CN115118185B - Three-phase DC brushless motor control system - Google Patents
Three-phase DC brushless motor control system Download PDFInfo
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- CN115118185B CN115118185B CN202210963342.8A CN202210963342A CN115118185B CN 115118185 B CN115118185 B CN 115118185B CN 202210963342 A CN202210963342 A CN 202210963342A CN 115118185 B CN115118185 B CN 115118185B
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P6/20—Arrangements for starting
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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
- H02P6/28—Arrangements for controlling current
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Abstract
The invention provides a three-phase DC brushless motor control system, comprising: the motor detection module is used for acquiring three-phase voltage and three-phase current of the three-phase direct-current brushless motor and determining the target rotating speed of the three-phase direct-current brushless motor based on the three-phase voltage and the three-phase current; the analysis module is used for acquiring the service attribute of the three-phase brushless DC motor and determining a control scheme for controlling the target rotating speed of the three-phase brushless DC motor based on the service attribute; and the control module is used for carrying out frequency conversion control on the three-phase brushless direct current motor based on the control scheme and monitoring the real-time running state of the three-phase brushless direct current motor after frequency conversion control. The realization carries out frequency conversion control to three-phase DC brushless motor's rotational speed, has improved the control effect to three-phase DC brushless motor, has improved three-phase DC brushless motor moving security, also is convenient for save a large amount of energy under the circumstances of guarantee running state simultaneously.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a three-phase direct current brushless motor control system.
Background
At present, a direct current brushless motor is one of synchronous motors, the brushless motor has the advantages of high efficiency, low noise, large torque, long service life and the like, is widely applied in various industry fields, and a control method of the brushless motor is also in the continuous evolution and optimization process;
the direct current has square wave control of Hall three-phase brushless motor, adopt the six step driving methods of three-phase, however, the rated power of the direct current brushless motor is fixed, according to the existing technical scheme, the rated rotational speed and the highest rotational speed of the motor are fixed, if want to regulate the operating rotational speed of the motor, can only pass the power supply voltage of this century or change the electrical machinery parameter;
at present, when a three-phase direct current brushless motor is controlled, a constant frequency control method is mostly adopted, namely the three-phase direct current brushless motor always keeps high-speed operation, a large amount of energy is wasted, and holes often exist in the control process, so that the control effect on the three-phase direct current brushless motor is greatly reduced;
therefore, the invention provides a three-phase direct current brushless motor control system.
Disclosure of Invention
The invention provides a three-phase direct current brushless motor control system which is used for accurately acquiring the rotating speed of a three-phase direct current brushless motor by acquiring three-phase voltage and three-phase current of the three-phase direct current brushless motor, and realizing frequency conversion control of the rotating speed of the three-phase direct current brushless motor by determining the service attribute of the three-phase direct current brushless motor, so that the control effect of the three-phase direct current brushless motor is improved, the running safety of the three-phase direct current brushless motor is improved, and meanwhile, a large amount of energy is saved under the condition of ensuring the running state.
The invention provides a three-phase DC brushless motor control system, comprising:
the motor detection module is used for acquiring three-phase voltage and three-phase current of the three-phase direct-current brushless motor and determining the target rotating speed of the three-phase direct-current brushless motor based on the three-phase voltage and the three-phase current;
the analysis module is used for acquiring the service attribute of the three-phase brushless DC motor and determining a control scheme for controlling the target rotating speed of the three-phase brushless DC motor based on the service attribute;
and the control module is used for carrying out frequency conversion control on the three-phase brushless direct current motor based on the control scheme and monitoring the real-time running state of the three-phase brushless direct current motor after the frequency conversion control.
Preferably, the motor detection module includes:
the state monitoring unit is used for acquiring working parameters of the three-phase DC brushless motor, determining target values of the working parameters, and determining working states of the three-phase DC brushless motor based on the target values, wherein the working states comprise normal working and non-working;
the electric parameter acquisition unit is used for determining sampling points of the three-phase brushless DC motor when the working state of the three-phase brushless DC motor is normal work, and setting a preset sensor based on the sampling points;
the electric parameter acquisition unit is also used for determining a data acquisition time interval and controlling the preset sensor to acquire the three-phase voltage and the three-phase current of the three-phase direct current brushless motor based on the data acquisition time interval.
Preferably, the electrical parameter acquisition unit includes:
the data acquisition subunit acquires the acquired three-phase voltage and three-phase current and determines acquisition timestamps corresponding to the three-phase voltage and the three-phase current;
the data checking subunit is used for generating a first trend graph corresponding to the three-phase voltage and a second trend graph corresponding to the three-phase current based on the acquisition timestamp, and respectively determining a first reference line and a second reference line of the three-phase voltage and the three-phase current in a monitoring time period based on the first trend graph and the second trend graph;
the judgment subunit is used for performing subtraction on the three-phase voltage corresponding to each acquisition timestamp and a first reference line based on the first trend graph, and simultaneously performing subtraction on the three-phase current corresponding to each acquisition timestamp and a second reference line based on the second trend graph to obtain the number of abnormal three-phase voltage samples and the number of abnormal three-phase current samples, of which the difference values are greater than a first preset threshold value and a second preset threshold value respectively;
and the judging subunit is also used for judging that the acquired three-phase voltage or three-phase current is unqualified and acquiring again when the number of the abnormal three-phase voltage samples and the number of the abnormal three-phase current samples are larger than the corresponding preset number.
Preferably, the motor detection module includes:
the parameter acquisition unit is used for acquiring the acquired three-phase current and comparing the current value corresponding to the three-phase current with a preset safe current threshold value;
and the alarm unit is used for judging that the current working current of the three-phase direct current brushless motor is overlarge when the current value corresponding to the three-phase current is larger than a preset safe current threshold value, and sending an alarm prompt to a management terminal, otherwise, monitoring the size relation between the current value corresponding to the three-phase current and the preset safe current threshold value in real time until the three-phase direct current brushless motor finishes operation.
Preferably, the motor detection module includes:
the data acquisition unit is used for acquiring three-phase voltage and three-phase current of the obtained three-phase direct-current brushless motor and determining a power value of the three-phase direct-current brushless motor during normal operation based on the three-phase voltage and the three-phase current;
the analysis unit is used for acquiring a load value of the three-phase direct brushless motor, determining the torsion of the three-phase direct current brushless motor and the action radius of the three-phase direct current brushless motor based on the load value, and obtaining the torque value of the three-phase direct current brushless motor based on the torsion and the action radius;
and the rotating speed determining unit is used for determining the target rotating speed of the three-phase direct current brushless motor based on the torque value and the power value of the three-phase direct current brushless motor in normal operation.
Preferably, the analysis module comprises:
the parameter acquisition unit is used for determining an application entity connected with the three-phase direct-current brushless motor and extracting equipment parameters of the application entity;
the attribute analysis unit is used for determining the operation requirement of the application entity on the three-phase brushless direct current motor in the operation process based on the equipment parameters and obtaining the service attribute of the three-phase brushless direct current motor based on the operation requirement, wherein the service attribute comprises constant frequency control and variable frequency control;
the scheme making unit is used for determining the operation requirement of the application entity when the service attribute is frequency conversion control, and determining the corresponding standard rotating speed when the three-phase brushless direct current motor reaches the operation requirement and the target time length of operation at the standard rotating speed;
the scheme making unit is used for determining a reference three-phase voltage value and a reference three-phase current value of the three-phase brushless direct current motor at a standard rotating speed, setting a monitoring time interval based on the target duration, acquiring an output three-phase voltage value and an output three-phase current value of the three-phase brushless direct current motor at the target rotating speed at the current moment based on the monitoring time interval, and subtracting the output three-phase voltage value and the reference three-phase voltage value and the output three-phase current value from each other to obtain a voltage error value and a current error value;
the scheme making unit is further used for training the voltage error value and the current error value based on a preset method to obtain a first voltage control quantity and a first current control quantity for outputting a three-phase voltage value and a three-phase current value of the three-phase brushless direct current motor at the current moment;
and the scheme determining unit is used for obtaining a first control scheme based on the first voltage control quantity and the first current control quantity.
Preferably, the attribute analysis unit includes:
when the service attribute is constant frequency control:
the scheme formulating subunit is used for acquiring a target rotating speed of the three-phase direct-current brushless motor, determining a rotating speed difference value between the target rotating speed and a standard rotating speed, and determining a second voltage control quantity and a second current control quantity for the three-phase direct-current brushless motor based on the rotating speed difference value;
and the scheme determining subunit is used for obtaining a second control scheme based on the second voltage control quantity and the second current control quantity.
Preferably, the control module comprises:
the command receiving unit is used for receiving a control command sent by a preset control terminal and determining the three-phase voltage of the three-phase direct-current brushless motor at a target rotating speed based on the control command;
the analysis unit is used for filtering the three-phase voltage to obtain a zero crossing point of the three-phase brushless DC motor and determining position information of a rotor of the brushless DC motor based on the zero crossing point;
the position compensation unit is used for determining the angle difference between the position information and a preset standard position when the position information is different from the preset standard position, and performing first compensation control on the three-phase direct-current brushless motor based on the angle difference;
the scheme acquisition unit is used for acquiring the obtained control scheme, extracting a target control rotating speed limited in the control scheme, determining a target rotating speed difference value of the target rotating speed of the three-phase direct-current brushless motor and the target control rotating speed, and determining a voltage control quantity and a current control quantity of the three-phase direct-current brushless motor based on the target rotating speed difference value;
the control unit is used for setting step increment and step decrement of three-phase voltage and three-phase current of the three-phase direct-current brushless motor based on the voltage control quantity and the current control quantity, determining the maximum allowable duration of the target rotating speed of the three-phase direct-current brushless motor under the condition of being less than the target control rotating speed, and performing second compensation control on the three-phase direct-current brushless motor through the step increment and the step decrement of the three-phase voltage and the three-phase current within the maximum allowable duration;
and the control unit is used for finishing the frequency conversion control of the three-phase DC brushless motor based on the first compensation control and the second compensation control.
Preferably, the control module comprises:
the monitoring unit is used for acquiring a current rotating speed set of the direct-current brushless motor after frequency conversion control based on a preset time interval and determining specific rotating speed values corresponding to different time points in the current rotating speed set;
the comparison unit is used for comparing the specific rotating speed values corresponding to the adjacent time points;
when the specific rotating speed values corresponding to the adjacent time points are different, judging that the frequency conversion control of the three-phase direct-current brushless motor is qualified;
otherwise, judging that the frequency conversion control of the three-phase DC brushless motor is unqualified, and carrying out frequency conversion control on the three-phase DC brushless motor again.
Preferably, the control module comprises:
the command acquisition unit is used for acquiring a starting command and determining a rated working voltage value of the three-phase direct-current brushless motor based on the starting command;
the slow starting unit is used for determining a voltage adjustment interval of the three-phase direct current brushless motor based on the rated working voltage value, wherein the lower limit value of the voltage adjustment interval is zero, and the upper limit value of the voltage adjustment interval is the rated working voltage value;
and the slow starting unit is used for determining a single voltage increment based on the voltage adjusting interval, sequentially adjusting the voltage value of the three-phase brushless direct-current motor from zero based on the single voltage increment until the voltage value reaches the rated working voltage value, and finishing the slow starting control of the brushless direct-current motor.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a structural diagram of a three-phase dc brushless motor control system according to an embodiment of the present invention;
fig. 2 is a structural diagram of a motor detection module in a three-phase dc brushless motor control system according to an embodiment of the present invention;
fig. 3 is a structural diagram of an analysis module in a three-phase dc brushless motor control system according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1:
the present embodiment provides a three-phase dc brushless motor control system, as shown in fig. 1, including:
the motor detection module is used for acquiring three-phase voltage and three-phase current of the three-phase direct-current brushless motor and determining the target rotating speed of the three-phase direct-current brushless motor based on the three-phase voltage and the three-phase current;
the analysis module is used for acquiring the service attribute of the three-phase brushless DC motor and determining a control scheme for controlling the target rotating speed of the three-phase brushless DC motor based on the service attribute;
and the control module is used for carrying out frequency conversion control on the three-phase brushless direct current motor based on the control scheme and monitoring the real-time running state of the three-phase brushless direct current motor after the frequency conversion control.
In this embodiment, the three-phase brushless dc motor refers to a motor having three-phase windings, brushless and commutator, and is driven by dc power through an inverter circuit.
In this embodiment, the target rotation speed refers to the rotation speed of the three-phase dc brushless motor under the current three-phase voltage and three-phase current conditions.
In this embodiment, the service attribute refers to a working type of the three-phase dc brushless motor, and includes constant frequency control and variable frequency control, and may specifically be an air conditioner compressor or a refrigerator compressor.
In this embodiment, the control scheme refers to a manner or method of controlling the rotation speed, current, voltage, and the like of the three-phase dc brushless motor.
In this embodiment, the frequency conversion control refers to dynamically controlling the rotation speed of the three-phase dc brushless motor, that is, when the rotation speed of the three-phase dc brushless motor needs to operate at a high rotation speed, the rotation speed of the three-phase dc brushless motor is increased, and when the rotation speed of the three-phase dc brushless motor needs to operate at a low rotation speed, the rotation speed of the three-phase dc brushless motor is decreased.
The beneficial effects of the above technical scheme are: through three-phase voltage and the three-phase current who acquires three-phase DC brushless motor, realize accurately acquireing three-phase DC brushless motor's rotational speed, and through confirming three-phase DC brushless motor's business attribute, realize carrying out frequency conversion control to three-phase DC brushless motor's rotational speed, improved the control effect to three-phase DC brushless motor, improved three-phase DC brushless motor moving security, also be convenient for simultaneously save a large amount of energy under the circumstances of guarantee running state.
Example 2:
on the basis of embodiment 1, this embodiment provides a three-phase dc brushless motor control system, as shown in fig. 2, the motor detection module includes:
the state monitoring unit is used for acquiring working parameters of the three-phase brushless direct-current motor, determining target values of the working parameters and determining the working state of the three-phase brushless direct-current motor based on the target values, wherein the working state comprises normal working and non-working;
the electric parameter acquisition unit is used for determining sampling points of the three-phase brushless DC motor when the working state of the three-phase brushless DC motor is normal work, and setting a preset sensor based on the sampling points;
the electric parameter acquisition unit is also used for determining a data acquisition time interval and controlling the preset sensor to acquire the three-phase voltage and the three-phase current of the three-phase direct current brushless motor based on the data acquisition time interval.
In this embodiment, the operating parameters refer to the operating power of the three-phase dc brushless motor and the current rotation condition of the motor.
In this embodiment, the target value refers to a specific value of each component of the three-phase dc brushless motor during operation.
In this embodiment, the sampling point refers to an acquisition position at which three-phase voltages and three-phase currents are acquired for the three-phase dc brushless motor.
In this embodiment, the preset sensor is set in advance, and is used to collect the current and the voltage of the three-phase dc brushless motor, and specifically may be a voltage sensor and a current sensor.
In this embodiment, the data acquisition time interval refers to a time span for acquiring voltage and current of the three-phase dc brushless motor, and is set in advance, and can be modified according to different requirements.
The beneficial effects of the above technical scheme are: after obtaining the current working parameters of the three-phase brushless DC motor, the working state of the three-phase brushless DC motor is accurately and effectively determined, and secondly, the sampling points for collecting the voltage and the current of the three-phase brushless DC motor are determined under the condition of normal working when the three-phase brushless DC motor works, so that the accuracy of collecting the voltage and the current of the three-phase brushless DC motor is ensured, and the three-phase brushless DC motor is accurately and effectively controlled according to the current state of the three-phase brushless DC motor.
Example 3:
on the basis of embodiment 2, this embodiment provides a three-phase dc brushless motor control system, the electrical parameter acquisition unit includes:
the data acquisition subunit acquires the acquired three-phase voltage and three-phase current and determines acquisition timestamps corresponding to the three-phase voltage and the three-phase current;
the data checking subunit is used for generating a first trend graph corresponding to the three-phase voltage and a second trend graph corresponding to the three-phase current based on the acquisition timestamp, and respectively determining a first reference line and a second reference line of the three-phase voltage and the three-phase current in a monitoring time period based on the first trend graph and the second trend graph;
the judgment subunit is used for performing subtraction on the three-phase voltage corresponding to each acquisition timestamp and a first reference line based on the first trend graph, and simultaneously performing subtraction on the three-phase current corresponding to each acquisition timestamp and a second reference line based on the second trend graph to obtain the number of abnormal three-phase voltage samples and the number of abnormal three-phase current samples, of which the difference values are greater than a first preset threshold value and a second preset threshold value respectively;
and the judging subunit is also used for judging that the acquired three-phase voltage or three-phase current is unqualified and acquiring again when the number of the abnormal three-phase voltage samples and the number of the abnormal three-phase current samples are larger than the corresponding preset number.
In this embodiment, the collection time stamp refers to a collection time point of three-phase voltages and three-phase currents of the three-phase dc brushless motor.
In this embodiment, the first trend graph is used to represent the change of the voltage values of the three-phase voltage in the monitoring time period.
In this embodiment, the second trend graph is used to characterize the change of the current values of the three-phase current in the monitoring time period.
In this embodiment, the first reference line refers to an average value of voltages of the three-phase dc brushless motor during the monitoring period.
In this embodiment, the second reference line refers to an average value of the current of the three-phase dc brushless motor in the monitoring period.
In this embodiment, the first preset threshold and the second preset threshold refer to a maximum difference between the allowed three-phase voltage and the first reference line and a maximum difference between the allowed three-phase current and the second reference line.
In this embodiment, the number of the abnormal three-phase voltage samples and the number of the abnormal three-phase current samples refer to the number of the three-phase voltage acquisition samples and the number of the three-phase current acquisition samples, which have a difference value larger than the corresponding reference line.
In this embodiment, the preset number is set in advance, and is used to represent the maximum number of abnormal three-phase voltage samples and the maximum number of abnormal three-phase current samples that are allowed to exist, and may be adjusted.
The beneficial effects of the above technical scheme are: through analyzing the three-phase voltage and the three-phase current collected, the three-phase voltage and the three-phase current are accurately and effectively checked, so that the reliability of the three-phase voltage and the three-phase current obtained through collection is guaranteed, and convenience is brought to the control of the three-phase direct-current brushless motor.
Example 4:
on the basis of embodiment 1, this embodiment provides a three-phase dc brushless motor control system, where the motor detection module includes:
the parameter acquisition unit is used for acquiring the acquired three-phase current and comparing the current value corresponding to the three-phase current with a preset safe current threshold value;
and the alarm unit is used for judging that the current working current of the three-phase direct current brushless motor is overlarge when the current value corresponding to the three-phase current is larger than a preset safe current threshold value, and sending an alarm prompt to a management terminal, otherwise, monitoring the size relation between the current value corresponding to the three-phase current and the preset safe current threshold value in real time until the three-phase direct current brushless motor finishes the operation.
In this embodiment, the preset safe current threshold is set in advance, and is used to represent the maximum allowable operating current value inside the three-phase dc brushless motor.
The beneficial effects of the above technical scheme are: the current value of the three-phase current in the three-phase direct current brushless motor is monitored in real time, so that corresponding alarm operation can be timely performed when the current value of the three-phase current is too large, a manager can timely take corresponding adjustment measures, the probability of damaging the structure of the three-phase direct current brushless motor is reduced, the work safety of the three-phase direct current brushless motor is guaranteed, and the operation effect is improved.
Example 5:
on the basis of embodiment 1, this embodiment provides a three-phase dc brushless motor control system, where the motor detection module includes:
the data acquisition unit is used for acquiring three-phase voltage and three-phase current of the obtained three-phase direct-current brushless motor and determining a power value of the three-phase direct-current brushless motor during normal operation based on the three-phase voltage and the three-phase current;
the analysis unit is used for acquiring a load value of the three-phase direct brushless motor, determining the torsion of the three-phase direct current brushless motor and the action radius of the three-phase direct current brushless motor based on the load value, and obtaining the torque value of the three-phase direct current brushless motor based on the torsion and the action radius;
and the rotating speed determining unit is used for determining the target rotating speed of the three-phase direct current brushless motor based on the torque value and the power value of the three-phase direct current brushless motor in normal working.
In this embodiment, the load value refers to a resistance force applied to the three-phase dc brushless motor by an external factor when the three-phase dc brushless motor is normally operated.
In this embodiment, the radius of action refers to the distance that the three-phase dc brushless motor needs to rotate when operating.
In the embodiment, the torque value refers to the torque output by the motor from the crankshaft end, and is in inverse proportion to the engine speed under the condition of fixed power, and the torque is smaller when the speed is higher, and is larger when the speed is lower.
In this embodiment, determining the target rotation speed of the three-phase dc brushless motor based on the torque value and the power value of the three-phase dc brushless motor during normal operation may be according to a formula
Wherein P is the power value when the three-phase DC brushless motor works normally, and P is the power value when the three-phase DC brushless motor works normally>
The target rotating speed of the three-phase brushless direct current motor is T, and the torque value of the three-phase brushless direct current motor in normal operation is T.
The beneficial effects of the above technical scheme are: the power value of the three-phase direct-current brushless motor is accurately determined through the realization of three-phase voltage and three-phase current, secondly, the torque force and the action radius of the three-phase direct-current brushless motor during working are determined through a load, the torque value of the three-phase direct-current brushless motor is effectively analyzed, the target rotating speed of the three-phase direct-current brushless motor is effectively analyzed according to the power value and the torque value, and convenience and guarantee are provided for accurately realizing the frequency conversion control of the three-phase direct-current brushless motor.
Example 6:
on the basis of embodiment 1, this embodiment provides a three-phase dc brushless motor control system, as shown in fig. 3, where the analysis module includes:
the parameter acquisition unit is used for determining an application entity connected with the three-phase direct-current brushless motor and extracting equipment parameters of the application entity;
the attribute analysis unit is used for determining the operation requirement of the application entity on the three-phase brushless direct current motor in the operation process based on the equipment parameters and obtaining the service attribute of the three-phase brushless direct current motor based on the operation requirement, wherein the service attribute comprises constant frequency control and variable frequency control;
the scheme making unit is used for determining the operation requirement of the application entity when the service attribute is frequency conversion control, and determining a corresponding standard rotating speed when the three-phase direct-current brushless motor reaches the operation requirement and a target time length of operation at the standard rotating speed;
the scheme making unit is used for determining a reference three-phase voltage value and a reference three-phase current value of the three-phase brushless direct current motor at a standard rotating speed, setting a monitoring time interval based on the target duration, acquiring an output three-phase voltage value and an output three-phase current value of the three-phase brushless direct current motor at the target rotating speed at the current moment based on the monitoring time interval, and subtracting the output three-phase voltage value and the reference three-phase voltage value and the output three-phase current value from each other to obtain a voltage error value and a current error value;
the scheme making unit is further used for training the voltage error value and the current error value based on a preset method to obtain a first voltage control quantity and a first current control quantity for outputting a three-phase voltage value and a three-phase current value of the three-phase brushless direct current motor at the current moment;
and the scheme determining unit is used for obtaining a first control scheme based on the first voltage control quantity and the first current control quantity.
In this embodiment, the application entity refers to a load that needs to be driven by the three-phase dc brushless motor or a specific hardware installed in the three-phase dc brushless motor, and may specifically be an air conditioner or a refrigerator.
In this embodiment, the device parameter refers to a working requirement of an application entity during design, and may specifically be a variable frequency or constant frequency capable of being supported.
In this embodiment, the operation requirement refers to that the three-phase dc brushless motor is required to operate continuously or intermittently during the operation of the application entity.
In this embodiment, the frequency conversion control refers to adjusting the rotation speed of the three-phase dc brushless motor according to the working condition of the current application entity, and the rotation speed values corresponding to different time points may be different.
In this embodiment, the standard rotation speed refers to a rotation speed value corresponding to the three items of dc brushless motors when the operating requirements of the application entity are met.
In this embodiment, the target duration refers to a time period that the three-phase dc brushless motor needs to continuously operate at the standard rotation speed, and after the target duration, the rotation speed may be appropriately reduced until the rotation speed of the three-phase dc brushless motor is increased again when the minimum requirement of the application entity is met.
In this embodiment, the reference three-phase voltage value and the reference three-phase current value refer to a current value and a voltage value corresponding to the three-phase dc brushless motor at the standard rotation speed.
In this embodiment, outputting the three-phase voltage values and outputting the three-phase current values refers to corresponding voltage values and current values of the three-phase dc brushless motor at the current rotation speed.
In this embodiment, the voltage error value and the current error value refer to differences between the reference three-phase voltage value and the output three-phase voltage value and between the reference three-phase current value and the output three-phase current value.
In this embodiment, the preset method is set in advance and is used for training the voltage error value and the current error value, so as to determine the voltage control quantity and the current control quantity of the three-phase dc brushless motor according to the voltage error value and the current error value under different conditions.
In this embodiment, the first voltage control amount refers to an adjustment amount of voltage when the rotation speed value of the three-phase dc brushless motor needs to reach the standard rotation speed value under the variable frequency control.
In this embodiment, the first current control amount refers to an adjustment amount of current when the rotation speed value of the three-phase dc brushless motor needs to reach the standard rotation speed value under the variable frequency control.
In this embodiment, the first control scheme refers to a control method for performing frequency conversion control on a three-phase dc brushless motor.
The beneficial effects of the above technical scheme are: the method comprises the steps of determining an application entity connected with the three-phase direct-current brushless motor, accurately and effectively determining the service attribute of the three-phase direct-current brushless motor according to the equipment parameter of the application entity, judging when the three-phase direct-current brushless motor needs to be subjected to frequency conversion control according to the service attribute, effectively confirming the standard rotating speed value of the three-phase direct-current brushless motor according to the operation requirement of the application entity, finally performing difference and analysis on the target rotating speed value and the standard rotating speed value of the three-phase direct-current brushless motor, accurately and effectively analyzing the voltage control quantity and the current control quantity of the three-phase direct-current brushless motor, accurately and reliably performing frequency conversion control on the three-phase direct-current brushless motor, and ensuring the control effect on the three-phase direct-current brushless motor.
Example 7:
on the basis of embodiment 6, the present embodiment provides a three-phase dc brushless motor control system, where the attribute analysis unit includes:
when the service attribute is constant frequency control:
the scheme formulating subunit is used for acquiring a target rotating speed of the three-phase direct-current brushless motor, determining a rotating speed difference value between the target rotating speed and a standard rotating speed, and determining a second voltage control quantity and a second current control quantity for the three-phase direct-current brushless motor based on the rotating speed difference value;
and the scheme determining subunit is used for obtaining a second control scheme based on the second voltage control quantity and the second current control quantity.
In this embodiment, the rotation speed difference refers to a difference between a target rotation speed and a standard rotation speed of the three-phase dc brushless motor.
In this embodiment, the second voltage control quantity and the second current control quantity are quantity values determined according to the rotation speed difference value, which require adjustment of the current voltage value and the current value of the three-phase dc brushless motor, so as to adjust the target rotation speed value of the three-phase dc brushless motor to the standard rotation speed value.
In this embodiment, the second control scheme refers to a control method for performing constant frequency control on the three-phase dc brushless motor.
The beneficial effects of the above technical scheme are: through analyzing the constant frequency control of the three-phase DC brushless motor, the voltage control quantity and the current control quantity which are used for adjusting the target rotating speed value of the three-phase DC brushless motor to the standard rotating speed value are accurately and reliably analyzed, and the control effect of the three-phase DC brushless motor is guaranteed.
Example 8:
on the basis of embodiment 1, this embodiment provides a three-phase dc brushless motor control system, where the control module includes:
the command receiving unit is used for receiving a control command sent by a preset control terminal and determining the three-phase voltage of the three-phase direct-current brushless motor at a target rotating speed based on the control command;
the analysis unit is used for filtering the three-phase voltage to obtain a zero crossing point of the three-phase brushless direct current motor and determining position information of a rotor of the brushless direct current motor based on the zero crossing point;
the position compensation unit is used for determining the angle difference between the position information and a preset standard position when the position information is different from the preset standard position, and performing first compensation control on the three-phase direct-current brushless motor based on the angle difference;
the scheme acquisition unit is used for acquiring the obtained control scheme, extracting a target control rotating speed limited in the control scheme, determining a target rotating speed difference value of the target rotating speed of the three-phase direct-current brushless motor and the target control rotating speed, and determining a voltage control quantity and a current control quantity of the three-phase direct-current brushless motor based on the target rotating speed difference value;
the control unit is used for setting step increment and step decrement of three-phase voltage and three-phase current of the three-phase direct-current brushless motor based on the voltage control quantity and the current control quantity, determining the maximum allowable duration of the target rotating speed of the three-phase direct-current brushless motor under the condition of being less than the target control rotating speed, and performing second compensation control on the three-phase direct-current brushless motor through the step increment and the step decrement of the three-phase voltage and the three-phase current within the maximum allowable duration;
and the control unit is used for finishing the frequency conversion control of the three-phase direct current brushless motor based on the first compensation control and the second compensation control.
In this embodiment, the preset control terminal is set in advance, and is configured to send a control instruction to the three-phase dc brushless motor i, and may specifically be an intelligent terminal or the like.
In this embodiment, the zero-crossing point refers to a point at which the voltage of the three-phase dc brushless motor changes from a positive value to a negative value or from a negative value to a positive value, i.e., a position at which the commutation of the electronics of the three-phase dc brushless motor occurs.
In this embodiment, determining the position information of the rotor of the dc brushless motor based on the zero-crossing point refers to determining the commutation position of the rotor by changing the position according to the positive and negative values of the voltage.
In this embodiment, the preset standard position is set in advance, and is used to represent the corresponding commutation position of the three-phase dc brushless motor under the condition of the best working effect.
In this embodiment, the angular difference refers to a difference between the position information of the rotor of the dc brushless motor and a preset standard position.
In this embodiment, the first compensation control refers to adjusting the rotor position of the three-phase dc brushless motor when there is a deviation in the position of the rotor of the three-phase dc brushless motor.
In this embodiment, the target control rotation speed refers to a rotation speed value that needs to be reached when the three-phase dc brushless motor is controlled in the control scheme.
In this embodiment, the voltage control amount and the current control amount refer to the electrical parameter amount required to adjust the voltage and the current of the three-phase dc brushless motor.
In this embodiment, the step increment and the step decrement refer to the amount that needs to be adjusted step by step when the three-phase dc brushless motor is subjected to the frequency conversion control, so as to ensure the frequency conversion control effect on the three-phase dc brushless motor.
In this embodiment, the maximum allowable time period refers to the maximum time period during which the three-phase dc brushless motor can appropriately reduce the rotation speed after reaching the target control rotation speed.
In this embodiment, the second compensation control refers to controlling the voltage and the current of the three-phase dc brushless motor, so as to implement the frequency conversion control on the three-phase dc brushless motor.
The beneficial effects of the above technical scheme are: the method comprises the steps of receiving a control instruction sent by a preset control terminal, effectively acquiring the current three-phase voltage of the three-phase brushless direct current motor according to the control instruction, confirming the position of a rotor of the three-phase brushless direct current motor according to the acquired three-phase voltage, effectively controlling the position of the rotor of the three-phase brushless direct current motor when the position of the rotor is different from a preset standard position, obtaining the target control rotating speed of the three-phase brushless direct current motor according to a control scheme, comparing and analyzing the target rotating speed of the three-phase brushless direct current motor with the target control rotating speed, effectively confirming the step increment and step decrement of the voltage and current of the three-phase brushless direct current motor, finally realizing frequency conversion control of the three-phase brushless direct current motor, saving a large amount of energy resources while guaranteeing the control effect of the three-phase brushless direct current motor, and improving the control effect of the three-phase brushless direct current motor.
Example 9:
on the basis of embodiment 1, this embodiment provides a three-phase dc brushless motor control system, where the control module includes:
the monitoring unit is used for acquiring a current rotating speed set of the direct-current brushless motor after frequency conversion control based on a preset time interval and determining specific rotating speed values corresponding to different time points in the current rotating speed set;
the comparison unit is used for comparing the specific rotating speed values corresponding to the adjacent time points;
when the specific rotating speed values corresponding to the adjacent time points are different, judging that the frequency conversion control of the three-phase direct current brushless motor is qualified;
otherwise, judging that the frequency conversion control of the three-phase DC brushless motor is unqualified, and carrying out frequency conversion control on the three-phase DC brushless motor again.
In this embodiment, the preset time interval is set in advance, and is used to collect the rotation speed value of the three-phase dc brushless motor after the frequency conversion control, so as to verify the frequency conversion control effect of the three-phase dc brushless motor.
In this embodiment, the current rotation speed set refers to corresponding rotation speed values of the three-phase dc brushless motor at different time points.
The beneficial effects of the above technical scheme are: through collecting the rotating speed value of the three-phase direct current brushless motor after frequency conversion control, the frequency conversion control effect of the three-phase direct current brushless motor is checked accurately and effectively, and the control accuracy and the control effect of the three-phase direct current brushless motor are guaranteed.
Example 10:
on the basis of embodiment 1, this embodiment provides a three-phase dc brushless motor control system, where the control module includes:
the command acquisition unit is used for acquiring a starting command and determining a rated working voltage value of the three-phase direct-current brushless motor based on the starting command;
the slow starting unit is used for determining a voltage adjustment interval of the three-phase direct-current brushless motor based on the rated working voltage value, wherein the lower limit value of the voltage adjustment interval is zero, and the upper limit value of the voltage adjustment interval is the rated working voltage value;
and the slow starting unit is used for determining a single voltage increment based on the voltage adjustment interval, sequentially adjusting the voltage value of the three-phase direct-current brushless motor from zero based on the single voltage increment until the rated working voltage value is reached, and finishing slow starting control of the direct-current brushless motor.
In this embodiment, the rated operating voltage value refers to a voltage value corresponding to the normal operation of the three-phase dc brushless motor.
In this embodiment, the voltage regulation interval refers to a voltage variation interval of the three-phase dc brushless motor during starting.
In this embodiment, the single increment of voltage refers to an increment of voltage each time when the three-phase dc brushless motor is started up slowly, so as to ensure that the three-phase dc brushless motor is not damaged by an excessive current when the three-phase dc brushless motor is started up.
The beneficial effects of the above technical scheme are: through the start instruction that obtains three-phase DC brushless motor, realize effectively confirming three-phase DC brushless motor's rated operating voltage value to the realization is when three-phase DC brushless motor starts, according to single increment volume increase gradually three-phase DC brushless motor's voltage value, thereby realizes controlling three-phase DC brushless motor's slow start, has ensured the security that three-phase DC brushless motor started.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A three-phase dc brushless motor control system, comprising:
the motor detection module is used for acquiring three-phase voltage and three-phase current of the three-phase direct-current brushless motor and determining the target rotating speed of the three-phase direct-current brushless motor based on the three-phase voltage and the three-phase current;
the analysis module is used for acquiring the service attribute of the three-phase brushless DC motor and determining a control scheme for controlling the target rotating speed of the three-phase brushless DC motor based on the service attribute;
the control module is used for carrying out frequency conversion control on the three-phase brushless DC motor based on the control scheme and monitoring the real-time running state of the three-phase brushless DC motor after frequency conversion control;
wherein the control module comprises:
the command receiving unit is used for receiving a control command sent by a preset control terminal and determining the three-phase voltage of the three-phase direct-current brushless motor at a target rotating speed based on the control command;
the analysis unit is used for filtering the three-phase voltage to obtain a zero crossing point of the three-phase brushless DC motor and determining position information of a rotor of the brushless DC motor based on the zero crossing point;
the position compensation unit is used for determining the angle difference between the position information and a preset standard position when the position information is different from the preset standard position, and performing first compensation control on the three-phase direct-current brushless motor based on the angle difference;
the scheme acquisition unit is used for acquiring the obtained control scheme, extracting a target control rotating speed limited in the control scheme, determining a target rotating speed difference value of the target rotating speed of the three-phase direct-current brushless motor and the target control rotating speed, and determining a voltage control quantity and a current control quantity of the three-phase direct-current brushless motor based on the target rotating speed difference value;
the control unit is used for setting step increment and step decrement of three-phase voltage and three-phase current of the three-phase direct-current brushless motor based on the voltage control quantity and the current control quantity, determining the maximum allowable duration of the target rotating speed of the three-phase direct-current brushless motor under the condition of being less than the target control rotating speed, and performing second compensation control on the three-phase direct-current brushless motor through the step increment and the step decrement of the three-phase voltage and the three-phase current within the maximum allowable duration;
and the control unit is used for finishing the frequency conversion control of the three-phase direct current brushless motor based on the first compensation control and the second compensation control.
2. The control system of claim 1, wherein the motor detection module comprises:
the state monitoring unit is used for acquiring working parameters of the three-phase DC brushless motor, determining target values of the working parameters, and determining working states of the three-phase DC brushless motor based on the target values, wherein the working states comprise normal working and non-working;
the electric parameter acquisition unit is used for determining sampling points of the three-phase brushless DC motor when the working state of the three-phase brushless DC motor is normal work, and setting a preset sensor based on the sampling points;
the electric parameter acquisition unit is also used for determining a data acquisition time interval and controlling the preset sensor to acquire the three-phase voltage and the three-phase current of the three-phase direct current brushless motor based on the data acquisition time interval.
3. The control system of claim 2, wherein the electrical parameter acquisition unit comprises:
the data acquisition subunit acquires the acquired three-phase voltage and three-phase current and determines acquisition timestamps corresponding to the three-phase voltage and the three-phase current;
the data checking subunit is used for generating a first trend graph corresponding to the three-phase voltage and a second trend graph corresponding to the three-phase current based on the acquisition timestamp, and respectively determining a first reference line and a second reference line of the three-phase voltage and the three-phase current in a monitoring time period based on the first trend graph and the second trend graph;
the judging subunit is used for subtracting the three-phase voltage corresponding to each collecting timestamp from a first reference line based on the first trend graph, and subtracting the three-phase current corresponding to each collecting timestamp from a second reference line based on the second trend graph to obtain the number of abnormal three-phase voltage samples and the number of abnormal three-phase current samples, of which the difference values are larger than a first preset threshold value and a second preset threshold value, respectively;
and the judging subunit is also used for judging that the acquired three-phase voltage or three-phase current is unqualified and acquiring again when the number of the abnormal three-phase voltage samples and the number of the abnormal three-phase current samples are larger than the corresponding preset number.
4. The control system of claim 1, wherein the motor detection module comprises:
the parameter acquisition unit is used for acquiring the acquired three-phase current and comparing the current value corresponding to the three-phase current with a preset safe current threshold value;
and the alarm unit is used for judging that the current working current of the three-phase direct current brushless motor is overlarge when the current value corresponding to the three-phase current is larger than a preset safe current threshold value, and sending an alarm prompt to a management terminal, otherwise, monitoring the size relation between the current value corresponding to the three-phase current and the preset safe current threshold value in real time until the three-phase direct current brushless motor finishes operation.
5. The system of claim 1, wherein the motor detection module comprises:
the data acquisition unit is used for acquiring three-phase voltage and three-phase current of the obtained three-phase direct-current brushless motor and determining a power value of the three-phase direct-current brushless motor during normal operation based on the three-phase voltage and the three-phase current;
the analysis unit is used for acquiring a load value of the three-phase direct brushless motor, determining the torsion of the three-phase direct current brushless motor and the action radius of the three-phase direct current brushless motor based on the load value, and obtaining the torque value of the three-phase direct current brushless motor based on the torsion and the action radius;
and the rotating speed determining unit is used for determining the target rotating speed of the three-phase direct current brushless motor based on the torque value and the power value of the three-phase direct current brushless motor in normal operation.
6. The system of claim 1, wherein the analysis module comprises:
the parameter acquisition unit is used for determining an application entity connected with the three-phase direct-current brushless motor and extracting equipment parameters of the application entity;
the attribute analysis unit is used for determining the operation requirement of the application entity on the three-phase brushless direct current motor in the operation process based on the equipment parameters and obtaining the service attribute of the three-phase brushless direct current motor based on the operation requirement, wherein the service attribute comprises constant frequency control and variable frequency control;
the scheme making unit is used for determining the operation requirement of the application entity when the service attribute is frequency conversion control, and determining a corresponding standard rotating speed when the three-phase direct-current brushless motor reaches the operation requirement and a target time length of operation at the standard rotating speed;
the scheme making unit is used for determining a reference three-phase voltage value and a reference three-phase current value of the three-phase brushless direct current motor at a standard rotating speed, setting a monitoring time interval based on the target duration, acquiring an output three-phase voltage value and an output three-phase current value of the three-phase brushless direct current motor at the target rotating speed at the current moment based on the monitoring time interval, and subtracting the output three-phase voltage value and the reference three-phase voltage value and the output three-phase current value from each other to obtain a voltage error value and a current error value;
the scheme making unit is further used for training the voltage error value and the current error value based on a preset method to obtain a first voltage control quantity and a first current control quantity for outputting a three-phase voltage value and a three-phase current value of the three-phase brushless direct current motor at the current moment;
and the scheme determining unit is used for obtaining a first control scheme based on the first voltage control quantity and the first current control quantity.
7. The control system according to claim 6, wherein the attribute analysis unit includes:
when the service attribute is constant frequency control:
the scheme making subunit is used for acquiring a target rotating speed of the three-phase direct-current brushless motor, determining a rotating speed difference value between the target rotating speed and a standard rotating speed, and determining a second voltage control quantity and a second current control quantity of the three-phase direct-current brushless motor based on the rotating speed difference value;
and the scheme determining subunit is used for obtaining a second control scheme based on the second voltage control quantity and the second current control quantity.
8. The control system of claim 1, wherein the control module comprises:
the monitoring unit is used for acquiring a current rotating speed set of the direct-current brushless motor after frequency conversion control based on a preset time interval and determining specific rotating speed values corresponding to different time points in the current rotating speed set;
the comparison unit is used for comparing the specific rotating speed values corresponding to the adjacent time points;
when the specific rotating speed values corresponding to the adjacent time points are different, judging that the frequency conversion control of the three-phase direct current brushless motor is qualified;
otherwise, judging that the frequency conversion control of the three-phase DC brushless motor is unqualified, and carrying out frequency conversion control on the three-phase DC brushless motor again.
9. The control system of claim 1, wherein the control module comprises:
the command acquisition unit is used for acquiring a starting command and determining a rated working voltage value of the three-phase direct-current brushless motor based on the starting command;
the slow starting unit is used for determining a voltage adjustment interval of the three-phase direct-current brushless motor based on the rated working voltage value, wherein the lower limit value of the voltage adjustment interval is zero, and the upper limit value of the voltage adjustment interval is the rated working voltage value;
and the slow starting unit is used for determining a single voltage increment based on the voltage adjusting interval, sequentially adjusting the voltage value of the three-phase brushless direct-current motor from zero based on the single voltage increment until the voltage value reaches the rated working voltage value, and finishing the slow starting control of the brushless direct-current motor.
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| CN104518713A (en) * | 2014-12-17 | 2015-04-15 | 华中科技大学 | Position-sensor-free speed regulating control method for brushless doubly-fed motor |
| CN114050745A (en) * | 2021-11-26 | 2022-02-15 | 航天科工智能机器人有限责任公司 | A control method, device and system for a rotary guide actuator |
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| US7449860B2 (en) * | 2005-01-05 | 2008-11-11 | Honeywell International Inc. | Control technique for limiting the current of an induction machine drive system |
| JP6361643B2 (en) * | 2015-12-15 | 2018-07-25 | 横河電機株式会社 | Energy storage service system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104518713A (en) * | 2014-12-17 | 2015-04-15 | 华中科技大学 | Position-sensor-free speed regulating control method for brushless doubly-fed motor |
| CN114050745A (en) * | 2021-11-26 | 2022-02-15 | 航天科工智能机器人有限责任公司 | A control method, device and system for a rotary guide actuator |
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