TWI246822B - A sensorless technique for switched reluctance motors and DC brushless motors - Google Patents

Abstract

This invention proposes a sensorless technique for switched reluctance motors and dc brushless motors. By using a phase-locked loop circuit, the estimated rotor position and speed signals can be obtained. The method uses index signals and sends the signals to a phase-locked loop circuit to obtain the estimated rotor position and replace the position sensor. First, by using the self-inductance of the switched reluctance motor and the back emf of the dc brushless motor, the required indices can be generated. Then, the indices can be used to produce multiple high frequency clock signals. Next, the clock signals are sent into a counter. The data of the counter is feedback as the estimated rotor position angle through interfacing device. After that, the rotor speed can be computed by using the different operating processes.

Description

1246822 Di, invention description: [Technical field of invention] Yumen =, about a kind of motor drive without revolving angle reversal; especially for "switched reluctance motor and DC brushless motor shaft angle / speed estimation [Prior Art], the transfer station ΓΓ 朝 朝 虽 虽 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 骑 = = = = = = = = = = = = = = = = = = = = = On September 11th, the Republic of China Patent Gazette No. 340991, Mid-Slope = a switch-type hybrid motor shaft angle estimation position, the induced voltage of the non-excited phase adjacent to the excitation phase is passed through a simple circuit. After the waveform processing, a voltage waveform relating only to the electrical self-inductance value and the mutual inductance value is obtained, and the processed output voltage is used to estimate the angle of the rotating shaft by means of a table lookup. Technical problems to be solved by the invention · The control of the switched reluctance motor and the brushless DC motor must rely on the steering angle/speed feedback, so that the size of the mosquito stator current and the input machine can be changed. Phase and closed loop speed control. Therefore, it is common to use a shaft angle side component to measure the shaft angle of the motor and calculate the shaft speed. Generally, a light interrupter is used, together with a slotted piece mounted on the shaft, or Use a Muller component with a permanent magnet mounted on the shaft. You can also use an encoder or resolver to detect the angle of the shaft. However, these additional detection devices not only increase the system's The cost and space are occupied, and the reliability is reduced by external noise interference. The main purpose of the present invention is to provide a drive control device for the shaft angle estimation of a switched reluctance motor and a DC brushless motor. In the reluctance motor, the self-inductance is estimated by the current slope of the excitation phase, and some fixed reference position signals are obtained from the estimated self-inductance change, and then the signal is converted into the rotation angle by the phase-locked loop circuit. The estimated value of the final use of this shaft angle estimation method to complete the development of closed-loop drive system. 1246822 h L ^ surface, DC brushless motor transfer (four) degree estimation of transmission control The device is based on the estimated value of the political power, and obtains some zero-crossing position signal 'reuse lock phase^: dirty conversion becomes the estimated value of the shaft angle, and finally (10) estimated the angle of the shaft feedback, The technical means for solving the problem is as follows: + = The technical means adopted by the county to solve the problem of the conventional technology is replaced by the pulse signal from the phase-locked loop, and the output of the shaft-side component The pulse signal, when it is estimated to be a shell, white, from the angle of the heart tiger's provide accurate estimation of the motor shaft angle / speed. This method uses the self-inductance change relationship of the switched reluctance motor and the back electromotive force change of the DC brushless motor Relationship, get - (four) _ position position, then this - position signal ship to the phase-locked loop circuit for the frequency processing 'finally - the phase-locked loop circuit output pulse wave is reduced to a counter-counting pulse signal. The data of this counter is sent back to the shaft angle estimator by the interface t, and the angle θ of the shaft is estimated, and the angle of the shaft & the speed of the motor is obtained through differential operation - the specific method and control flow adopted by the present invention, Further description will be made by the following examples and the accompanying drawings. [Embodiment] First, a block diagram of a closed loop speed control driving system of a non-rotating shaft angle side element of the present invention is shown in the drawings. The three-phase current signal of the motor is detected by the Hall effect current gamma, and the three-phase voltage signal of the motor is taken out by the voltage side component. The analog current/relation signal is exchanged into a digital position through the analog/digital conversion function, and is fed back to the microcomputer through the interface device, and the feedback current signal self-inductance estimator estimates the self-inductance of the switched reluctance motor, or will feedback The voltage signal is estimated by the counter electromotive force estimator to estimate the back electromotive force of the DC brushless motor. The angle estimation methods of the two motors are obtained by the position side device to obtain the position pulse signal of the motor mosquito. The position signal is first sent to the phase-locked loop circuit for frequency multiplication processing, and then the pulse wave outputted by the phase-locked loop circuit is output. Signal, T-Count II counts the pulse wave signal. The data of this counter is estimated from the interface device to te (four) degree estimation n towel, and the rotation axis angle is estimated to be 4. The rotation degree 4 is obtained by differential operation to obtain the motor rotation speed 屯, the set rotation speed command < and the estimated rotation speed 吣 is reduced to the rotation speed error Δ%, and then the current required by the motor is calculated by the speed controller 1246822 = order, Then, the current command, * is combined with the estimated angle of 4 μ8 ~ * * and, :, and then with the feedback of the electric three-phase current gas, the heart exit phase, the controller, the three-phase wave width modulation of the motor ^ and wide-loaded current wave width modulation trigger signal is sent to the power converter or frequency converter = and W. Finally, this is done, the motor pressure and current drive of the non-rotating shaft_component are driven. The principle of self-inductance estimation of the switch-type reluctance motor is as follows: The switched reluctance motor is estimated from the current slope.

The non-reciprocal bridge type of the map is available for three kinds of ==^ financial methods as follows. From the second change mode, three different excitation current ramps can be generated; 14 three kinds of voltage-rate matching converters can be divided into method A and square ^ right according to two different current skew mode! Match mode 0 and mode 2 with 23 mode. Method A Considering one of the phase windings of the motor, the phase voltage can be expressed as the method (4) domain fiber 2_=^^ measured self-inductance; v"iR + ~-(Li) at

iR + L

Di · dL •....·Formula (1) ~Γ + / —— dt d9„ The phase voltage of the itLti sub-coil winding, "for the stator, _ winding phase current, Hongding = ring ^ resistance, 4 differential operation The self-inductance of the sub-, •, and z-deficiency windings is the rotor motor angle and a is the rotor motor angular velocity. According to the phase voltage of the switched reluctance motor, the excitation current slope of the motor can be derived as: .... .................................................formula (2) di

dL άθ, motor self-inductance estimation when using method Α is as follows. The converter operates under the switching of the method ,, the phase voltage of f reaches a total of 4 and 数值 three values. When the converter is switched to the mode , state, the phase voltage of the motor is v = 0, and is substituted into the formula (2). The voltage of the mode 〇 state is: 1246822 di^ dt 1 modeO L 7 ^ άθ Equation (3) di_ Tt ====The phase of the call - the generation of the person ·················· The converter is not completely _. However, when the back electromotive force and the resistance drop ^ can be assumed to be almost the same as the average value of the momentum, the self-inductance estimate of the motor is: Shou, which can be derived from equations (3) and (4).

L two V dc , di model di dt

modeO ...Formula (5) Switch Γίϊ? Estimate the relationship between self-inductance, it can be seen that the self-residence of the motor is only the secret group phase i switching the current slope of the pure type 1 and the daily money and the group phase electric house, when the converter switches to the mode 2 « ^ ^ is related to the current slope. Similarly, one-to-one mode, the motor's phase-wound voltage can get the current slope of the mode 2 state: ν = , substituted into the formula (2), di It mode 2

L

(-Vdc - i R a . dL, d9 J ...·· .........^^(6) From equations (3) and (6), the self-inductance of the motor can also be derived as: rdi ( Dt di ~dt )............................. ίΟ ............... ....................Formula (7) In the h-turn _ operation in the mode ^ and the derivation theory of the mode and method Α approximation, 杳里儿Μ怨怨& And when one of the stator currents reduces the strength of the crane, although '^ can be false t« type 丨 and mode 2 switching state

~, from the formulas (4) and (6), the estimated value of the self-inductance can be obtained. J 1246822 L = 2V, mod el di dt mod e2 -2F, M Jt mod c2 di dt mod e 1 Equation (8) 自(7) and (8) for the self-inductance estimation method, it is known that only the excitation current needs to be feedback The self-inductance of the stator of the closed reluctance motor can be estimated by the large matching power switching state and the size of the DC dragon. The zero-crossover of the DC brushless motor back electromotive force is as follows: · The drive mode of the motor is generally two-phase conduction annihilation, that is, only - Ϊ 3 = pass 'the remaining four switches are cut off, The power converter, as shown in the third figure, the trapezoidal wave back electromotive force, and its corresponding current _ as shown in the fourth phase of the phase coil Lu ii 12Gf ° from the fourth figure shows the process of changing the polarity of the back EMF, the magnetic sorrow, ' At this time, no current flows through the coil, so |i can measure the coil voltage of the unexcited phase, obtain the back electromotive force of the motor, and estimate the principle of the unrotated axis angle as follows: The basic principle of fixing the motor It can be seen that when the stator "phase" and the number of salient poles of the rotor are from 5 to 11 o'clock, the self-inductance of the mother phase stator will change periodically, and then the stator self-inductance changes periodically. Therefore, the switch type The reluctance motor can be rotated one turn to find the heart. From the DC brushless horse, the basics can be seen. Second, on the other hand, when the motor rotates-circle, each opposite wire = fine, the number of rotor poles is the rotation of the motor. Change. So 'DC has no signal. '冤动势The fixed position of the zero detection signal: r::=== each: _ and the DC brushless motor phase return 1246822 '' pulse wave Λ唬, using this pulse signal to construct the shaft angle of the present invention estimate

The phase-locked loop in Hi must be matched with the frequency divider, and the phase-locked loop is used to multiply the input signal = the frequency to obtain the output signal of the chirp frequency. The architecture is as shown in the fifth figure, and the entire road system includes · Phase frequency detector, low-pass filter, wave filter, frequency division 11 and electric control oscillator. / , assuming # = 10, when the switch-type reluctance household = turn = circle, there are 3 fixed-position signals with the minimum of self-inductance, such as the sixth figure stomach straight 〃 ", ', when the brush motor rotates W mesh There are 3 anti-electrostatic shirts fixed == 。. When these _ set =; Γ 2 =: to the input end of the phase-locked loop circuit, the three positions of the pulse wave signal pulse signal only represents the motor rotation ~ laps of the _ in the pulse position signal in two consecutive positions = axis angle "If you can see the ninth figure. Finally, the phase-locked loop is sent out = frequency position pulse signal, such as counting H again The value C is bounded by the boundary; the adult adult pirate count, the angle, the axis of the estimated angle Θ: as follows;: X brain and brain 'estimate the motor shaft 360c.............. ..........Formula (9) Speed ώ,., the relationship is: .....................Formula (10)

N m N axis estimation angle Μ estimated by the difference operation 顺 中 中 4 4 4 4 4 4 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 机械 微 微 微 微 微 微 微Input of phase-locked loop · Formula (11) 10 60 Ϊ 246822 According to formula (11), the frequency of the phase-locked loop is 1 2 2 Ν ω' N m N t 60 Equation (12) The range can be calculated Result: The present invention is actually used under a switched reluctance motor: the tenth figure is a position pulse wave signal measurement map. The results of the first test show that the signal frequency becomes faster if the map is measured, so the time axis ‘ 1 pulse multiplier signal amount of the angle of the shaft and the actual motor shaft angle diagram ά. The twelve pictures are estimated to be [simplified description of the figure] The first picture: smoke off her peppers (four) Na loses the estimated squares - the second picture shows the conventional asymmetric half-bridge power converter The conventional DC brushless motor power converter or inverter ===: The back electromotive force and current waveform of the flow brushless motor. The fifth diagram is a schematic diagram of the phase-locked loop. The sixth figure is a schematic diagram of the present invention for a full-fledged hybrid signal. The sub-self-sensing takes a low value to obtain a schematic diagram of the fixed bit signal. The electric picking point obtains a fixed position. The eighth figure is a schematic diagram of the position pulse wave signal of the present invention. The ninth figure is a schematic diagram of the pulse wave frequency multiplied signal of the present invention. The tenth figure is the hair _ placement job map. The tenth-picture is a pulse-frequency multi-frequency measurement map. Twenty-two ^ The angle of the shaft obtained by the invention is compared with the actual angle of the motor shaft

Claims (1)

^46822 ^Appreciation of patent scope: Pulse wave method, according to the output of the phase-locked loop circuit 2. ^ According to the scope of claim patent, the first item is estimated from three different electric _, side-type hybrid motor The measuring method, the horse 3. According to the patent application 1:=^^ type power converter provides three different kinds of - the slope is determined by the asymmetric half bridge 4 according to the scope of the patent scope of the second or the second . Yes, the switching of the converter can be divided into two methods: two different current slopes, A, two different estimation modes, the mode 1 matching mode and the mode A (10) human method; the method method B is the mode! ^ ^ The excitation current slope is estimated to be self-inductive; 5· According to the profit margin (4) ί square rate directly estimates the self-inductance. Its back electromotive force and resistance drop are the same. The thousand-average value of the military momentum is the same, so it can be assumed that the second and second days are scattered shortly. ^ Although the instantaneous values of the stator current and the back-EMF of the motor are not the same, the average value is almost the same. 7. The method of item 6 of the f-ray range is to estimate the minimum self-inductance of the switched reluctance motor and to take a series of fixed position signals. 8. A DC brushless motor shaft angle/speed estimation method, which replaces the output pulse signal of the shaft detecting component with a pulse signal outputted by a phase locked loop circuit, and is used as an estimated shaft angle signal. Provides an accurate estimate of the motor shaft angle/speed. 9. According to the DC brushless motor shaft angle/speed estimation method of claim 8 of the patent application scope, the counter-electromotive force zero-crossing point of the DC brush motor is estimated to obtain a series of fixed position signals. 10. According to the method of item 9 of the patent scope, the position signal is sent to the phase-locked loop circuit for W multiplication processing. 12