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CN109546903A - A kind of compensation method of brushless DC motor without position sensor voltage sample offset - Google Patents

A kind of compensation method of brushless DC motor without position sensor voltage sample offset Download PDF

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Publication number
CN109546903A
CN109546903A CN201811354334.3A CN201811354334A CN109546903A CN 109546903 A CN109546903 A CN 109546903A CN 201811354334 A CN201811354334 A CN 201811354334A CN 109546903 A CN109546903 A CN 109546903A
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motor
brushless
zero
voltage
commutation
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CN201811354334.3A
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CN109546903B (en
Inventor
姚绪梁
林浩
姜奕舒
王景芳
赵继成
马赫
黄乘齐
王峰
关越铭
张永奇
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Harbin Engineering University
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Harbin Engineering 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • 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
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings

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

Abstract

本发明涉及一种无位置传感器无刷直流电机电压采样偏移的补偿方法，基于反电动势法，无位置传感器无刷直流电机在获取位置信息的过程中，需采样相电压或线电压差，由于电压传感器灵敏度不足以及滤波电路中运算放大器的零点漂移会使采样的线电压差或相电压信号产生偏移，形成不平衡的过零点，影响电机换相，严重影响电机运行。针对这一问题，本发明根据换相期间反电动势过零点信息，分析了电压偏移对过零点采样的影响，提出了一种无位置传感器无刷直流电机电压采样偏移的补偿方法。利用仿真手段实现的补偿控制系统，在系统计算出误差后，在后续的换相周期中进行了相应的补偿，结果表明这种方法的可行性和有效性。

The invention relates to a compensation method for voltage sampling offset of a position sensorless brushless DC motor. Based on the back electromotive force method, the position sensorless brushless DC motor needs to sample phase voltage or line voltage difference in the process of acquiring position information. Insufficient sensitivity of the voltage sensor and zero-point drift of the operational amplifier in the filter circuit will offset the sampled line voltage difference or phase voltage signal, resulting in an unbalanced zero-crossing point, which affects the commutation of the motor and seriously affects the operation of the motor. Aiming at this problem, the present invention analyzes the influence of voltage offset on the sampling of zero-crossing points according to the zero-crossing point information of the back electromotive force during commutation, and proposes a compensation method for the voltage sampling offset of a position sensorless brushless DC motor. The compensation control system realized by simulation means, after the system calculates the error, the corresponding compensation is carried out in the subsequent commutation cycle. The results show the feasibility and effectiveness of this method.

Description

A kind of compensation method of brushless DC motor without position sensor voltage sample offset
Technical field
The present invention relates to a kind of compensation methodes of brushless DC motor without position sensor voltage sample offset, belong to motor Drive area.
Background technique
Brshless DC motor due to high power density, high efficiency, low-maintenance cost, structure it is simple and easily controllable etc. Advantage is widely used in various fields, such as household electrical appliance, industrial equipment, unmanned plane and electric car.Brshless DC motor by Three-phase inverter driving provides six discrete rotor-positions usually using three Hall sensors, controls to three-phase windings Commutation control processed, and then carry out commutation appropriate.However, rotor-position sensor increases cost and reduces reliability.Cause This, method for controlling position-less sensor is in the past decade developed.It is controlled in brushless DC motor without position sensor It mainly include counter electromotive force method, freewheeling diode method and flux linkage estimation method etc. in method.Wherein counter electromotive force method is passed without position Sensor brshless DC motor is most widely used.The counter electromotive force of brshless DC motor can not be measured directly, usually utilize electricity Perhaps then line voltage difference signal is filtered out in line voltage difference or phase voltage the phase voltage of pressure sensor sample motor with filter High-frequency Interference, then detect its zero crossing.But because operation is put in the sensitivity deficiency and filter circuit of voltage sensor The null offset of big device often makes the line voltage difference of sampling or phase voltage signal generate offset, forms unbalanced zero passage Point influences the accurate commutation of brshless DC motor, and it is abnormal that serious conditions will cause brshless DC motor runnability.
Summary of the invention
For the above-mentioned prior art, the technical problem to be solved in the present invention is to provide one kind can solve voltage sample offset The compensation method of the brushless DC motor without position sensor voltage sample offset of the uneven zero crossing of formation.
In order to solve the above technical problems, a kind of benefit of brushless DC motor without position sensor voltage sample offset of the present invention Compensation method, comprising the following steps:
Step 1: brushless DC motor rotor is pre-positioned, and applies phase change logic to brshless DC motor, dragging motor arrives Certain revolving speed；
Step 2: detection brushless dc generator terminal voltage or line voltage difference signal, opposite end voltage or line voltage difference signal into Row filtering, test side voltage or line voltage difference signal zero crossing, form the virtual hall signal T in three tunnelsa、Tb、Tc；
Step 3: hall signal T virtual to three tunnelsa、Tb、TcIt carries out XOR operation and obtains Tpos, wherein TposRising edge and Failing edge is identical as counter electromotive force dead-center position；
Step 4: T is calculatedposFor high level lasting time tθ1, calculate TposFor the low level duration tθ2；
Step 5: current period t is utilizedθ1、tθ2Calculate the revolving speed of brshless DC motor, revolving speed expression formula are as follows:
Wherein p is the number of pole-pairs of motor；
Step 6: by next period back electromotive force zero-crossing information Ta、Tb、TcLag 0.5tθ1-tθf, form Ta'、Tb'、 Tc'.Lag 0.5tθ2-tθf, form Ta”、Tb”、Tc", wherein tθfLag time caused by filter；
Step 7: S is carried outa=Ta'∩Ta”、Sb=Tb'∩Tb”、Sc=Tc'∩Tc" operation, respectively obtain commutation signal Sa、Sb、Sc；
Step 8: commutation signal generates the phase change logic of motor, is input to the operation of three-phase fully-controlled inverter circuit driving motor.
The invention has the advantages that: compared with prior art, the present invention considers voltage sensor and operational amplifier circuit to no position The influence for setting the sampling of sensor brushless DC motor position signal still may be used in voltage sensor under-sensitive Accurately to correct unbalanced zero crossing, hardware cost is reduced.
Detailed description of the invention
Fig. 1 is brshless DC motor equivalent circuit；
Fig. 2 (a) is voltage sensor line voltage difference sample waveform figure；
Fig. 2 (b) is voltage sensor line voltage difference sample waveform figure；
Fig. 3 is influence of the variation to zero passage point sampling；
Fig. 4 is backoff algorithm system diagram；
Fig. 5 is filter circuit figure；
Fig. 6 is back electromotive force zero-crossing signal and commutation point signal；
Fig. 7 is that delay-angle calculates waveform diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
Based on counter electromotive force method, brushless DC motor without position sensor needs to sample during obtaining location information Phase voltage or line voltage are poor, due to the null offset meeting of operational amplifier in voltage sensor sensitivity deficiency and filter circuit The line voltage difference or phase voltage signal for making sampling generate offset, form unbalanced zero crossing, influence motor commutation, seriously affect Motor operation.For this problem, the present invention analyzes variation to mistake according to back electromotive force zero-crossing information during commutation The influence of zero sample proposes a kind of compensation method of brushless DC motor without position sensor voltage sample offset.It utilizes The compensation control system that simulation means are realized has carried out corresponding after system-computed goes out error in subsequent commutating period Compensation, the results showed that the feasibility and validity of this method.
A kind of compensation method of brushless DC motor without position sensor voltage sample offset of the present invention, including brushless direct-current Motor, three-phase fully-controlled inverter circuit, position detecting module, controller, voltage offset compensation module and filtering compensation module；Position Detection module using voltage sensor sample motor line voltage difference or phase voltage, and by filter filter out line voltage it is poor or High-frequency Interference in phase voltage generates phase change logic by detection zero crossing.Filtering compensation module is compensated because of filter bring Lag angle, controller include speed regulator and current regulator, and voltage offset compensation module is used to compensate because of variation Caused by unbalanced commutation signal.The following steps are included:
Step 1: brushless DC motor rotor is pre-positioned, and applies phase change logic to brshless DC motor, dragging motor arrives Certain revolving speed, normally about 300rpm.
Step 2: detection brushless dc generator terminal voltage or line voltage are poor, are filtered, and detect its zero crossing, form three The virtual hall signal T in roada、Tb、Tc。
Step 3: hall signal T virtual to three tunnelsa、Tb、TcIt carries out XOR operation and obtains Tpos, wherein TposRising edge and Failing edge is identical as counter electromotive force dead-center position.
Step 4: work as TposWhen=1, high level lasting time t is calculatedθ1, work as TposWhen=0, low level time t is calculatedθ2。
Step 5: current period t is utilizedθ1、tθ2Calculate the revolving speed of brshless DC motor, revolving speed expression formula are as follows:
Wherein p is the number of pole-pairs of motor.
Step 6: by next period back electromotive force zero-crossing information Ta、Tb、TcLag 0.5tθ1-tθf, form Ta'、Tb'、 Tc'.Lag 0.5tθ2-tθf, form Ta”、Tb”、Tc".Wherein tθfLag time caused by filter.
Step 7: S is carried outa=Ta'∩Ta”、Sb=Tb'∩Tb”、Sc=Tc'∩Tc" operation, respectively obtain commutation signal Sa、Sb、Sc。
Step 8: commutation signal generates the phase change logic of motor, is input to the operation of three-phase fully-controlled inverter circuit driving motor.
The present invention is by taking the sampling of line voltage difference as an example, as shown in Figure 1, brshless DC motor, is connected 120 ° of conduction modes two-by-two Under, the line voltage eikonal equation of motor is
R in figure, L respectively indicate the resistance and inductance (difference that inductance is self-induction and mutual inductance) of every phase winding.ua、ub、ucFor Phase voltage, ea、eb、ecFor phase back-emf, ia, ib, icFor phase current.
By ubcWith ucaSubtract each other, obtains
When AC is conducted, B phase is non-conduction phase.There is ia+ib+ic=0, ea+ec=0.Formula (2) is updated to obtain
B phase is used as non-conduction phase, electric current 0.That is 2eb=ubc-uab.Counter electromotive force is only related with line voltage difference.Therefore pass through The zero crossing of counter electromotive force can be obtained in the zero crossing of sampling line voltage difference.The a certain offline voltage difference sampling of revolving speed in actual measurement As shown in Fig. 2 (a) and Fig. 2 (b), peak value 3.74V, valley is -3.5V, therefore there is 0.12V variations.
The null offset of operational amplifier in voltage sensor and filter module produces nonequilibrium zero crossing. Traditional brushless DC motor without position sensor postpones 30 ° of commutations after the zero crossing for sampling counter electromotive force, but according to This method, the commutation point that nonequilibrium zero crossing generates is also that width is different.Fig. 3 shows balance zero-crossing examination and not Balance the comparison of zero-crossing examination.By the way that shown in Fig. 3, no matter whether zero crossing is balanced, and commutation point is in the centre of two zero crossings At position, therefore the compensation method that can use the uneven zero crossing in claims solves to encounter when the sampling of line voltage difference Non-equilibrium zero crossing the problem of, as shown in figure 4, be claims proposed method system diagram.
Embodiment
In order to verify a kind of compensation of brushless DC motor without position sensor voltage sample offset proposed by the invention Method validity, the present invention have carried out simulating, verifying.Filtering used of the invention uses second-order low-pass filter, filter circuit impedance ginseng Several and schematic diagram is as shown in Figure 5.
Using traditional three steps start, any two-phase stator winding electrifying is given for a period of time by control program, stator Rotor is dragged to specified position by magnetic field, is successively powered according to switch list to winding, is increased to one to brshless DC motor revolving speed After definite value, it is switched under method for controlling position-less sensor and runs.By the calculation method of revolving speed in claims, calculate current Revolving speed.And the lag angle caused by filtering is calculated according to circuit filtering parameter, wherein α is system damping coefficient, ω0For system Intrinsic frequency, ω are angular speed, θf(ω) is phase delay angle, and specific formula for calculation is as follows
Zero passage generates three and passes by zero signal T after the filtering of line voltage differencea、Tb、TcAs shown in fig. 6, according in claims Method carry out signal processing, commutation delay-angle calculates as shown in Figure 7.What comparison position-sensor-free generated in simulations changes Phase signals SaThe commutation signal H generated with position sensora, SaWith HaRising edge and failing edge having the same, after correction The commutation signal of brushless DC motor without position sensor can replace the commutation information of position sensor offer, and accurately change Phase, therefore a kind of compensation method of brushless DC motor without position sensor voltage sample offset proposed by the invention can solve Zero crossing energy imbalance caused by variation certainly because sampling and filtering generation.

Claims (1)

1.一种无位置传感器无刷直流电机电压采样偏移的补偿方法，其特征在于，包括以下步骤：1. a compensation method for the voltage sampling offset of a brushless DC motor without a position sensor, is characterized in that, comprises the following steps: 步骤一：将无刷直流电机转子预定位，给无刷直流电机施加换相逻辑，拖动电机到一定转速；Step 1: Pre-position the rotor of the brushless DC motor, apply commutation logic to the brushless DC motor, and drag the motor to a certain speed; 步骤二：检测无刷直流电机端电压或线电压差信号，对端电压或线电压差信号进行滤波，检测端电压或线电压差信号过零点，形成三路虚拟霍尔信号Ta、Tb、Tc；Step 2: Detect the terminal voltage or line voltage difference signal of the brushless DC motor, filter the terminal voltage or line voltage difference signal, detect the zero-crossing point of the terminal voltage or line voltage difference signal, and form three virtual Hall signals T a , T b , T c ; 步骤三：对三路虚拟霍尔信号Ta、Tb、Tc进行异或运算得到Tpos，其中Tpos的上升沿和下降沿与反电动势零点位置相同；Step 3: XOR operation is performed on the three virtual Hall signals Ta , T b , and T c to obtain T pos , wherein the rising edge and falling edge of T pos are the same as the zero point position of the back electromotive force; 步骤四：计算Tpos为高电平持续时间tθ1，计算Tpos为低电平持续时间tθ2；Step 4: Calculate T pos as the high level duration t θ1 , and calculate T pos as the low level duration t θ2 ; 步骤五：利用当前周期tθ1、tθ2计算无刷直流电机的转速，转速表达式为：Step 5: Calculate the speed of the brushless DC motor by using the current cycle t θ1 and t θ2 . The speed expression is: 其中p为电机的极对数；where p is the number of pole pairs of the motor; 步骤六：将下一周期反电动势过零点信息Ta、Tb、Tc滞后0.5tθ1-tθf，形成Ta'、Tb'、Tc'。滞后0.5tθ2-tθf，形成Ta”、Tb”、Tc”，其中tθf为滤波引起的滞后时间；Step 6: Lag back EMF zero-crossing point information Ta , T b , and T c by 0.5t θ1 -t θf in the next cycle to form Ta ', T b ' , and T c ' . Lag 0.5t θ2 -t θf to form Ta ”, T b ”, T c ”, where t θf is the lag time caused by filtering; 步骤七：进行Sa＝Ta'∩Ta”、Sb＝Tb'∩Tb”、Sc＝Tc'∩Tc”运算，分别得到换相信号Sa、Sb、Sc；Step 7: carry out the operations of Sa =T a '∩T a ", S b =T b '∩T b ", S c = T c '∩T c ", and obtain the commutation signals Sa , S b , S respectively c ; 步骤八：换相信号产生电机的换相逻辑，输入到三相全控逆变电路驱动电机运行。Step 8: The commutation signal generates the commutation logic of the motor, which is input to the three-phase fully-controlled inverter circuit to drive the motor to run.
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CN112383057A (en) * 2020-11-27 2021-02-19 哈尔滨工程大学 Power grid flow-based mutual inductance and self-inductance design method for power coupling system
CN113839586A (en) * 2021-09-28 2021-12-24 北京信息科技大学 Decoupling detection method for three opposite electromotive forces of high-speed small-armature brushless direct current motor
CN113872471A (en) * 2021-10-15 2021-12-31 湖南麦格米特电气技术有限公司 A rotational speed estimation method, device, electronic device and storage medium
CN113972863A (en) * 2021-11-01 2022-01-25 江苏科技大学 A method and system for estimating rotor position of brushless DC motor based on line voltage
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DE112023000331T5 (en) 2022-10-13 2024-08-14 Jiangsu Dongcheng Tools Technology Co., Ltd. COMPENSATION SYSTEM AND METHOD FOR ZERO CROSSING VOLTAGE OF THE BACK ELECTROMOTOR FORCE OF A BRUSHLESS DC MOTOR

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CN113872471B (en) * 2021-10-15 2024-10-29 湖南麦格米特电气技术有限公司 Rotation speed estimation method and device, electronic equipment and storage medium
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CN114400929A (en) * 2022-01-20 2022-04-26 北京航空航天大学 Sensorless commutation control method and system for brushless DC motor
CN114400929B (en) * 2022-01-20 2024-02-13 北京航空航天大学 Sensorless commutation control method and sensorless commutation control system for brushless direct current motor
DE112023000331T5 (en) 2022-10-13 2024-08-14 Jiangsu Dongcheng Tools Technology Co., Ltd. COMPENSATION SYSTEM AND METHOD FOR ZERO CROSSING VOLTAGE OF THE BACK ELECTROMOTOR FORCE OF A BRUSHLESS DC MOTOR

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