K e ), T ref is the amplitude of the braking torque reference value, Ke is the opposite potential coefficient, R s is the nominal value of the phase winding on the motor nameplate, v d is The forward voltage drop of the anti-parallel diode of the MOS transistor used in the bridge inverter circuit; ω cut and ω con are the two key rotational speed points when switching between the two modulation strategies, and the modulation strategy switching is performed at ω cut to ensure The braking torque is controllable in the full speed range, and the modulation strategy switching is performed at ω con to ensure that the braking torque has no commutation fluctuation in the full speed range; 4)根据下式计算在整个制动过程中所允许的最大转矩波动对应的电流变化量Δi：4) Calculate the current variation Δi corresponding to the maximum torque fluctuation allowed in the entire braking process according to the following formula: △i＝△Te/(2Ke)△i=△T e /(2K e ) △Te为转矩波动最大值；△T e is the maximum torque ripple; 5)设计调制策略切换判断流程为：首先判断电机瞬时转速ωm小于等于ωcut是否成立，若条件成立则进行下一步判断，否则调制策略设定为调制策略1；若上述条件成立，判断电机电流设定值与反馈值差值小于Δi且电机瞬时转速ωm大于等于ωcon是否成立，若条件成立则维持调制策略1，否则调制策略设定为调制策略2，以上判断只在电机导通区周期性进行；5) Design the modulation strategy switching judgment process as follows: first determine whether the instantaneous speed of the motor ω m is less than or equal to ω cut is established, if the condition is established, the next step is judged, otherwise the modulation strategy is set to modulation strategy 1; if the above conditions are established, judge the motor Whether the difference between the current setting value and the feedback value is less than Δi and the instantaneous speed of the motor ω m is greater than or equal to ω con is established, if the condition is established, the modulation strategy 1 is maintained, otherwise the modulation strategy is set as the modulation strategy 2, the above judgment is only when the motor is turned on. Periodically; 6)根据下式计算补偿控制器在电机换相期间输出占空比Df，该值在换相初始时刻计算，在换相全过程保持不变：6) Calculate the output duty ratio D f of the compensation controller during motor commutation according to the following formula, which is calculated at the initial moment of commutation and remains unchanged during the whole commutation process: 式中，为主控制器在换相开始前一时刻输出的占空比值，当调制策略为调制策略1时，Dx＝D1，其表达式如下In the formula, is the duty cycle value output by the main controller at the moment before the commutation starts, when the modulation strategy is modulation strategy 1, D x =D 1 , and its expression is as follows 当调制策略为调制策略2时，Dx＝D2，其表达式如下When the modulation strategy is modulation strategy 2, D x =D 2 , and its expression is as follows 以上两式中，ωm为电机转速瞬时值，Udc为桥式逆变器前端电压源的电压幅值；In the above two formulas, ω m is the instantaneous value of the motor speed, and U dc is the voltage amplitude of the front-end voltage source of the bridge inverter; 在电机导通区，补偿控制器输出的占空比为0；In the conduction area of the motor, the duty cycle of the compensation controller output is 0; 7)设计主控制器；最终电流控制器的输出为主控制器输出与补偿控制器输出之和。7) Design the main controller; the output of the final current controller is the sum of the main controller output and the compensation controller output. 2.如权利要求1所述的适用于无刷直流电机的平稳电磁制动方法，其特征是，所述无刷直流电机在一个电周期内采用六步换相驱动策略，在每一步中，无刷直流电机只有两相存在驱动电流，另一相不存在驱动电流，存在驱动电流的电机定子绕组及三相桥式逆变器对应桥臂被称为导通相，不存在驱动电流的电机定子绕组及三相桥式逆变器对应桥臂被称为断开相；在一个电周期内，每一相共导通120°电角度；相对于电机，某一相导通时，若有电流流入，则称其为正向导通相，若有电流流出，则称其为负向导通相；2. The smooth electromagnetic braking method suitable for a brushless DC motor as claimed in claim 1, wherein the brushless DC motor adopts a six-step commutation drive strategy in one electrical cycle, and in each step, The brushless DC motor has only two phases with driving current, and the other phase does not have driving current. The motor stator winding and the corresponding bridge arm of the three-phase bridge inverter with driving current are called conduction phases, and there is no driving current. The stator winding and the corresponding bridge arm of the three-phase bridge inverter are called disconnected phases; in one electrical cycle, each phase conducts a total of 120° electrical angle; relative to the motor, when a phase is on, if there is If the current flows in, it is called the positive conducting phase, and if there is current flowing out, it is called the negative conducting phase; 所述调制策略1特指为以下调制策略：导通的每一相，在其导通的前60°内，其对应的上、下桥臂MOS管同时保持关断；在其导通的后60°内，若导通相为正向导通相，则其对应的上桥臂MOS管以计算出的占空比进行斩波；若导通相为负向导通相，则其对应的下桥臂MOS管以计算出的占空比进行斩波；The modulation strategy 1 specifically refers to the following modulation strategy: for each phase that is turned on, within the first 60° of its turn-on, its corresponding upper and lower bridge arm MOS transistors are kept off at the same time; Within 60°, if the conduction phase is a positive conduction phase, the corresponding upper bridge arm MOS tube is chopped with the calculated duty cycle; if the conduction phase is a negative conduction phase, its corresponding lower bridge The arm MOS tube is chopped with the calculated duty cycle; 所述调制策略2特指为以下调制策略：导通的每一相，若为正向导通相，则在其导通的前60°内，其对应的上桥臂MOS管以计算出的占空比进行斩波，在其导通的后60°内，其对应的上桥臂MOS管保持恒通；若为负向导通相，则在其导通的前60°内，其对应的下桥臂MOS管以计算出的占空比进行斩波，在其导通的后60°内，其对应的下桥臂MOS管保持恒通；The modulation strategy 2 specifically refers to the following modulation strategy: for each phase that is turned on, if it is a forward conduction phase, within the first 60° of its turn-on, the corresponding upper-bridge MOS transistor will use the calculated occupancy rate. The empty ratio is chopped, and within the last 60° of its turn-on, its corresponding upper-bridge arm MOS tube remains constant; if it is a negative conduction phase, within the first 60° of its turn-on, its corresponding lower-bridge The arm MOS tube is chopped at the calculated duty cycle, and within the last 60° of its conduction, its corresponding lower-bridge arm MOS tube remains constant; 所述步骤5)调制策略切换流程也可以根据实际需要更改为在转速点ωcut切换调制策略或在转速点ωcon切换调制策略或在ωcut与ωcon之间任一点切换调制策略，在转速点ωcut切换调制策略，从理论上可以保证制动转矩在全速范围内大小可控，在转速点ωcon切换调制策略，从理论上可以保证制动转矩在全速范围内无换相波动，在两个转速点之间的某一点切换调制策略可以综合考虑转矩可控性和换相转矩波动抑制；The step 5) modulation strategy switching process can also be changed to switch the modulation strategy at the rotational speed point ω cut or switch the modulation strategy at the rotational speed point ω con or switch the modulation strategy at any point between ω cut and ω con according to actual needs. Switching the modulation strategy at point ω cut can theoretically ensure that the braking torque is controllable in the full speed range. Switching the modulation strategy at the speed point ω con can theoretically ensure that the braking torque has no commutation fluctuation in the full speed range. , switching the modulation strategy at a certain point between the two speed points can comprehensively consider torque controllability and commutation torque ripple suppression; 所述主控制器采用分段PI控制器、模糊控制器、滑模变结构控制器中的一种。The main controller adopts one of a segmented PI controller, a fuzzy controller, and a sliding mode variable structure controller. 3.一种适用于无刷直流电机的平稳电磁制动装置，其特征是，由直流电压源Udc、三相桥式逆变器、无刷直流电机、电流传感器、霍尔传感器和制动控制器构成，其中，三相桥式逆变器前端接有滤波电容和直流电压源，直流电压源的大小为Udc；直流电压源应为蓄电池组或电流可双向流动且电压恒定的电力电子变换器；电流传感器与霍尔传感器将电流采样值与霍尔信号周期性输入制动控制器；制动控制器根据电流采样值，计算出电流误差，得到PWM斩波所需占空比，同时根据霍尔信号计算电机转速、判断电机运行区域，用于调制策略切换判断和换相逻辑控制，最终制动控制器对占空比、调制策略切换判断信号以及换相逻辑进行综合处理，选择调制策略并输出PWM斩波信号驱动三相桥式逆变器，实现电机制动；其中，制动控制器由电流控制器、脉冲发生器、调制策略选择器、换相逻辑、调制策略切换判断器和非换相相电流计算六部分构成，根据电流反馈值与参考值的差值判断电机处于换相区还是导通区，电流控制器计算出合适的占空比，输入脉冲发生器；脉冲发生器根据输入占空比以及内部设定的载波信号输出PWM斩波信号；该PWM斩波信号经由调制策略选择器和换相逻辑最终输入到三相桥式逆变器对应MOS管；在此过程中，调制策略选择器根据调制策略切换判断器的输出信号选择所采用的调制策略，换相逻辑根据电机所处位置判断电机导通相，以上二者共同判断逆变器上的6个MOS管中需要进行斩波的MOS管。3. A smooth electromagnetic braking device suitable for a brushless DC motor, characterized in that it is composed of a DC voltage source U dc , a three-phase bridge inverter, a brushless DC motor, a current sensor, a Hall sensor and a brake The controller consists of a three-phase bridge inverter front-end connected with a filter capacitor and a DC voltage source, the size of the DC voltage source is U dc ; The converter; the current sensor and the Hall sensor periodically input the current sampling value and the Hall signal to the braking controller; the braking controller calculates the current error according to the current sampling value, and obtains the duty cycle required for PWM chopping, and at the same time According to the Hall signal, the motor speed is calculated and the motor running area is judged, which is used for the modulation strategy switching judgment and commutation logic control. Finally, the brake controller comprehensively processes the duty cycle, the modulation strategy switching judgment signal and the commutation logic, and selects the modulation strategy. strategy and output PWM chopping signal to drive three-phase bridge inverter to realize motor braking; among them, the braking controller consists of current controller, pulse generator, modulation strategy selector, commutation logic, modulation strategy switching judger It consists of six parts for calculating and non-commutation current. According to the difference between the current feedback value and the reference value, it is judged whether the motor is in the commutation region or the conduction region. The current controller calculates the appropriate duty cycle and inputs the pulse generator; The inverter outputs the PWM chopper signal according to the input duty cycle and the internally set carrier signal; the PWM chopper signal is finally input to the corresponding MOS tube of the three-phase bridge inverter through the modulation strategy selector and commutation logic; during this process Among them, the modulation strategy selector selects the adopted modulation strategy according to the output signal of the modulation strategy switching judger, and the commutation logic judges the conduction phase of the motor according to the position of the motor. The above two jointly judge the 6 MOS transistors on the inverter. The MOS tube that needs to be chopped. 4.如权利要求3所述的适用于无刷直流电机的平稳电磁制动装置，其特征是，所述三相桥式逆变器由T1～T6六个MOS管和D1～D6六个反并联二极管构成，ia、ib、ic为a、b、c三相的相电流；4 . The smooth electromagnetic braking device suitable for brushless DC motors according to claim 3 , wherein the three-phase bridge inverter consists of six MOS transistors T 1 to T 6 and six MOS transistors D 1 to D 4 . 6 It is composed of six anti-parallel diodes, i a , i b , and i c are the phase currents of the three phases a, b, and c; 在每一个导通周期，无刷直流电机的三相绕组都可根据电流实际方向分为正向导通相、负向导通相和断开相；正向导通相、负向导通相和断开相的端电压分别记为vp、vn、vo，端电压的参考零电平为直流电压源负极；正向导通相、负向导通相和断开相的相电流分别记为ip、in、io，同理，各相反电势分别记为ep、en、eo；无刷直流电机各相绕组电阻和电感分别为Rs和Ls，中性点电位为vNO；反并联二极管正向导通压降为vd。In each conduction cycle, the three-phase windings of the brushless DC motor can be divided into positive conduction phase, negative conduction phase and disconnection phase according to the actual direction of the current; positive conduction phase, negative conduction phase and disconnection phase The terminal voltages are respectively recorded as v p , v n , v o , and the reference zero level of the terminal voltage is the negative pole of the DC voltage source; i n , i o , in the same way, the opposite potentials are denoted as ep , e n , e o respectively; the winding resistance and inductance of each phase of the brushless DC motor are R s and L s respectively, and the neutral point potential is v NO ; The forward voltage drop of the anti-parallel diode is v d . 5.如权利要求3所述的适用于无刷直流电机的平稳电磁制动装置，其特征是，在电机制动过程中，通过采用回馈制动即调制策略1和反接制动即调制策略2在恰当的转速点进行切换，以及由主控制器和换相补偿控制器组成的电流控制器输出合适的占空比来确保制动转矩平稳可控并减小换相转矩波动。5. The smooth electromagnetic braking device suitable for a brushless DC motor as claimed in claim 3, characterized in that, in the process of motor braking, by adopting feedback braking, namely modulation strategy 1 and reverse braking, namely modulation strategy 2. Switch at the appropriate speed point, and the current controller composed of the main controller and the commutation compensation controller outputs a suitable duty cycle to ensure that the braking torque is stable and controllable and reduces the commutation torque fluctuation.
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