CN109713949A - A kind of suppressing method and system of torque pulsation of brushless DC motor - Google Patents
A kind of suppressing method and system of torque pulsation of brushless DC motor Download PDFInfo
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- CN109713949A CN109713949A CN201811625292.2A CN201811625292A CN109713949A CN 109713949 A CN109713949 A CN 109713949A CN 201811625292 A CN201811625292 A CN 201811625292A CN 109713949 A CN109713949 A CN 109713949A
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Abstract
本发明涉及一种无刷直流电机转矩脉动的抑制方法及系统，方法包括获取无刷直流电机中的霍尔传感器采集的霍尔信号和无刷直流电机运行过程中的三相相电流，并根据霍尔信号和三相相电流判断无刷直流电机是否处于换相状态，若否，采用两两导通控制方式控制电压型逆变器；若是，采用两两导通与三三导通切换控制方式控制电压型逆变器。本发明在换相阶段通过两两导通与三三导通切换控制方式，只有一个开关管变化，有效抑制了无刷直流电机在换相时产生的转矩脉动；且由于两两导通控制方式与三三导通控制方式的相互配合，不需要对死区进行设置，转矩脉动的抑制效果更佳，检测方法和控制算法较简单、计算难度较低、成本较低，控制效率较高。
The invention relates to a method and system for suppressing torque ripple of a brushless DC motor. The method includes acquiring a Hall signal collected by a Hall sensor in the brushless DC motor and three-phase phase currents during the operation of the brushless DC motor, and obtaining a Hall signal collected by a Hall sensor in the brushless DC motor. Judging whether the brushless DC motor is in the commutation state according to the Hall signal and the three-phase phase current, if not, use the two-two conduction control method to control the voltage inverter; if so, use the two-two conduction and three-three conduction switching The control mode controls the voltage source inverter. In the commutation stage, the invention adopts the switching control mode of two-to-two conduction and three-to-three conduction, and only one switch tube changes, which effectively suppresses the torque pulsation generated by the brushless DC motor during commutation; The combination of the three-three conduction control method and the three-three conduction control method does not need to set the dead zone, the torque ripple suppression effect is better, the detection method and control algorithm are simpler, the calculation difficulty is lower, the cost is lower, and the control efficiency is higher. .
Description
Technical field
The present invention relates to motor control technology field more particularly to a kind of suppressing methods of torque pulsation of brushless DC motor
And system.
Background technique
Motor has been applied in the various aspects in modern society by development for many years.Due to the tune of direct current generator
Energy saving power and starting performance are outstanding, therefore are increasingly used in electric drive system.Brshless DC motor is that having
Grow up on the basis of brushless motor.The permanent-magnet material reserves in China are very rich, therefore are brshless DC motor
Good material base has been established in development.Due to permanent-magnet material level of processing reach its maturity with control circuit technology increasingly into
Step, oneself warp of brshless DC motor spread each field and the link of modern society and national economy.Brshless DC motor has structure
Simply, the advantages that power density is big and long service life, thus be widely used in national defence, industrial stokehold, robot,
In the fields such as automotive electronics, household electrical appliance and office automation.
But brshless DC motor there is also a significant disadvantage, i.e. torque pulsation is larger.The torque pulsation master of motor
It is divided into: torque pulsation caused by torque pulsation caused by current commutation and tooth socket.Because of brshless DC motor torque arteries and veins
Dynamic problem results in it in the field more demanding to output torque performance using being obstructed.Compared with cogging torque pulsation,
The frequency of torque pulsation caused by current commutation is lower and amplitude is larger, is the main component of torque pulsation of brushless DC motor.
Therefore, torque pulsation caused by current commutation effectively inhibit having a very important significance.
There are many kinds of the suppressing methods taken at present torque pulsation caused by current commutation, and the core of inhibition is try to
Rate by controlling brshless DC motor electric current raising and lowering of machine winding in commutation is equal to reduce electromagnetic torque
Pulsation, wherein one of the most common type be pulsewidth modulation (PWM) copped wave method, the principle of this method is: switching device before shutdown,
The copped wave of certain frequency is carried out after opening, the end voltage for controlling winding in commutation process makes each current of commutation raising and lowering
Rate it is equal, compensate total current amplitude variation, it is torque pulsation inhibited.But existing PWM copped wave method has the disadvantage that control
Low efficiency processed, needs to be added dead time and since dead time to be added causes the inhibition of torque pulsation unobvious, needs root
Calculate different duty ratios according to different PWM modulation modes, detection method and control algolithm are complicated, difficulty in computation is high, cost compared with
It is high.
Summary of the invention
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide a kind of brshless DC motors
The suppressing method and system of torque pulsation.
The technical scheme to solve the above technical problems is that
A kind of inhibition system of torque pulsation of brushless DC motor, including voltage source inverter, controller and sample circuit；
The three-phase that the voltage source inverter is used to control brshless DC motor is opened and is closed；
The sample circuit is used to acquire three-phase phase current in the brshless DC motor operational process, and by acquisition
The three-phase phase current is sent to the controller；
The controller is used to receive the Hall sensor acquisition of the three-phase phase current and the brshless DC motor
Hall signal；It is also used to judge whether the brshless DC motor is according to the three-phase phase current and the hall signal to change
Phase state controls the voltage source inverter using conducting control mode two-by-two, when judging result is when the judgment result is no
When being, the voltage source inverter is controlled using conducting two-by-two and three or three conducting switching control modes.
The beneficial effects of the present invention are: conducting control mode refers to that brshless DC motor works in 120 ° of conduction modes two-by-two
Under, the course of work can be divided into two sections, and one is that conducting phase current increases, shutdown phase current reduces and every group of winding has
The commutation section that electric current flows through, another section is non-commutation section, in this section, there was only two phase windings in three-phase windings
There is electric current to flow through, and the upper down tube of every phase winding cannot simultaneously turn on；And three or three conducting control modes refer to brshless DC motor work
Make under 180 ° of conduction modes, i.e., each moment, three-phase windings have electric current to flow through, and the upper down tube of same every phase winding cannot
It simultaneously turns on；Conducting then refers to that above-mentioned conducting control mode two-by-two and three or three conductings control with three or three conducting switching control modes two-by-two
The conduction mode that mode mutually switches, such as be connected when control mode is connected two-by-two for A phase upper tube and B phase down tube, A is changed in next step
The conducting of phase upper tube and the conducting of C phase down tube are then needed when taking conducting two-by-two and three or three conducting switching control modes in above-mentioned A phase
One three or three conducting of insertion between upper tube and the conducting of B phase down tube and the conducting of A phase upper tube and C phase down tube conducting two states
The conducting of state, i.e. A phase upper tube, the conducting of B phase down tube and the conducting of C phase down tube；
After the present invention judges whether the brshless DC motor is in commutation state according to hall signal by controller, if
For non-commutation state, then uses and control mode control voltage source inverter is connected two-by-two to realize each phase to brshless DC motor
The control for turning off and opening, and if commutation state, then voltage is controlled using conducting two-by-two and three or three conducting switching control modes
Type inverter is to realize each control for mutually turning off and opening to brshless DC motor.The principle of above-mentioned control mode are as follows: changing
The phase stage, first using the control mode that is connected two-by-two, due in the case where high-speed cruising, inductance there are electric currents to dash forward
Become, then turn off phase current rate of change can be higher than open phase current rate of change, under Non-commutation phase current necessarily will appear at this time
The trend fallen, and torque pulsation is generated, and when Non-commutation phase current generates downward tendency, it is switched to three or three conducting controlling parties
Formula, three or three conducting in shutdown mutually the commutation stage can constant conduction, therefore can reduce shutdown phase current rate of change, enable it
The generation to inhibit torque pulsation equal with the rate of change for opening phase current；
Inhibition system of the invention is cut in the commutation stage by conducting two-by-two and three or three conductings compared with traditional closed-loop controls
Control mode is changed, the variation of only one switching tube, the torque pulsation for effectively inhibiting brshless DC motor to generate in commutation；And
Since the mutual cooperation of control mode with three or three conducting control modes being connected two-by-two, do not need to be configured dead zone, torque arteries and veins
More preferably, compared with simple, difficulty in computation is lower, cost is relatively low, control efficiency is higher for detection method and control algolithm for dynamic inhibitory effect.
Based on the above technical solution, the present invention can also be improved as follows:
Further, three input terminals of the sample circuit are corresponding with the three-phase windings of the brshless DC motor electric respectively
Connection, and output end is electrically connected with the input terminal of the controller；The sample circuit is described brushless straight also particularly useful for acquiring
The threephase stator end voltage in motor operation course is flowed, and the threephase stator end voltage of acquisition is sent to the control
Device.
The beneficial effect of above-mentioned further scheme is: by the threephase stator end voltage of acquisition, convenient for subsequent according to three-phase
Stator terminal voltage calculates is being connected the shutdown phase duty ratio with three or three conductings under three or three conducting switching control modes two-by-two, thus side
Just PWM copped wave is carried out to brshless DC motor according to the shutdown phase duty ratio, realized to provide suitable modulated signal to nothing
The effective inhibition for the torque pulsation that brushless motor generated in the commutation stage.
Further, the controller include A/D conversion circuit, counting circuit, commutation control circuit, PI D control circuit and
Pwm signal circuit；
The input terminal of the A/D conversion circuit respectively with the output end of the sample circuit and the brshless DC motor
Hall signal output end electrical connection, the A/D conversion circuit be used for the three-phase phase current, threephase stator end voltage and
The hall signal carries out analog-to-digital conversion respectively；
The input terminal of the counting circuit is electrically connected with the output end of the A/D conversion circuit, the counting circuit it is defeated
Outlet is electrically connected with the input terminal of the input terminal of the PID control circuit and the commutation control circuit respectively, the calculating electricity
Road is used to calculate the revolving speed of the brshless DC motor according to result of the hall signal after analog-to-digital conversion, and according to described
The result of revolving speed and the three-phase phase current after analog-to-digital conversion judges whether the brshless DC motor is in commutation state, and
Using judging result as the input of the commutation control circuit；The counting circuit is also used to according to the three-phase phase current and institute
The result calculating brshless DC motor of the threephase stator end voltage after analog-to-digital conversion is stated to lead in the conducting two-by-two with three or three
The shutdown phase duty ratio in three or three turn on process under logical switching control mode, and using the shutdown phase duty ratio as described in
The input of PID control circuit；
Wherein, the specific formula of the shutdown phase duty ratio are as follows:
d2For the shutdown phase duty ratio, UdcFor the direct-flow input end voltage of the voltage source inverter, ex、eyAnd ezPoint
It described Wei be connected two-by-two and be connected under switching control modes with three or three, according to the three-phase phase current and threephase stator end electricity
It presses the non-commutation phase back-emf being calculated, open phase back-emf and shutdown phase back-emf, d and d1Respectively described two
Two conductings obtain non-with under three or three conducting switching control modes according to the three-phase phase current and threephase stator end voltage
Commutation phase duty ratio and open phase duty ratio；
The input terminal of the commutation control circuit is electrically connected with the output end of the counting circuit, the commutation control circuit
Output end be electrically connected with the input terminal of the voltage source inverter, the commutation control circuit be used for according to the counting circuit
Judge whether to be in the judging result of commutation state by the brshless DC motor that control the voltage source inverter corresponding
The generation of commutation control signal；
The input terminal of the PID control circuit is electrically connected with the output end of the counting circuit, the PID control circuit
Output end is electrically connected with the input terminal of the pwm signal circuit, and the PID control circuit is used to control institute according to the duty ratio
State the generation of the corresponding pwm signal of voltage source inverter；
The input terminal of the pwm signal circuit is electrically connected with the output end of the PID controller, the pwm signal circuit
Output end be electrically connected with the input terminal of the voltage source inverter, the pwm signal circuit be used for according to the pwm signal pair
The three-phase full-bridge inverter is modulated.
The beneficial effect of above-mentioned further scheme is: hall signal, three-phase phase current by A/D conversion circuit to acquisition
Analog-to-digital conversion is carried out with threephase stator end voltage, judges whether brshless DC motor is in commutation shape convenient for counting circuit calculating
State, and shutdown phase duty ratio is calculated, to obtain the input letter of corresponding commutation control signal and PID control circuit respectively
Number；By commutation control circuit and PID control circuit, commutation control to voltage source inverter and pwm signal are realized respectively
It controls, such as the hall signal and three-phase phase current after according to the conversion of A/D conversion circuit judge after counting circuit calculates
For commutation state, then generates conducting two-by-two corresponding with current state and switching control modes are connected with three or three and are sent to commutation control
Circuit processed controls opening and turning off for corresponding each phase, while also according to the three-phase phase current and three after the conversion of A/D conversion circuit
Phase stator terminal voltage obtains the shutdown phase duty ratio d under corresponding three or three conducting after being computed circuit counting2, and by the shutdown phase
Duty ratio is sent to PI D control circuit, controls the generation of corresponding pwm signal, and corresponding using this by pwm signal circuit
Pwm signal is modulated voltage source inverter, to realize effective inhibition of the torque pulsation to the commutation stage；Meter of the present invention
The shutdown phase duty ratio of calculation can enable the rate of change of shutdown phase current just be equal to the rate of change for opening phase current, inhibit to turn
Square avoids while pulsation there is the case where overcompensation, and above-mentioned shutdown phase duty ratio is suitable for all current common PWM
Modulation system, it is no longer necessary to different duty ratio calculation methods be switched according to different PWM modulation modes, simplify and calculated
Journey.
Further, further including Drive Protecting Circuit, the input terminal of the Drive Protecting Circuit is electric with the pwm signal respectively
The output end on road and the electrical connection of the output end of the commutation control circuit, the output end of the Drive Protecting Circuit and the voltage
The input terminal of type inverter is electrically connected, and the Drive Protecting Circuit is used to control signal according to the pwm signal and the commutation
The voltage source inverter is protected.
The beneficial effect of above-mentioned further scheme is: Drive Protecting Circuit has preferable electrical isolation performance, passes through drive
Dynamic protection circuit, on the one hand can protect voltage source inverter, on the other hand can also enhance controller to voltage-type
The driving capability of inverter.
Further, further include filter circuit, three end input terminals of the filter circuit respectively with the brshless DC motor
Corresponding three-phase windings electrical connection, the three-polar output end of the filter circuit are electric with three end input terminals of the sample circuit respectively
Connection, is filtered for the collection process to the sample circuit.
The beneficial effect of above-mentioned further scheme is: the filtering processing by filter circuit to sampling process, available
The data such as more accurate hall signal, three-phase phase current and threephase stator end voltage improve computational accuracy and control algolithm precision,
Realize the accurate inhibition to torque pulsation.
Further, further including power supply, the power supply is used to provide direct-flow input end voltage, institute for the voltage source inverter
Stating voltage source inverter is specially three-phase full-bridge inverter, the input terminal of the three-phase full-bridge inverter respectively with the power supply and
The output end of the controller is electrically connected, and three output ends of the three-phase full-bridge inverter respectively with the brushless dc
The corresponding electrical connection of the three-phase windings of machine；
The three-phase full-bridge inverter includes six switching tubes, respectively first switch tube VT1, second switch VT2,
Three switching tube VT3, the 4th switching tube VT4, the 5th switching tube VT5With the 6th switching tube VT6；Six switching tubes are three poles
Pipe, and one diode of equal reverse parallel connection between the collector and emitter of each switching tube；The first switch tube VT1
With the 4th switching tube VT4Connect and compose the A phase of the three-phase full-bridge inverter, and the first switch tube VT1For in A phase
Pipe, the 4th switching tube VT1For A phase down tube；The third switching tube VT3With the 6th switching tube VT6It connects and composes described
The B phase of three-phase full-bridge inverter, and the third switching tube VT3For B phase upper tube, the 6th switching tube VT6For B phase down tube；Institute
State the 5th switching tube VT5With the second switch VT2The C phase of the three-phase full-bridge inverter is connected and composed, and the described 5th opens
Close pipe VT5For C phase upper tube, the second switch VT2For C phase down tube；The first switch tube VT1, the third switching tube
VT3With the 5th switching tube VT5Collector tandem and with the power supply anode be electrically connected, the second switch VT2、
The 4th switching tube VT4With the 6th switching tube VT6Emitter tandem and being electrically connected with the cathode of the power supply be followed by
Ground；And the first switch tube VT1Emitter and the 4th switching tube VT4Collector tandem after, the third switching tube
VT3Emitter and the 6th switching tube VT6Collector tandem after and the 5th switching tube VT5Emitter and institute
State second switch VT2Collector tandem after, converge at the brushless direct-current by a resistance and an inductance respectively
The motor midpoint of motor.The beneficial effect of above-mentioned further scheme is: by the three-phase full-bridge inverter of above-mentioned connection type, just
In judging whether brshless DC motor is in the judging result of commutation state and controls each of brshless DC motor according to controller
Phase being opened and turning off, consequently facilitating inhibiting brshless DC motor in the torque pulsation in commutation stage, wherein six switching tubes are also
It can be metal-oxide-semiconductor.
Another aspect according to the present invention provides a kind of suppressing method of torque pulsation of brushless DC motor, uses
The inhibition system of torque pulsation of brushless DC motor of the invention, comprising the following steps:
Step 1: obtaining the hall signal and described of the Hall sensor acquisition in the brshless DC motor
The three-phase phase current in brshless DC motor operational process, and judged according to the hall signal and the three-phase phase current
Whether the brshless DC motor is in commutation state, if it is not, 2 are entered step, if so, entering step 3；
Step 2: the voltage source inverter is controlled using the control mode of conducting two-by-two；
Step 3: the voltage source inverter is controlled using the conducting two-by-two and three or three conducting switching control modes.
The beneficial effects of the present invention are: in the commutation stage, first using the control mode be connected two-by-two, due in high-speed cruising
In the case where, inductance there are electric currents to be mutated, then turn off phase current rate of change can be higher than open phase current rate of change,
Non-commutation phase current necessarily will appear downward tendency at this time, and generate torque pulsation, and when Non-commutation phase current generates drop
When trend, three or three conducting control modes are switched to, shutdown is mutually in commutation stage meeting constant conduction in three or three conductings, therefore can drop
The rate of change of low shutdown phase current enables it equal with the rate of change for opening phase current to inhibit the production of torque pulsation
It is raw；
Suppressing method of the invention is cut in the commutation stage by conducting two-by-two and three or three conductings compared with traditional closed-loop controls
Control mode is changed, the variation of only one switching tube, the torque pulsation for effectively inhibiting brshless DC motor to generate in commutation；And
Since the mutual cooperation of control mode with three or three conducting control modes being connected two-by-two, do not need to be configured dead zone, torque arteries and veins
More preferably, compared with simple, difficulty in computation is lower, cost is relatively low, control efficiency is higher for detection method and control algolithm for dynamic inhibitory effect.
Based on the above technical solution, the present invention can also be improved as follows:
Further, judging the brushless direct-current according to the hall signal and the three-phase phase current in the step 1
Motor whether be in commutation state specifically includes the following steps:
Step 11: the rotor speed of the brshless DC motor is determined according to the hall signal；
Step 12: judging whether the brshless DC motor is according to the rotor speed and the three-phase phase current and change
Phase state.
The beneficial effect of above-mentioned further scheme is: since hall signal has an open signal and cut-off signals respectively, and nothing
Usually there are three Hall sensors for brushless motor, therefore there are six different hall signals altogether, and each hall signal is corresponding
The beginning in one commutation stage, a commutation stage refer to that commutation starts to commutation to terminate, phase current are turned off at the end of commutation
It is 0；It may determine that the rotor speed of brshless DC motor by hall signal, so that it is determined that motor rotor position, therefore combine
The motor rotor position and phase current of current state, can determine whether the commutation stage of current state terminates, if enter next
Whether a commutation stage is in commutation state.
Further, further including the threephase stator end obtained in the brshless DC motor operational process in the step 1
Voltage.
The beneficial effect of above-mentioned further scheme is: being led two-by-two by the threephase stator end voltage of acquisition convenient for subsequent calculating
Shutdown phase duty ratio in logical three or three turn on process under three or three conducting switching control modes, facilitates according to the shutdown phase duty
Than the torque pulsation for realizing the control to voltage source inverter to inhibit brshless DC motor.
Further, the step 3 specifically includes the following steps:
Step 31: the brshless DC motor is calculated in institute according to threephase stator end voltage and the three-phase phase current
It states to be connected two-by-two and non-commutation phase back-emf under switching control modes is connected with three or three, opens phase back-emf and shutdown is opposite
Electromotive force；
Step 32: the brshless DC motor is obtained in institute according to the three-phase phase current and threephase stator end voltage
Conducting two-by-two is stated corresponding non-commutation phase duty ratio under switching control modes is connected with three or three and opens phase duty ratio；
Step 33: according to the non-commutation phase back-emf, described opening phase back-emf and the shutdown is opposite electronic
Gesture and the corresponding non-commutation phase duty ratio and the phase duty ratio of opening are calculated in the conducting two-by-two and three or three conductings
Shutdown phase duty ratio in three or three turn on process under switching control mode；
Wherein, the specific formula of the shutdown phase duty ratio are as follows:
d2For the shutdown phase duty ratio, UdcFor the direct-flow input end voltage of the voltage source inverter, exIt is described non-
Commutation phase back-emf, eyPhase back-emf, e are opened to be describedzFor the shutdown phase back-emf, d is that the non-commutation mutually accounts for
Empty ratio, d1Phase duty ratio is opened to be described；
Step 34: the voltage source inverter is controlled according to the shutdown phase duty ratio.
The beneficial effect of above-mentioned further scheme is: the shutdown phase calculated by the method that above-mentioned calculating turns off phase duty ratio
Duty ratio is suitable for all current common PWM modulation modes, it is no longer necessary to switch difference according to different PWM modulation modes
Duty ratio calculation method, simplify calculating process, and the rate of change of shutdown phase current is enabled just to be equal to and open phase current
Rate of change avoids while torque pulsation inhibited and the case where overcompensation occurs.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram one of the inhibition system of torque pulsation of brushless DC motor of the present invention；
Fig. 2 is the structural schematic diagram of voltage source inverter in the embodiment of the present invention one；
Fig. 3 is a kind of structural schematic diagram one of the inhibition system of torque pulsation of brushless DC motor of the present invention；
Fig. 4 is the waveform diagram of hall signal and three-phase phase current in the embodiment of the present invention one；
Fig. 5 is to be connected to show with each switching tube driving under three or three conducting switching control modes two-by-two in the embodiment of the present invention one
It is intended to；
Fig. 6 is the pwm signal be connected two-by-two in the embodiment of the present invention one with each phase under three or three conducting switching control modes
Schematic diagram；
Fig. 7 is a kind of flow diagram of the suppressing method of torque pulsation of brushless DC motor of the present invention；
Fig. 8 is the waveform diagram in the embodiment of the present invention two using the Non-commutation phase current of traditional control method and torque；
Fig. 9 is changed for the commutation stage in the embodiment of the present invention two using conducting two-by-two and three or three conducting the non-of switching control mode
The waveform diagram of phase phase current and torque；
Figure 10 is the torque profile figure for using traditional control method in the embodiment of the present invention two in shock load；
Figure 11 is that switching controls are connected with three or three using conducting two-by-two in shock load in the embodiment of the present invention two
The torque profile figure of mode.
In attached drawing, parts list represented by the reference numerals are as follows:
1, power supply, 2, voltage source inverter, 3, brshless DC motor, 4, controller, 5, sample circuit, 6, driving protection electricity
Road, 7, filter circuit, 41, A/D conversion circuit, 42, counting circuit, 43, commutation control circuit, 44, PID control circuit, 45,
Pwm signal circuit.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
With reference to the accompanying drawing, the present invention will be described.
Embodiment one, as shown in Figure 1, a kind of torque pulsation of brushless DC motor inhibition system, including voltage-type inversion
Device 2, controller 4 and sample circuit 5；
The voltage source inverter 2 is used to control respectively mutually opening and close for brshless DC motor 3；
The sample circuit 5 is used to acquire the three-phase phase current in 3 operational process of brshless DC motor, and will acquisition
The three-phase phase current be sent to the controller 4；
The controller 4 is used to receive the Hall sensor acquisition of the three-phase phase current and the brshless DC motor 3
Hall signal；It is also used to judge whether the brshless DC motor 3 is located according to the three-phase phase current and the hall signal
In commutation state, when the judgment result is no, the voltage source inverter is controlled using conducting control mode two-by-two, when judgement is tied
Fruit is to control the voltage source inverter using conducting two-by-two and three or three conducting switching control modes when being.
It specifically, as shown in Figures 2 and 3, further include power supply 1, the power supply 1 is used to mention for the voltage source inverter 2
For direct-flow input end voltage, the voltage source inverter 2 be specially three-phase full-bridge inverter, the three-phase full-bridge inverter it is defeated
Enter end to be electrically connected with the output end of the power supply 1 and the controller 4 respectively, and three outputs of the three-phase full-bridge inverter
End electrical connection corresponding with the three-phase windings of the brshless DC motor 3 respectively；
The three-phase full-bridge inverter 2 includes six switching tubes, respectively first switch tube VT1, second switch VT2,
Three switching tube VT3, the 4th switching tube VT4, the 5th switching tube VT5With the 6th switching tube VT6；Six switching tubes are three poles
Pipe, and one diode of equal reverse parallel connection between the collector and emitter of each switching tube；The first switch tube VT1
With the 4th switching tube VT4Connect and compose the A phase of the three-phase full-bridge inverter 2, and the first switch tube VT1For in A phase
Pipe, the 4th switching tube VT1For A phase down tube；The third switching tube VT3With the 6th switching tube VT6It connects and composes described
The B phase of three-phase full-bridge inverter 2, and the third switching tube VT3For B phase upper tube, the 6th switching tube VT6For B phase down tube；
The 5th switching tube VT5With the second switch VT2Connect and compose the C phase of the three-phase full-bridge inverter 2, and described
Five switching tube VT5For C phase upper tube, the second switch VT2For C phase down tube；The first switch tube VT1, third switch
Pipe VT3With the 5th switching tube VT5Collector tandem and with the power supply 1 anode be electrically connected, the second switch
VT2, the 4th switching tube VT4With the 6th switching tube VT6Emitter tandem and be electrically connected with the cathode of the power supply 1
After be grounded；And the first switch tube VT1Emitter and the 4th switching tube VT4Collector tandem after, the third is opened
Close pipe VT3Emitter and the 6th switching tube VT6Collector tandem after and the 5th switching tube VT5Emitter
With the second switch VT2Collector tandem after, converged at respectively by a resistance and an inductance described brushless
The motor midpoint of direct current generator 3.
In the present embodiment, the three-phase full-bridge inverter 2 further includes a capacitor, one end of the capacitor and the power supply
1 anode electrical connection, the negative electricity connect and ground of the other end of the capacitor and the power supply 1.
In the present embodiment, U in Fig. 2dcFor the direct-flow input end voltage of the three-phase full-bridge inverter of the present embodiment, switch is utilized
Pipe VT1~VT6It completes electronics commutation and inversion exports, anti-paralleled diode VD1-VD6Carry out afterflow, R, L and ea、eb、ecRespectively
For motor equivalent resistance, inductance and the corresponding counter electromotive force of threephase stator winding, three-phase windings star-like connection point n is in motor
Point, g is for DC bus-bar voltage.
Preferably, three input terminals of the sample circuit 5 are corresponding with the three-phase windings of the brshless DC motor 3 respectively
Electrical connection, and output end is electrically connected with the input terminal of the controller 4；The sample circuit 5 is also particularly useful for the acquisition nothing
Threephase stator end voltage in 3 operational process of brushless motor, and the threephase stator end voltage of acquisition is sent to described
Controller 4.
The threephase stator end voltage of the present embodiment acquisition is respectively ua、ub、uc, three-phase phase current is respectively ia、ib、ic,
It is equal with threephase stator electric current in the present embodiment.The mathematical equivalent model of brshless DC motor is obtained according to fig. 2 are as follows:
Wherein, unFor motor mid-point voltage, p is differential operator.
Specifically, as shown in figure 3, the controller 4 includes A/D conversion circuit 41, counting circuit 42, commutation control circuit
43, PID control circuit 44 and pwm signal circuit 45；The input terminal of the A/D conversion circuit 41 respectively with the sample circuit 5
Output end and the brshless DC motor 3 hall signal output end electrical connection；The input terminal of the counting circuit 42 and institute
State A/D conversion circuit 41 output end electrical connection, the output end of the counting circuit 42 respectively with the PID control circuit 44
Input terminal and the electrical connection of the input terminal of the commutation control circuit 43；The input terminal of the commutation control circuit 43 and the calculating
The output end of circuit 42 is electrically connected, the output end of the commutation control circuit 43 and the input terminal electricity of the three-phase full-bridge inverter
Connection；The input terminal of the PID control circuit 44 is electrically connected with the output end of the counting circuit 42, the PID control circuit
44 output end is electrically connected with the input terminal of the pwm signal circuit 45；The input terminal of the pwm signal circuit 45 with it is described
The output end of PID controller 44 is electrically connected, the input of the output end and the three-phase full-bridge inverter of the pwm signal circuit 45
End electrical connection.
The controller of the present embodiment uses the dsp chip dsPIC30F6010 of Microchip company production, is mainly used for counting
Calculate the current speed of motor, generate pwm signal and generate commutation control signal etc..By voltage sensor and current sensor,
The threephase stator end voltage and three-phase phase current for detecting motor respectively, can using three hall signals that Hall sensor detects
To be used to calculate the current rotor revolving speed of motor, and it is sent to controller and obtains the commutation control letter of three-phase full-bridge inverter
Number.Threephase stator end voltage and three-phase phase current are used to calculate required different duty under motor current rotor revolving speed, with
This controls motor operation and torque pulsation inhibited function to reach.
The present embodiment judges whether brshless DC motor is in commutation state according to hall signal and three-phase phase current, specifically
Waveform diagram is as shown in Figure 4.When judging that brshless DC motor is in commutation state, cut using conducting two-by-two and three or three conductings
Control mode is changed, by taking A+B- changes A+C- under PWM-ON modulation system as an example, in three or the three conducting controls of commutation stage insertion A+B-C-
Mode processed, wherein A+ represents the conducting of A phase upper tube, i.e. first switch tube VT1Conducting, B- indicate the conducting of B phase down tube, i.e., the 6th switch
Pipe VT6Conducting, and so on, for convenience of description, the switching tube and diode of the present embodiment will be directly with the letters of each switching tube
To indicate.
When commutation starts, using the control method be connected two-by-two, B phase down tube VT6Shutdown, electric current pass through VD3Afterflow, suddenly
The pressure drop of diode is omited, at this time ua=Udc, ub=Udc, C phase down tube VT2Open simultaneously copped wave.During copped wave, if VT2The duty of pipe
ThanElectric current passes through VT2The negative terminal of power supply is flowed to, at this time uc=0；If VT2The duty ratio of pipeElectric current passes through
VD2Afterflow, at this time uc=Udc, can to sum up obtain(For VT2The duty ratio of pipe).3 current potentials of a, b, c
Being updated in the equivalent mathematical model of brshless DC motor can obtain:
It arranges:
One PWM cycle corresponding time is Ts, then the torque variable quantity in a PWM cycle are as follows:
Wherein, Δ Pe=eaΔia+ebΔib+ecΔic, ωmFor the rotor speed of brshless DC motor.
Due to VT20≤d of duty ratio of pipeVT2≤ 1, then obtain Δ TeRange:
When motor operation is in high speed, if 2ea-eb-ecConstant interval in commutation section is [emin,emax], and herein
E in sectiona> 0, eb< 0 and ec< 0, it can thus be concluded that 0 < emin< emax.Since counter electromotive force and motor speed are directly proportional, then Udc
< emin, must there is Udc< 2ea-eb-ec, it can obtain:
2(eaeb+eaec+eceb-ea 2-eb 2-ec 2)+(ea+eb-2ec)Udc<
2(eaeb+eaec+eceb-ea 2-eb 2-ec 2)+(ea+eb-2ec)(2ea-eb-ec(the e of)=3c-eb)(eb-ea)；
Due to the e in commutation sectionc≤eb0 < e of <a, 3 (e can be obtainedc-eb)(eb-ea) minimum value be 0, then:
2(eaeb+eaec+eceb-ea 2-eb 2-ec 2)+(ea+eb-2ec)Udc< 0；
Obtain Δ Te< 0；Then in the case where high speed operation of motor, conducting will necessarily generate torque pulsation, and torque two-by-two
It is on a declining curve.
When the torque of generation is on a declining curve, three or three conducting control modes are switched to, the mode of opening of each pipe is A+B-C-,
3 points of a, b, c of current potential is respectively u at this timea=Udc, ub=0, uc=0, the same equivalent mathematical model for substituting into brshless DC motor
:
It arranges:
Torque variable quantity in a PWM cycle at this time are as follows:
Similarly, being computed can obtain, when mode of opening is A+B-C-, Δ T 'e> 0, then the high speed operation of motor the case where
Under, three or three conductings can generate the torque pulsation of rising.So two can then be inhibited by being inserted into suitable three or three conducting during commutation
The torque that two conductings generate is fallen, thus the torque pulsation generated during reducing commutation.
The present embodiment is connected as shown in Figure 5 with each switching tube driving under three or three conducting switching control modes two-by-two, wherein
It corresponds to be connected two-by-two and three or three conducting handoff procedures, VT at dotted line1Guan Weifei commutation phase, VT2Pipe is to open phase, VT6Guan Weiguan
Disconnected phase；And conducting two-by-two under three or three conducting switching control modes in, open mutually and turn off and be mutually all made of the side of PWM modulation
Formula, and turn off phase modulation duty cycle be less than open phase modulation duty cycle.In order to guarantee the stability of control, phase is opened mutually and turned off
Pwm signal generated using the carrier wave that the same amplitude is D, as shown in fig. 6, non-commutation phase VT1 pipe is normal open, open phase
VT6Pipe is copped wave, and is D by given amplitude1Modulating wave and carrier wave relatively obtain VT6Driving signal, turn off phase VT2Guan Ye
It for copped wave, and is D by given amplitude2Modulating wave and carrier wave relatively obtain VT2Driving signal, and by pwm signal circuit control
Three-phase full-bridge inverter processed.
Therefore in the above-mentioned PWM cycle T be connected two-by-two with three or three conducting switching control modessThere are three types of switches for interior meeting
Pipe opens mode, and A+ is connected in only one switching tube, simultaneously turns on A+C- there are two switching tube, and there are three switching tubes simultaneously
A+B-C-, therefore non-commutation phase VT is connected1The current changing rate of pipe in these three cases is respectively as follows:
And in a PWM cycle TsInterior, tri- kinds of A+, A+C- and A+B-C- are opened under mode, non-commutation phase VT1Pipe effect
Time is respectively (1-d1)Ts、(d1-d2)TsAnd d2Ts, wherein d1To open phase duty ratio, d2To turn off phase duty ratio, in substitution
It states three kinds and opens non-commutation phase VT under mode1It manages in corresponding current changing rate, obtains corresponding electric current in a PWM cycle and become
Change amount are as follows:
In order to effectively torque pulsation inhibited, it is necessary to make to open mutually and to turn off the current changing rate of phase equal, then must have:
Δ i=Δ ia1+Δia2+Δia3=0
The equation group of simultaneous current change quantity is calculated in the present embodiment in conducting two-by-two and three or three conducting switching controls
Under mode, the shutdown phase duty ratio of three or three conducting phases are as follows:
Since there are six commutation processes altogether an electric period for brshless DC motor, then in PWM-ON modulation system, six
Phase, shutdown phase are only opened in a commutation process and mutually will appear difference with non-commutation, remaining five kinds of commutation process is equivalent to this
The above-mentioned commutation process of embodiment, therefore, the shutdown phase duty ratio of above-mentioned three or three conducting phase extended in the entire electric period,
Obtain the shutdown phase duty ratio of three or three conducting phases in the entire electric period are as follows:
Wherein, ex、eyAnd ezRespectively non-commutation phase back-emf opens phase back-emf and shutdown phase back-emf.
The present embodiment be by taking PWM-ON modulation system as an example, and further include in brushless DC motor control system ON-PWM,
The difference of these four modulation systems of HPWM-L_ON, H_ON-L_PWM and H_PWM-L_PWM, above five kinds of PWM modulation modes exists
In:
1, H_PWM-L_PWM: upper and lower bridge arm switching tube carries out pwm signal modulation and (opens switching tube in conducting two-phase
PWM modulation is carried out simultaneously)；
2, ON-PWM: during 120 ° of switching tube conducting, each preceding 60 ° of electrical angles holding Heng Tong of pipe, rear 60 ° of electrical angles into
The modulation of row pwm signal；
3, PWM-ON: each preceding 60 ° of electrical angles of pipe carry out pwm signal modulation, and rear 60 ° of electrical angles keep Heng Tong；
4, HPWM-L_ON: upper bridge arm switching tube is modulated by pwm signal, and lower bridge arm switching tube keeps Heng Tong；
5, H_ON-L_PWM: upper bridge arm switching tube keeps Heng Tong, and lower bridge arm switching tube carries out pwm signal modulation.
If the duty ratio of non-commutation phase is d, three or three conducting phases in the case of the present embodiment PWM-ON modulation system it is non-
Commutation phase duty ratio d=1, then turn off phase duty ratioIt may be expressed as:
Under ON-PWM modulation system, same method can obtain the shutdown phase duty of three or three conducting phases through this embodiment
Than are as follows:
Exist under ON-PWM modulation system and opens phase duty ratio d1=1, then the shutdown phase of three or three conducting phases at this time
Duty ratio are as follows:
Similarly, the shutdown phase duty ratio of three or three conducting phases under remaining several modulation system is available:
Therefore, under the different modulation system of brshless DC motor, the same formula can be used
Calculate the shutdown phase duty ratio in three or three conductings.
The inhibition system of the present embodiment passes through conducting two-by-two and three or three conductings compared with traditional closed-loop controls, in the commutation stage
Switching control mode, it is suppressed that the torque pulsation that brshless DC motor is generated in commutation；Due to two-by-two in this switching system
The mutual cooperation of conducting and three or three conductings, does not need to be configured dead zone；For turning off the meter of phase duty ratio in three or three conductings
Calculation mode can enable the rate of change of shutdown phase current just be equal to the rate of change for opening phase current, torque pulsation inhibited
It avoids simultaneously and the case where overcompensation occurs, and be suitable for all current common PWM modulation modes, it is no longer necessary to according to difference
PWM modulation mode switch different duty ratio calculation methods, simplify calculating process；Algorithm calculating process is few, difficulty in computation
It is low, it can largely guarantee the real-time of motor control.
Preferably, as shown in figure 3, further including Drive Protecting Circuit 6, the input terminal of the Drive Protecting Circuit 6 respectively with
The output end of the pwm signal circuit 45 and the electrical connection of the output end of the commutation control circuit 43, the Drive Protecting Circuit 6
Output end be electrically connected with the input terminal of the three-phase full-bridge inverter, the Drive Protecting Circuit 6 be used for according to the PWM believe
Number and the commutation control signal three-phase full-bridge inverter is protected.
Drive Protecting Circuit has preferable electrical isolation performance on the one hand can be to three-phase by Drive Protecting Circuit
Full-bridge inverter is protected, and on the other hand can also enhance controller to the driving capability of three-phase full-bridge inverter, this implementation
The Drive Protecting Circuit of example can select the ACPL-33XJ series of AVAGO to drive optocoupler.
Preferably, further include filter circuit 7, three end input terminals of the filter circuit 7 respectively with the brushless dc
The electrical connection of the corresponding three-phase windings of machine 3, the three-polar output end of the filter circuit 7 are defeated with three ends of the sample circuit 5 respectively
Enter end electrical connection, is filtered for the collection process to the sample circuit 5.
Filtering processing by filter circuit to sampling process, available more accurate hall signal, three-phase phase current
With the data such as threephase stator end voltage, computational accuracy and control algolithm precision are improved, realizes the accurate inhibition to torque pulsation.
Embodiment two, as shown in fig. 7, a kind of suppressing method of torque pulsation of brushless DC motor, uses of the invention
The inhibition system of torque pulsation of brushless DC motor, comprising the following steps:
S1: the hall signal and described brushless of the Hall sensor acquisition in the brshless DC motor is obtained
The three-phase phase current in direct current generator operational process, and according to the hall signal and three-phase phase current judgement
Whether brshless DC motor is in commutation state, if it is not, into S2, if so, into S3；
S2: the voltage source inverter is controlled using the control mode of conducting two-by-two；
S3: the voltage source inverter is controlled using the conducting two-by-two and three or three conducting switching control modes.
In the commutation stage, first using the control mode that is connected two-by-two, due in the case where high-speed cruising, the presence of inductance
Electric current cannot be mutated, then turning off phase current rate of change can be higher than phase current rate of change be opened, and Non-commutation phase current must at this time
It so will appear downward tendency, and generate torque pulsation, and when Non-commutation phase current generates downward tendency, it is switched to three or three and leads
Lead to control mode, shutdown is mutually in commutation stage meeting constant conduction in three or three conductings, therefore can reduce the variation for turning off phase current
Rate enables it equal with the rate of change for opening phase current to inhibit the generation of torque pulsation；
Suppressing method of the invention is cut in the commutation stage by conducting two-by-two and three or three conductings compared with traditional closed-loop controls
Control mode is changed, the variation of only one switching tube, the torque pulsation for effectively inhibiting brshless DC motor to generate in commutation；And
Since the mutual cooperation of control mode with three or three conducting control modes being connected two-by-two, do not need to be configured dead zone, torque arteries and veins
More preferably, compared with simple, difficulty in computation is lower, cost is relatively low, control efficiency is higher for detection method and control algolithm for dynamic inhibitory effect.
Preferably, in S1, judge that the brshless DC motor is according to the hall signal and the three-phase phase current
It is no be in commutation state specifically includes the following steps:
S11: the rotor speed of the brshless DC motor is determined according to the hall signal；
S12: judge whether the brshless DC motor is in commutation according to the rotor speed and the three-phase phase current
State.
Since hall signal has open signal and cut-off signals respectively, and usually there are three hall sensings for brshless DC motor
Device, therefore there are six different hall signals altogether, and each hall signal corresponds to the beginning in a commutation stage, a commutation rank
Section refers to that commutation starts to commutation to terminate, and it is 0 that phase current is turned off at the end of commutation；It may determine that by hall signal brushless straight
The rotor speed of galvanic electricity machine, so that it is determined that motor rotor position, therefore the motor rotor position and phase current of current state are combined,
It can determine whether the commutation stage of current state terminates, if enter next commutation stage, i.e., whether be in commutation state.
It preferably, further include the threephase stator end voltage obtained in the brshless DC motor operational process in S1.
By the threephase stator end voltage of acquisition, convenient for subsequent calculating, conducting is connected under switching control modes with three or three two-by-two
Three or three turn on process in shutdown phase duty ratio, facilitate and control to three-phase full-bridge inverter realized according to the shutdown phase duty ratio
Make the torque pulsation to inhibit brshless DC motor.
Preferably, S3 specifically includes the following steps:
S31: the brshless DC motor is calculated described according to threephase stator end voltage and the three-phase phase current
Be connected two-by-two under three or three conducting switching control modes non-commutation phase back-emf, open phase back-emf and shutdown is opposite electric
Kinetic potential；
S32: the brshless DC motor is obtained described according to the three-phase phase current and threephase stator end voltage
Conducting is connected corresponding non-commutation phase duty ratio under switching control modes with three or three and opens phase duty ratio two-by-two；
S33: according to the non-commutation phase back-emf, it is described open phase back-emf and the shutdown phase back-emf,
And the corresponding non-commutation phase duty ratio and it is described open phase duty ratio calculate it is described two-by-two conducting with three or three be connected cut
Change the shutdown phase duty ratio in three or three turn on process under control mode；
Wherein, the specific formula of the shutdown phase duty ratio are as follows:
d2For the shutdown phase duty ratio, UdcFor the voltage of the DC power supply, exFor the non-commutation phase back-emf,
eyPhase back-emf, e are opened to be describedzFor the shutdown phase back-emf, d is the non-commutation phase duty ratio, d1It is opened to be described
Logical phase duty ratio；
S34: the voltage source inverter is controlled according to the shutdown phase duty ratio.
The shutdown phase duty ratio calculated by the method that above-mentioned calculating turns off phase duty ratio is suitable for all current common
PWM modulation mode, it is no longer necessary to different duty ratio calculation methods be switched according to different PWM modulation modes, simplify calculating
Process, and the rate of change of shutdown phase current is enabled just to be equal to the rate of change for opening phase current, torque pulsation inhibited same
When avoid and the case where overcompensation occur.
It is 2.875 Ω that the parameter that the present embodiment chooses brshless DC motor, which is respectively as follows: stator resistance R, and stator self inductance L is
8.5mH, mutual inductance is 1.6mH between stator, and motor number of pole-pairs is 5, switching frequency 20kHz, rotor speed ωmFor 2300r/min,
Load is 8Nm, wherein specific modulation system uses modulation system described in embodiment one, referring to embodiment one and Fig. 1 to 6
It specifically describes, details are not described herein again.
The suppressing method that traditional control method and the present embodiment is respectively adopted is controlled, in the condition for entering steady-state operation
Under, the waveform of Non-commutation phase current and torque under the suppressing method of traditional control method and the present embodiment respectively such as Fig. 8 and
Shown in Fig. 9.Comparing Fig. 8 and Fig. 9 can obtain, and switching control sides are connected with three or three using the conducting two-by-two of the present embodiment in the commutation stage
Non-commutation phase current under formula is more stable；And the peak difference of torque is 3.98Nm under traditional control method, and leading two-by-two
The logical peak difference with torque under three or three conducting switching control modes is 2.32Nm, is reduced with the torque pulsation under traditional control method
41.7%.
The present embodiment, also under given rotating speed 2300r/mi n idle running, the load of one 8Nm of impact, and adopt respectively
It is controlled with the suppressing method of traditional control method and the present embodiment, obtained torque profile is respectively such as Figure 10 and Figure 11 institute
Show.Comparing Figure 10 and Figure 11 can obtain, for the shock load the case where, the commutation stage using the present embodiment conducting two-by-two with
Three or three conducting switching control modes, the fluctuation of torque are significantly lower than traditional control method.
Therefore the present embodiment has good in the case where the commutation stage is using conducting two-by-two and three or three conducting switching control modes
Dynamic property, static properties, the commutation stage can effectively it is torque pulsation inhibited, running precision is high.
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 (10)
1. a kind of inhibition system of torque pulsation of brushless DC motor, which is characterized in that including voltage source inverter (2), control
Device (4) and sample circuit (5)；
The three-phase that the voltage source inverter (2) is used to control brshless DC motor (3) is opened and is closed；
The sample circuit (5) is used to acquire the three-phase phase current in the brshless DC motor (3) operational process, and will acquisition
The three-phase phase current be sent to the controller (4)；
The controller (4) is used to receive the Hall sensor acquisition of the three-phase phase current and the brshless DC motor (3)
Hall signal；It is also used to whether judge the brshless DC motor (3) according to the three-phase phase current and the hall signal
In commutation state, when the judgment result is no, the voltage source inverter (2) is controlled using conducting control mode two-by-two, when
Judging result is to control the voltage source inverter (2) using conducting two-by-two and three or three conducting switching control modes when being.
2. the inhibition system of torque pulsation of brushless DC motor according to claim 1, which is characterized in that the sampling electricity
Three input terminals on road (5) respectively it is corresponding with the three-phase windings of the brshless DC motor (3) electrical connection, and output end with it is described
The input terminal of controller (4) is electrically connected；The sample circuit (5) runs also particularly useful for the brshless DC motor (3) is acquired
Threephase stator end voltage in the process, and the threephase stator end voltage of acquisition is sent to the controller (4).
3. the inhibition system of torque pulsation of brushless DC motor according to claim 2, which is characterized in that the controller
It (4) include A/D conversion circuit (41), counting circuit (42), commutation control circuit (43), PID control circuit (44) and pwm signal
Circuit (45)；
The input terminal of the A/D conversion circuit (41) respectively with the output end and the brushless dc of the sample circuit (5)
The hall signal output end of machine (3) is electrically connected, and the A/D conversion circuit (41) is used for the three-phase phase current, the three-phase
Stator terminal voltage and the hall signal carry out analog-to-digital conversion respectively；
The input terminal of the counting circuit (42) is electrically connected with the output end of the A/D conversion circuit (41), the counting circuit
(42) output end is electric with the input terminal of the PID control circuit (44) and the input terminal of the commutation control circuit (43) respectively
Connection, the counting circuit (42) are used for the result according to the hall signal after analog-to-digital conversion and calculate the brushless dc
The revolving speed of machine (3), and the brushless direct-current is judged according to the result of the revolving speed and the three-phase phase current after analog-to-digital conversion
Whether motor (3) is in commutation state, and using judging result as the input of the commutation control circuit (43)；The calculating electricity
Road (42) is also used to described in the calculating of the result according to the three-phase phase current and threephase stator end voltage after analog-to-digital conversion
Brshless DC motor (3) is connected and the shutdown phase in three or three turn on process under three or three conducting switching control modes two-by-two described
Duty ratio, and using the shutdown phase duty ratio as the input of the PID control circuit (44)；
Wherein, the specific formula of the shutdown phase duty ratio are as follows:
d2For the shutdown phase duty ratio, UdcFor the direct-flow input end voltage of the voltage source inverter (2), ex、eyAnd ezRespectively
It is connected under switching control modes for the conducting two-by-two with three or three, according to the three-phase phase current and threephase stator end voltage
The non-commutation phase back-emf that is calculated opens phase back-emf and shutdown phase back-emf, d and d1Respectively it is described two-by-two
Conducting is connected under switching control modes with three or three, according to non-the changing of the three-phase phase current and the acquisition of threephase stator end voltage
Phase phase duty ratio and open phase duty ratio；
The input terminal of the commutation control circuit (43) is electrically connected with the output end of the counting circuit (42), the commutation control
The output end of circuit (43) is electrically connected with the input terminal of the voltage source inverter (2), and the commutation control circuit (43) is used for
Judge whether the judging result in commutation state controls the brshless DC motor (3) according to the counting circuit (42)
The generation of the corresponding commutation control signal of the voltage source inverter (2)；
The input terminal of the PID control circuit (44) is electrically connected with the output end of the counting circuit (42), the PID control electricity
The output end on road (44) is electrically connected with the input terminal of the pwm signal circuit (45), and the PID control circuit (44) is used for basis
The duty ratio controls the generation of the corresponding pwm signal of the voltage source inverter (2)；
The input terminal of the pwm signal circuit (45) is electrically connected with the output end of the PID controller (44), the pwm signal
The output end of circuit (45) is electrically connected with the input terminal of the voltage source inverter (2), and the pwm signal circuit (45) is used for root
The voltage source inverter (2) is modulated according to the pwm signal.
4. the inhibition system of torque pulsation of brushless DC motor according to claim 3, which is characterized in that further include driving
Protect circuit (6), the input terminal of the Drive Protecting Circuit (6) respectively with the output end of the pwm signal circuit (45) and institute
State the output end electrical connection of commutation control circuit (43), the output end and the voltage inverter of the Drive Protecting Circuit (6)
(2) input terminal electrical connection, the Drive Protecting Circuit (6) are used to control signal pair according to the pwm signal and the commutation
The voltage source inverter (2) is protected.
5. the inhibition system of torque pulsation of brushless DC motor according to claim 1, which is characterized in that further include filtering
Circuit (7), three-phase windings corresponding with the brshless DC motor (3) are electric respectively for three end input terminals of the filter circuit (7)
Connection, the three-polar output end of the filter circuit (7) is electrically connected with three end input terminals of the sample circuit (5) respectively, is used for
The collection process of the sample circuit (5) is filtered.
6. the inhibition system of torque pulsation of brushless DC motor according to claim 1-5, which is characterized in that also
Including power supply (1), the power supply (1) is used to provide direct-flow input end voltage, the voltage-type for the voltage source inverter (2)
Inverter (2) is specially three-phase full-bridge inverter, the input terminal of the three-phase full-bridge inverter respectively with the power supply (1) and institute
State controller (4) output end electrical connection, and three output ends of the three-phase full-bridge inverter respectively with the brushless direct-current
The corresponding electrical connection of the three-phase windings of motor (3)；
The three-phase full-bridge inverter includes six switching tubes, respectively first switch tube VT1, second switch VT2, third opens
Close pipe VT3, the 4th switching tube VT4, the 5th switching tube VT5With the 6th switching tube VT6；Six switching tubes are triode, and
One diode of equal reverse parallel connection between the collector and emitter of each switching tube；The first switch tube VT1With institute
State the 4th switching tube VT4Connect and compose the A phase of the three-phase full-bridge inverter, and the first switch tube VT1For A phase upper tube, institute
State the 4th switching tube VT1For A phase down tube；The third switching tube VT3With the 6th switching tube VT6Connect and compose the three-phase
The B phase of full-bridge inverter, and the third switching tube VT3For B phase upper tube, the 6th switching tube VT6For B phase down tube；Described
Five switching tube VT5With the second switch VT2Connect and compose the C phase of the three-phase full-bridge inverter, and the 5th switching tube
VT5For C phase upper tube, the second switch VT2For C phase down tube；The first switch tube VT1, the third switching tube VT3With
The 5th switching tube VT5Collector tandem and with the power supply (1) anode be electrically connected, the second switch VT2, institute
State the 4th switching tube VT4With the 6th switching tube VT6Emitter tandem and being electrically connected with the cathode of the power supply (1) be followed by
Ground；And the first switch tube VT1Emitter and the 4th switching tube VT4Collector tandem after, the third switching tube
VT3Emitter and the 6th switching tube VT6Collector tandem after and the 5th switching tube VT5Emitter and institute
State second switch VT2Collector tandem after, converge at the brushless direct-current by a resistance and an inductance respectively
The motor midpoint of motor (3).
7. a kind of suppressing method of torque pulsation of brushless DC motor, which is characterized in that it uses any one of claim 1-6 institute
The inhibition system for the torque pulsation of brushless DC motor stated, comprising the following steps:
Step 1: obtaining the hall signal and described brushless of the Hall sensor acquisition in the brshless DC motor
The three-phase phase current in direct current generator operational process, and according to the hall signal and three-phase phase current judgement
Whether brshless DC motor is in commutation state, if it is not, 2 are entered step, if so, entering step 3；
Step 2: the voltage source inverter is controlled using the control mode of conducting two-by-two；
Step 3: the voltage source inverter is controlled using the conducting two-by-two and three or three conducting switching control modes.
8. the suppressing method of torque pulsation of brushless DC motor according to claim 7, which is characterized in that in the step
In 1, it is specific to judge whether the brshless DC motor is in commutation state according to the hall signal and the three-phase phase current
The following steps are included:
Step 11: the rotor speed of the brshless DC motor is determined according to the hall signal；
Step 12: judging whether the brshless DC motor is in commutation shape according to the rotor speed and the three-phase phase current
State.
9. the suppressing method of torque pulsation of brushless DC motor according to claim 7, which is characterized in that in the step
It further include the threephase stator end voltage obtained in the brshless DC motor operational process in 1.
10. the suppressing method of torque pulsation of brushless DC motor according to claim 9, which is characterized in that the step 3
Specifically includes the following steps:
Step 31: the brshless DC motor is calculated described two according to threephase stator end voltage and the three-phase phase current
Two conductings are connected non-commutation phase back-emf under switching control modes with three or three, open phase back-emf and shutdown is opposite electronic
Gesture；
Step 32: the brshless DC motor is obtained described two according to the three-phase phase current and threephase stator end voltage
Two conductings are connected corresponding non-commutation phase duty ratio under switching control modes with three or three and open phase duty ratio；
Step 33: according to the non-commutation phase back-emf, it is described open phase back-emf and the shutdown phase back-emf, with
And the corresponding non-commutation phase duty ratio and the phase duty ratio of opening are calculated in the conducting two-by-two and three or three conducting switchings
Shutdown phase duty ratio in three or three turn on process under control mode；
Wherein, the specific formula of the shutdown phase duty ratio are as follows:
d2For the shutdown phase duty ratio, UdcFor the direct-flow input end voltage of the voltage source inverter, exFor the non-commutation phase
Counter electromotive force, eyPhase back-emf, e are opened to be describedzFor the shutdown phase back-emf, d is the non-commutation phase duty ratio,
d1Phase duty ratio is opened to be described；
Step 34: the voltage source inverter is controlled according to the shutdown phase duty ratio.
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