200929843 九、發明說明： 【發明所屬之技術領域】 本發明係有關一種無刷直流電動機領域，特別係一種無刷直流電動 機的寬速控制方法。 【先前技術】 電動機係用於驅動各種器械，但由於電動機會消耗較高電功率，且相關 產業所使用的電動機數量甚大，因此如何提高電動機的驅動效率就成為工 業界與學術界相當重視的課題。其中，無刷直流電動機因具有高功率密度、 © 高效率與免維護的優點，再加上近來無刷直流電動機製造技術的改進與創 新，使其能夠以體積小、重量輕及結構強健等優點逐漸取代部分傳統有刷 直流電動機’且’無刷直流電動機一般是定位為反電勢呈類梯形波的永磁 式電動機，以別於具有弦波形狀反電勢的永磁式同步電動機，而驅動無刷 直流電動機的控制信號必須依據轉子磁石與定子相對位置的資訊才能成功 地控制電動機之轉矩與或轉速。 一般轉速的無刷直流電動機驅動方法是採用120度導通區間波寬調變 ❹ 法’使反流器開關以固定切換順序’在同時間電動機繞組依此順序進行2 相繞組激磁，以期望逹到相電流與相反電勢同相位的最佳功率輸出，另， 無刷直流電動機之高速時，係採用弱磁驅動方法，通常是12〇度導通區間 的換向相位超前法’或是18〇度導通區間的換向相位超前法其中刚度 料__向她超前法在高速職能雖航前者優越但在低速時的 性能卻比前者差。 針對無刷直流電動機的弱磁媒動控制策略研究是以τ m麻所做的 5 200929843 研究為基礎，Jahns 於“Torque Production in Permanent-Magnet Synehronous Motor Drives with Rectangular Current Excitation” 一文中，首先提出以 120 度導通區間的電流控制驅動策略，當驅動器飽和時，反流器的功率開關已 經以每週期120度完全導通的方式換向，此時輸出電壓已達到極限，對應 的電動機高反電勢限制線圈電流，而使電動機轉矩無法再増加。為進一步 提高轉速’ Jahns提出可以利用改變反流器切換策略，使得無刷直流電動機 相電流相位超前其對應反電勢，藉此可同時在高速運轉時維持相當的輸出 ❹ 轉矩’但是同時也因其反電勢為類梯形波，在線電流相位超前反電勢下使 三相輸入功率產生脈動，進而產生機械脈動轉矩。 我國專利證號483231之「依轉速調整換相時機之無刷直流馬達控制方 法」所採的相位超前弱磁驅動是沿用120度換向相位超前法驅動技術，其 中同時最多只有2個反流器開關導通來對電動機的2相繞組激磁，這種切 換方法可使轉速高於額定轉速；我國專利證號1259648之「電動車直流無 刷馬達之控制方法及裝置」所採用的相位超前弱磁驅動亦是沿用12〇度驅 〇 動技術，其中同時最多也只有2個反流器開關導通來對電動機的2相繞組 激磁；我國專利證號1229972之「低成本直流無刷馬達數位式驅動控制系 統」與我國專利證號1225904之「實現複合式驅動控制架構於直驅式無刷 馬達洗衣機」所採用的驅動方法是用18〇度驅動技術，惟，低速驅動方法 是用非弱磁180度波寬調變驅動，高速驅動方法是用弱磁18〇度波寬調變 驅動，兩種方法的功率開關切換有固定但各不相同的弱磁與非弱磁時序， 使電動機電流與其反電勢的相位差分別在兩方法時保持固定，因而限制電 6 200929843 動機轉速範圍。 因此，在無刷直流電動機領域中，係有必要提供一種創新的無 刷直流電動機的寬速控制方法，以克服上狀限制與缺失。 【發明内容】 本發明之主要目的係在提供一種無刷直流電動機的寬速控制方 法，主要是依據無刷直流電動機實際轉速與轉子位置資訊，來控制反流器 之數個切換開_娜方式，#無織流電動機轉速係低於-額定轉速 〇 _採用波寬調變切換法控制反流^的切換開關，當無刷直流電動機轉速 係高於-額定轉速時’贱採用大於12Q度導通區_她超前換相切換 法來控制反流器的切換開關，以讓無刷直流電動機不論是在高速轉速或低 速轉速，都能夠受到良好的控制。 根據本發明所揭示的無刷直流電動機的寬速控制方法，乃包括提供一 反流器’其用於輸出一無刷直流電動機之電壓大小與相位，以及根據一無 刷直流電動機之一轉速叫與一轉子位置資訊，控制反流器切換開關之切 〇 換’當轉速％低於一額定轉速，對反流器切換開關採用一波寬調變切換法， 當轉速叫高於一額定轉速，對反流器切換開關採用一大於120度導通區間 的相位超前換相切換法。 其中’波寬調變切換法係一 120度導通區間的波寬調變切換法，相位 超前換相切換法則是在一原120度導通區間前端增加所需超前的角度，而 使反流器切換開關的導通區間大於120度且在180度以下，即可使無刷直 流電動機順利進行高速弱磁運轉，且弱磁運轉乃採用和緩增加導通區間角 度的相位超前方法，使電動機轉速在低速與高速間確實能和緩轉移。 7 200929843 本發明之目的或其他目的對於此技藝之通常知識者而言，閱讀以下實 施例之詳細内容後係顯而易知的。 先前的概述與接下來的詳細敘述都是範例，以便能進一步解釋本發明 之專利請求項。 【實施方式】 请參照第一圖’係本發明之一無刷直流電動機速度控制系統的示 意圖。如圖所示，本發明之無刷直流電動機速度控制系統1〇力包括一無刷 〇 ±流電動機12 ’-反流H 14触無刷直流電動機且外接—直流鏈電壓源 15 ’以接收-直流電壓並將其轉成—交流電壓輸出至無刷直流電動機， 其中反流器14係-三相全橋反流器，具有六個切換開關幻至部，如第二 騎示’每—切換關包括—辨電晶體與—她接的雜二極體，故反 流器14透過切細關S1至S6控制輸出至無刷直流電動機之電壓大小與相 位，-轉子位置侧器16 _無刷直流電動機12，由三個霍爾細器所組 成以侧電動機i2之轉子磁石與定子繞組的相對位置而輸出三個位置信號 〇 u、v、W，一負載17耦接電動機12與轉子位置债測器16，一控制電路18 _轉子_貞卿16，域魏路18包括—轉子錢卿貞測請、 轉速計算器182、速度控制器及限制器183及一寬速控制單元184，其中轉 子位置區域偵測器181 _轉子位置侧器16以接收三個位置信號u' v、 w而辨識並輸出-轉子區域值，轉速計算器_接轉子位置細器μ以 接收三個位置信號u、v、w計算出直流電動機12之轉速切，速度控制器及 限制器脱則接收-轉速命令<與一轉速叫之誤差而輸出一控制命令心 寬速控制單元184耦接轉子位置區域侧器⑻、轉速計算請速度控 8 200929843 制器及限制器183與反流器14，以接收轉子區域值、轉速叫與控制命令u* 之一個輸人參數而剌控觀妨14的六侧關切換控制信號。 其中-月同時參照第二圓，係無刷直流電動機12之相反電勢電屋〜與 對應轉子位置偵 16所輸出的3_子磁石與定子繞組之減位^號 u,v,w波形示意圖。其中，請同時參照第三圖，係無刷直流電動機12之相 反電勢電壓、與對應轉子位置债測器16所輸出的3組轉子磁石與定子繞 組之相對位置信號u，v w波形示意圖。 〇 透過上述之無·流電動機速度控财統1G，本發明揭示-種無刷直200929843 IX. Description of the Invention: [Technical Field] The present invention relates to the field of a brushless DC motor, and more particularly to a wide speed control method for a brushless DC motor. [Prior Art] The motor is used to drive various instruments. However, since the motor consumes a large amount of electric power and the number of motors used in the related industries is very large, how to improve the driving efficiency of the motor has become a subject of great importance to the industry and the academic community. Among them, brushless DC motors have the advantages of high power density, high efficiency and maintenance-free, coupled with the recent improvements and innovations in brushless DC motor manufacturing technology, enabling them to be small, lightweight and robust. Gradually replace some traditional brushed DC motors 'and' brushless DC motors are generally permanent magnet motors that are trapezoidal waves with a back EMF, which is different from permanent magnet synchronous motors with a sinusoidal shape back EMF. The control signal of the brush DC motor must be based on the information of the relative position of the rotor magnet and the stator to successfully control the torque and or speed of the motor. The general speed brushless DC motor driving method is to use a 120-degree conduction interval wave width modulation ❹ method to make the inverter switch in a fixed switching sequence'. In the same time, the motor windings are excited in the same phase, so that it is expected to The phase current is optimally output in phase with the opposite potential. In addition, the high-speed of the brushless DC motor is driven by a field weakening method, usually a commutating phase lead method of the 12-degree conduction interval or 18-degree conduction. The commutation phase advance method of the interval is that the stiffness material __ to her advanced method is superior to the high speed function although the voyage is superior but the performance at low speed is worse than the former. The weak magnetic medium control strategy for brushless DC motors is based on the 5 200929843 study by τ m hemp. Jahns first proposed in the article "Torque Production in Permanent-Magnet Synehronous Motor Drives with Rectangular Current Excitation". The current-controlled driving strategy of the 120-degree conduction interval, when the driver is saturated, the power switch of the inverter has been commutated in a manner of 120 degrees per cycle, and the output voltage has reached the limit, and the corresponding motor high back-potential limiting coil The current is so that the motor torque can no longer be increased. In order to further increase the speed, Jahns proposed to change the inverter switching strategy so that the phase current of the brushless DC motor is ahead of its corresponding back EMF, thereby maintaining a comparable output 转矩 torque at the same time at high speeds. The back EMF is a trapezoidal wave, and the on-line current phase leads the three-phase input power to pulsate, thereby generating mechanical pulsating torque. The phase advance weak magnetic drive of the "Brushless DC Motor Control Method Based on the Speed Adjustment Commutation Timing" of China Patent No. 4823231 is a 120-degree commutation phase advance driving technique, in which there are only two inverters at the same time. The switch is turned on to excite the 2-phase winding of the motor, and the switching method can make the rotational speed higher than the rated rotational speed; the phase advance weak magnetic drive used in the "Control Method and Device for Electric Vehicle DC Brushless Motor" of Chinese Patent No. 1259648 It is also a 12-degree driving technology, in which at the same time only two inverter switches are turned on to excite the 2-phase winding of the motor; China Patent No. 1229972 "Low-cost DC brushless motor digital drive control system" The driving method adopted by the Chinese Patent No. 1225904 "Implementing a Composite Drive Control Architecture in a Direct Drive Brushless Motor Washing Machine" is to use 18-degree driving technology. However, the low-speed driving method uses a non-weak magnetic 180-degree wave. Wide-variable variable drive, high-speed drive method is driven by weak magnetic 18-degree wave width modulation. The power switch switching of the two methods is fixed but different. Weakening the non-weakening timing, the motor current and the back EMF of phase differences at the two methods remain fixed, thereby limiting the electric motor rotation speed range 6200929843. Therefore, in the field of brushless DC motors, it is necessary to provide an innovative wide speed control method for brushless DC motors to overcome the upper limit and lack. SUMMARY OF THE INVENTION The main object of the present invention is to provide a wide speed control method for a brushless DC motor, which mainly controls the number of switching of the inverter according to the actual rotational speed of the brushless DC motor and the rotor position information. ,#No-slip motor speed is lower than-rated speed 〇_The switch is controlled by the wave width modulation switching method. When the brushless DC motor speed is higher than the rated speed, '贱 is greater than 12Q Zone _ her advanced commutation switching method to control the switch of the inverter, so that the brushless DC motor can be well controlled whether at high speed or low speed. A wide speed control method for a brushless DC motor according to the present invention includes providing a inverter for outputting a voltage magnitude and phase of a brushless DC motor, and calling it according to a speed of a brushless DC motor With a rotor position information, the control of the inverter switch is switched. When the speed % is lower than a rated speed, the inverter switch adopts a wave width modulation switching method. When the speed is higher than a rated speed, A phase lead commutation switching method with a conduction interval greater than 120 degrees is used for the inverter switch. Among them, the 'wave width modulation switching method is a 120-degree conduction interval wave width modulation switching method, and the phase leading phase commutation switching method is to increase the required leading angle at the front end of the original 120 degree conduction interval, and the inverter is switched. When the conduction interval of the switch is greater than 120 degrees and less than 180 degrees, the brushless DC motor can smoothly perform high-speed field weakening operation, and the field weakening operation adopts a phase advance method of gently increasing the angle of the conduction interval, so that the motor speed is at a low speed and a high speed. It is indeed possible to transfer slowly. 7 200929843 The purpose of the present invention or other objects will become apparent to those of ordinary skill in the art in reading the details of the following embodiments. The previous summary and the following detailed description are examples in order to further explain the patent claims of the present invention. [Embodiment] Please refer to Fig. 1 for a schematic view of a brushless DC motor speed control system of the present invention. As shown, the brushless DC motor speed control system of the present invention includes a brushless 〇±flow motor 12'-reverse H 14 touch brushless DC motor and an external-DC link voltage source 15' to receive - The DC voltage is converted into an AC voltage output to the brushless DC motor, wherein the inverter 14 is a three-phase full-bridge inverter with six switching switches, such as the second riding 'per-switching The switch includes - discriminating the transistor and the heterodiode connected to it, so the inverter 14 controls the voltage magnitude and phase of the output to the brushless DC motor through the shreds S1 to S6, and the rotor position side device 16 _ brushless The DC motor 12 is composed of three Halls and outputs three position signals 〇u, v, W by the relative positions of the rotor magnets of the side motor i2 and the stator windings. A load 17 is coupled to the motor 12 and the rotor position. Detector 16, a control circuit 18_rotor_贞卿16, domain Weilu 18 includes - rotor Qianqing test, speed calculator 182, speed controller and limiter 183 and a wide speed control unit 184, wherein the rotor Position area detector 181 _ rotor position side 16 recognizes and outputs the - rotor region value by receiving the three position signals u' v, w, and the rotational speed calculator _ is connected to the rotor position closer μ to receive the three position signals u, v, w to calculate the rotational speed of the DC motor 12 , the speed controller and the limiter take off the receiving-speed command < and a speed command error and output a control command heart speed control unit 184 coupled to the rotor position area side device (8), the speed calculation, speed control 8 200929843 and The limiter 183 and the inverter 14 control the six-sided switch control signal of the switch 14 by receiving a rotor region value, a rotational speed called an input parameter of the control command u*. Wherein - month refers to the second circle at the same time, which is the waveform diagram of the subtraction ^, u, v, w of the 3_sub magnet and the stator winding outputted by the opposite potential of the brushless DC motor 12 and the corresponding rotor position detector 16. Referring to the third figure at the same time, the reverse potential voltage of the brushless DC motor 12 and the relative position signals u, v w of the three sets of rotor magnets and stator windings outputted by the corresponding rotor position detector 16 are schematicly shown.透过 Through the above-mentioned no-flow motor speed control system 1G, the present invention discloses a kind of brushless straight
流電動機的寬速控制方法，由於反流器14之切換開關的切換模式控制著無 刷直流電城之端電壓大小與她，所林發明主要是當轉速ω低於一額 S轉速時’就獅12G度波寬機切齡㈣反顏14的切換開關， 即控制電路18會根據轉如、轉速命令^^與轉子區域值而運算產生出六個 切換開關波寬調變控繼絲控做絲u之切換關，波寬調變控制信 號的順序圖形可以如第四圖所示，其中一個電機週期分割為j、辽、皿、 ❹IV、V、VI之六個區域。當轉速逐漸増加，為轉所需轉速，切換開關的 導通週期會逐漸增加達議，此時所加電壓也達到最大，即反流器輸出電 屋已經飽和…躺言，麟已it職刷纽電動機最高轉速，若希望繼 續提尚無刷直流電動機轉速，則採用弱磁控制方法，且當無刷直流電動機 轉速叫尚於額定轉速時’本發明採用大於120度導通區間的相位超前換 相切換法來控制反流器的切換開關，其中此相位超前換相切換法係在一原 120度週期導通區間則端增加所需超前的角度。如第五圖所示，係習知GO 9 200929843 度相位超前換相法’當期望電流超前3〇度時’反流器切換開關的導通區間 依舊是120度。而本發明是當期望電流超前3〇度時’就在原ι2〇度週期導 通區間前端增加30度’如第六圖所示，此時反流器14之每一切換開關的 週期導通㈣就是150度’應肢方法，當轉速愈高時 ，電壓相位超前角 度PM會愈大’而最大超前相位角是6〇度，以使反流器切換開關的導通區 間係大於120度且在180度以下。 且，當轉速叫高於額定轉速叫^後，採用前述之本發明的相位超前換 ❹相法’電麼相純前角度大小PAA與所欲轉速成正比，且切細關之導通 區間的角度;M、亦與所欲轉速成正比，故透過本方法能使反流^切換開關 的導通區間以及相位超前角度隨轉速增減而增減，而更能達到直流無刷電 動機高速運轉目的。 其中，能夠控制反流器14之開關的切換模式就是透過控制電路π之 寬速控制單元184所輸出的切換開關控制信號，請連同參照第七圖所示， 係寬速控制單元184之邏輯作動流程示意圖。如圖所示，寬速控制單元184 〇 絲行步驟81 ’判斷轉速％是否高於-額定轉速〜，絲，則進行步驟 S2 ’設定魏FW=1，若否，則進行步驟S3，設定變數洞，之後，不論 是步驟S2與S3 ’接著都是進行步驟S4 ’判斷控制命令u*是否大於或等於 -臨界控制命令〜，若是’雌著進行麵S5，若否，則進行步驟部。 當控制命令u*大於或等於-臨界控料令〜，係進行步驟沾，判斷 變數FW是否等於卜即相當於判斷轉速叫是否大於額定轉速〜，當賵 是等於卜即轉速巧高於額定轉速^，則進行步驟S7，依據控制命令u* 200929843 及採用弱磁控制切換，計算反_目位超⑽度pM，其中相位超前角度 PAA之計算公式如下： ΡΑΑ = (~^-)χ6〇 然後進行步驟S8，判_位超前角度·是私於或等於6Q度若 相位超前角度PAA係大於或等於6〇度，則進行步驟别’使她超前角度 PAA等於60度後’才進行步驟sl〇，若相位超前角度pAA係小於6〇度， 則直接進行步驟S1G ’以使用相位超前角度pM與轉子區域值共同決定反 流器14之切換關控制職，其中這些信號在—俩_順序圖形是如 第六圖所Tf： ; tFW是不等於卜即轉速ω低於額定轉速〜，則進行步驟 S11，使反流器切換開關的工作週期D等於1〇〇%後，才進行步驟犯，表 不無刷直流電賴在額定轉速町，制波寬調變_，以使用此工作週 期D與轉子_值鋼蚊用健紙絲14 _換_㈣信號，其 中這些信號之一個週期的順序圖形係類似於第四圖。 當控制命令u*小於臨界控制命令，係進行步驟S6，依據控制命令 及採用波寬調變切換，計算反流器開關工作周期D，其中工作週期〇之計 算公式如下：The wide speed control method of the flow motor, because the switching mode of the switch of the inverter 14 controls the voltage level of the brushless DC power terminal, and the invention is mainly when the speed ω is lower than the amount of S speed. 12G degree wave width machine cutting age (four) reverse color 14 switch, that is, the control circuit 18 will calculate according to the transfer, speed command ^^ and rotor region value to generate six switch switch wave width modulation control wire control wire u switching, the sequence pattern of the wave width modulation control signal can be as shown in the fourth figure, wherein one motor cycle is divided into six regions of j, Liao, Dish, ❹IV, V, VI. When the speed is gradually increased, the turn-on period of the switch will gradually increase as the required speed is turned. At this time, the applied voltage also reaches the maximum, that is, the inverter output electric house is saturated... Lying, Lin has been working The maximum speed of the motor, if it is desired to continue to increase the speed of the brushless DC motor, the weak magnetic control method is adopted, and when the speed of the brushless DC motor is called the rated speed, the present invention adopts a phase lead switching switch with a conduction interval greater than 120 degrees. The method controls the switch of the inverter, wherein the phase lead-forward switching method increases the required leading angle at the end of the original 120-degree period. As shown in the fifth figure, it is known that the GO 9 200929843 phase lead phase commutation method 'when the current is expected to lead 3 degrees, the conduction interval of the inverter switch is still 120 degrees. However, the present invention is such that when the desired current is advanced by 3 degrees, it is increased by 30 degrees in the front end of the conduction period of the original ι2 〇 period, as shown in the sixth figure. At this time, the period of each switch of the inverter 14 is turned on (four) is 150. Degree 'farm method, when the higher the speed, the voltage phase lead angle PM will be larger' and the maximum lead phase angle is 6 degrees, so that the conduction interval of the inverter switch is greater than 120 degrees and below 180 degrees . Moreover, when the rotational speed is higher than the rated rotational speed, the phase advance lead-forward phase method of the present invention is used. The front angle of the pure PAA is proportional to the desired rotational speed, and the angle of the conduction interval is cut and closed. M is also proportional to the desired speed. Therefore, the conduction interval and phase advance angle of the reverse current switch can be increased or decreased with the increase and decrease of the speed by the method, and the high-speed operation of the DC brushless motor can be achieved. The switching mode capable of controlling the switch of the inverter 14 is the switching switch control signal outputted by the wide speed control unit 184 of the control circuit π. Please refer to the seventh diagram, and the logic of the wide speed control unit 184 is activated. Schematic diagram of the process. As shown in the figure, the wide speed control unit 184 determines whether the rotation speed % is higher than the - rated rotation speed 〜, and the yarn proceeds to step S2' to set Wei FW = 1, if not, proceeds to step S3 to set the variable After the hole, the steps S2 and S3' are followed by step S4. It is judged whether the control command u* is greater than or equal to the -threshold control command~, if the 'female face S5', if not, the step is performed. When the control command u* is greater than or equal to - the critical control order ~, the step is dimmed, and it is judged whether the variable FW is equal to or equal to whether the speed is greater than the rated speed ~, and when the value is equal to the speed, the speed is higher than the rated speed. ^, proceed to step S7, according to the control command u* 200929843 and using the weak magnetic control switching, calculate the inverse _ target super (10) degree pM, wherein the phase lead angle PAA is calculated as follows: ΡΑΑ = (~^-) χ 6 〇 then Step S8 is performed to determine that the lead angle is private or equal to 6Q. If the phase lead angle PAA is greater than or equal to 6 degrees, then the step is to 'make her lead angle PAA equal to 60 degrees' before step sl) If the phase lead angle pAA is less than 6 degrees, proceed directly to step S1G' to determine the switching control of the inverter 14 using the phase lead angle pM and the rotor region value, wherein the signals are in the two-order pattern As shown in the sixth figure, Tf: ; tFW is not equal to, that is, the rotational speed ω is lower than the rated rotational speed ~, then step S11 is performed to make the duty cycle D of the inverter switch is equal to 1〇〇%, and then the step is made. Do not Brushless DC power is used in the rated speed of the town, the wave width modulation _, to use this duty cycle D and the rotor_value steel mosquito paper 14 _ change _ (four) signal, wherein the order of the patterns of these signals is similar In the fourth picture. When the control command u* is smaller than the critical control command, the process proceeds to step S6, and the inverter switch duty cycle D is calculated according to the control command and the wave width modulation switching, wherein the calculation formula of the duty cycle is as follows:
U D =— 从m 然後進行步驟S12 ’判斷工作週期D是否大於或等於1〇〇% ,若工作週期D 是大於或等於100% ’則進行步驟S13，使工作週期])等於100%後，才進 行步驟S14 ’若工作週期是小於1〇〇%，則直接進行步驟S14，使電動機在 11 200929843 額疋轉速以下係採用波寬調變控制，使用工作週期〇與轉子區域值來共同 決定用於反流器的切換開關控制信號，其中這些信號之一個週期的順序圖 形係類似於第四圖。 社的實施流程至此為止是-個週期結束，等待下—個週期的開始時 再重新進入第七圖之步驟s卜藉此流程週期之循環而達到無刷直流電動機 寬速控制。 此外’控制電路18是透過數位化方式來實現，可採任何市售的單晶片 〇 微處理器、數位信號處理器、可規劃邏輯鎮列、各種形式電腦或其他相似 功能的數位化處理器等。 現在，茲以一實際實施例及代表性實驗結果驗證本發明之優點係依 照第一圓建立一無刷直流電動機速度驅動器。當無刷直流電動機12之額定 電壓疋24V ’額定功率是360W ’額定轉速2550r/min，直流鏈電壓源15是 24V，所以電流限制是15A，控制電路18採用數位信號處理器模組耵 TMS320LF2407A EVM ’ 且臨界轉速iyr7W=3〇〇〇r/min ’ 臨界控制命令2/?^=1〇〇〇， © 參照第八圖之實驗結果，顯示在電動機滿載時，依據本發明之寬速控制方 法的暫態響應波形，在第八圖中顯示電動機轉速能夠由低速非弱磁控制和 緩轉移至高速弱磁控制，最後達到3230r/min的轉速命令，且當時間在 1.36sec時’驅動器進入弱磁控制’當轉速逐漸提高的同時，直流鏈電流/ 跟隨逐漸增加到驅動器額定電流約為15A。第九圖係顯示採用傳統弱磁方法 的穩態實驗波形，穩態時，電動機轉速約為3229r/min，心平均值為16 〇A , ‘峰對峰值為11· 4A。第十圖係顯示依據本發明之寬速控制方法的穩態實驗 12 200929843 波形’此時電動機的轉速約為驗她W肩值為15.1A〜峰對峰值 因為直机鏈電壓源15相對的維持固定值，所以可以推測當L峰對 峰值愈大，電動機脈動轉矩愈大。 由上述2個實賊果可知，透過本發撕揭示攸速控制方法，在高 速重载時’會同時有較小的L平均值與4峰對峰值，且明顯低於傳統120 度驅動技術所得到的轉矩漣波峰對峰值，故驗證本方法不但能提高驅動器 效率最大達到約6,67%’即節省約，降低了無刷直流電動機的脈動轉矩。 〇 綜上所述，本發明之無刷直流電動機的寬速控制方法只採用單一速度 控制器，就可將電動機的低速與高速弱磁控制結合一起，使電動機轉速在 低速與兩速間確實能和緩轉移，讓電動機在寬廣速度範圍都能獲得良好控 制’且只需修改習用驅動系統的軟體程式，而不需增加額外硬體，進而降 低硬體成本β 以上所述之實施例僅係為說明本發明之技術思想及特點，其目 的在使熟習此項技藝之人士能夠暸解本發明之内容並據以實施， 〇 當不能以之限定本發明之專利範圍，即大凡依本發明所揭示之精 神所作之均等變化或修飾，仍應涵蓋在本發明之專利範圍内。 【圖式簡單說明】 第一圓為本發明之無刷直流電動機速度控制系統的示意圓。 第二圖為本發明之反流器的電路結構示意圖。 第三圖為本發明之無刷直流電動機Α相反電勢電壓與對應3組轉子位 置偵測器所輸出的位置信號u，v，w的波形示意圖。 第五囷為習知120度相位超前換相法之反流器切換開關控制信號順序圓形。 13 200929843 第六圓為本發明之大於12()度的相位超祕減之反趋切細關控制信 號順序圓形》 第七圖為本發明無刷直流電動機的的寬速控制方法之流程示意圖。 第八圖為應用本發明之無刷直流電動機之滿載暫態響應波形示意圖。 第九圖為採用習知弱磁方法的穩態實驗波形示意圖。 第十圖為應用本發明的穩態實驗波形示意圖。 【主要元件符號說明】 10無刷直流電動機速度控制系統12無刷直流電動機 14反流器 15直流鏈電壓源 16轉子位置偵測器 17負载 18控制電路 181轉子位置區域偵測器182轉速計算器 183速度控制器及限制器 184寬速控制單元UD = - From m then proceed to step S12 ' to determine whether the duty cycle D is greater than or equal to 1〇〇%, and if the duty cycle D is greater than or equal to 100%' then proceed to step S13 so that the duty cycle]) is equal to 100% Proceed to step S14', if the duty cycle is less than 1〇〇%, proceed directly to step S14, so that the motor is controlled by the wave width modulation below the front rotation speed of 11 200929843, and the working cycle 〇 and the rotor region value are used together to determine The switching switch control signal of the inverter, wherein the sequential pattern of one cycle of these signals is similar to the fourth figure. So far, the implementation process of the company is - the end of one cycle, waiting for the start of the next cycle and then re-entering the step of the seventh figure to achieve the brushless DC motor wide speed control by the cycle of the process cycle. In addition, the 'control circuit 18 is implemented by means of digitalization, and any commercially available single-chip microprocessor, digital signal processor, programmable logic town, various forms of computers or other similar functions of digital processors can be adopted. . Now, the advantages of the present invention are verified by a practical embodiment and representative experimental results to establish a brushless DC motor speed driver in accordance with the first circle. When the rated voltage of the brushless DC motor 12 is 疋24V 'rated power is 360W 'rated speed 2550r/min, the DC link voltage source 15 is 24V, so the current limit is 15A, and the control circuit 18 uses the digital signal processor module 耵 TMS320LF2407A EVM ' And the critical speed iyr7W=3〇〇〇r/min ' Critical control command 2/?^=1〇〇〇, © Refer to the experimental results in the eighth figure, showing the wide speed control method according to the present invention when the motor is fully loaded The transient response waveform, in the eighth figure shows that the motor speed can be controlled from low speed non-weakening and slow transition to high speed field weakening control, and finally reaches the speed command of 3230r/min, and when the time is 1.36sec, the drive enters the weak magnetic field. Control 'When the speed is gradually increased, the DC link current/following gradually increases to approximately 15A of the rated current of the drive. The ninth graph shows the steady-state experimental waveform using the conventional field weakening method. At steady state, the motor speed is about 3229r/min, the heart average is 16 〇A, and the peak-to-peak value is 11.4A. The tenth figure shows the steady state experiment 12 according to the wide speed control method of the present invention. 200929843 Waveform 'At this time, the rotational speed of the motor is about 19.1A to the shoulder value of the motor. The peak-to-peak value is maintained because the relative voltage of the linear chain 15 is relatively maintained. Since the value is fixed, it can be inferred that the larger the peak value of the L peak is, the larger the motor ripple torque is. It can be seen from the above two real thief fruits that the idle speed control method is revealed by the tearing method, and at the time of high speed and heavy load, there will be a small L average value and a four-peak peak value, and is significantly lower than the conventional 120 degree driving technology. The obtained torque ripple peaks to the peak value, so it is verified that the method can not only improve the drive efficiency up to about 6,67%, which saves about, and reduces the ripple torque of the brushless DC motor. In summary, the wide speed control method of the brushless DC motor of the present invention uses only a single speed controller to combine the low speed of the motor with the high speed field weakening control, so that the motor speed can be between the low speed and the two speeds. The gentle transfer allows the motor to be well controlled over a wide range of speeds' and only requires modification of the software program of the conventional drive system without the need to add additional hardware, thereby reducing the hardware cost. The above described embodiments are for illustrative purposes only. The technical idea and the features of the present invention are to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, and the scope of the present invention cannot be limited thereto, that is, the spirit of the present invention is disclosed. Equal variations or modifications are still intended to be included within the scope of the invention. [Simple Description of the Drawing] The first circle is a schematic circle of the brushless DC motor speed control system of the present invention. The second figure is a schematic diagram of the circuit structure of the inverter of the present invention. The third figure is a waveform diagram of the position signal u, v, w outputted by the opposite potential voltage of the brushless DC motor of the present invention and the corresponding three sets of rotor position detectors. The fifth step is a conventional 120 degree phase lead phase commutation method, and the inverter switching switch control signal is sequentially circular. 13 200929843 The sixth circle is the phase of the anti-cutting and fine-cut control signal of the phase super-secret reduction of more than 12 () degrees of the invention. The seventh figure is the flow chart of the wide speed control method of the brushless DC motor of the present invention. . The eighth figure is a schematic diagram of the full-load transient response waveform of the brushless DC motor to which the present invention is applied. The ninth figure is a schematic diagram of the steady-state experimental waveform using the conventional weak magnetic method. The tenth figure is a schematic diagram of the steady state experimental waveforms to which the present invention is applied. [Main component symbol description] 10 brushless DC motor speed control system 12 brushless DC motor 14 inverter 15 DC link voltage source 16 rotor position detector 17 load 18 control circuit 181 rotor position area detector 182 speed calculator 183 speed controller and limiter 184 wide speed control unit