技术领域technical field
本发明涉及电机控制技术领域，特别是涉及一种减小无刷直流电机换向过程引起的力矩波动方法。The invention relates to the technical field of motor control, in particular to a method for reducing torque fluctuation caused by the commutation process of a brushless DC motor.
背景技术Background technique
永磁无刷直流电动机拥有和直流电机相媲美的调速性能，性能稳定，电路简单，控制精准，因此，电磁通常用作执行器并在工业中广泛使用。Permanent magnet brushless DC motors have speed regulation performance comparable to DC motors, stable performance, simple circuit, and precise control. Therefore, electromagnetics are usually used as actuators and are widely used in industry.
就目前的控制方式而言，无刷直流电机在运行过程中的转矩脉动较大，很容易产生噪音，给系统的平稳运行和使用寿命带来不利影响。而且电机控制系统通常是通过PWM技术调节三相全桥逆变器功率管的通断占空比来调节电机的转速，一般都需要多个功率管同时进行高频工作，开关损耗较大，容易发生故障。As far as the current control method is concerned, the torque ripple of the brushless DC motor is relatively large during operation, and it is easy to generate noise, which will adversely affect the smooth operation and service life of the system. Moreover, the motor control system usually adjusts the motor speed by adjusting the on-off duty cycle of the power tube of the three-phase full-bridge inverter through PWM technology. Generally, multiple power tubes are required to work at high frequency at the same time, and the switching loss is large, which is easy malfunction.
发明内容Contents of the invention
本发明所要解决的技术问题是提供一种减小无刷直流电机换向过程引起的力矩波动方法，能够抑制无刷直流电机在运行过程中的转矩脉动。The technical problem to be solved by the present invention is to provide a method for reducing the torque ripple caused by the commutation process of the brushless DC motor, which can suppress the torque ripple during the operation of the brushless DC motor.
本发明解决其技术问题所采用的技术方案是：提供一种减小无刷直流电机换向过程引起的力矩波动方法，包括恒流源、数字信号处理器、逆变器和无刷直流电机，所述恒流源的正极电压输入端连接逆变器的正极，恒流源的负极电压输入端连接逆变器的负极；所述数字信号处理器的前六路脉冲信号输出端分别对应连接逆变器的六路脉冲信号输入端；所述逆变器的a脚、b脚和c脚分别按顺序与无刷直流电机的A、B、C三相绕组对应连接。The technical solution adopted by the present invention to solve the technical problem is: provide a method for reducing the torque fluctuation caused by the commutation process of the brushless DC motor, including a constant current source, a digital signal processor, an inverter and a brushless DC motor, The positive voltage input terminal of the constant current source is connected to the positive pole of the inverter, and the negative voltage input terminal of the constant current source is connected to the negative pole of the inverter; the first six pulse signal output terminals of the digital signal processor are respectively connected to the inverter The six-way pulse signal input terminals of the inverter; the a pin, b pin and c pin of the inverter are respectively connected to the A, B, and C three-phase windings of the brushless DC motor in sequence.
所述恒流源包括电源、功率管、第一二极管、第二二极管和电感；所述第一二极管的负极与功率管的集电极连接，并同时和电源的正极连接，第二二极管的负极、功率管的发射极和电感的一端同时连接，电感的另一端和第一二极管的正极连接，并同时作为恒流源的正极，第二二极管的正极和电源的负极连接，并同时作为恒流源的负极，功率管的基极作为恒流源的脉冲信号输入端。The constant current source includes a power supply, a power tube, a first diode, a second diode and an inductor; the negative pole of the first diode is connected to the collector of the power tube, and is connected to the positive pole of the power supply at the same time, The cathode of the second diode, the emitter of the power tube and one end of the inductance are connected at the same time, and the other end of the inductance is connected to the anode of the first diode, and simultaneously serves as the anode of the constant current source, and the anode of the second diode It is connected to the negative pole of the power supply, and at the same time it is used as the negative pole of the constant current source, and the base of the power tube is used as the pulse signal input terminal of the constant current source.
所述电源为直流电源。The power supply is a DC power supply.
所述电感为续流电感。The inductance is a freewheeling inductance.
所述第一二极管和第二二极管均为续流二极管。Both the first diode and the second diode are freewheeling diodes.
所述逆变器为由六个功率管组成的三相桥式逆变器。The inverter is a three-phase bridge inverter composed of six power tubes.
有益效果Beneficial effect
由于采用了上述的技术方案，本发明与现有技术相比，具有以下的优点和积极效果：本发明使用恒流源代替传统的电压源，三相全桥逆变器上的6个功率管只负责换向，不进行PWM脉宽调制，从而降低了开关损耗。利用母线上功率管进行单管PWM脉宽调制来控制母线电流，并且通过母线上的电感续流，使输出的电流几乎恒定。因此，相电流在传导区相对恒定，进而抑制了无刷直流电机在运行过程中的转矩脉动。Due to the adoption of the above-mentioned technical scheme, the present invention has the following advantages and positive effects compared with the prior art: the present invention uses a constant current source instead of a traditional voltage source, and the six power tubes on the three-phase full-bridge inverter It is only responsible for commutation, without PWM pulse width modulation, thus reducing switching loss. The power tube on the bus is used to perform single-tube PWM pulse width modulation to control the bus current, and the inductance on the bus is freewheeling to make the output current almost constant. Therefore, the phase current is relatively constant in the conduction region, thereby suppressing the torque ripple of the brushless DC motor during operation.
附图说明Description of drawings
图1是本发明的电路图。Fig. 1 is a circuit diagram of the present invention.
具体实施方式Detailed ways
下面结合具体实施例，进一步阐述本发明。应理解，这些实施例仅用于说明本发明而不用于限制本发明的范围。此外应理解，在阅读了本发明讲授的内容之后，本领域技术人员可以对本发明作各种改动或修改，这些等价形式同样落于本申请所附权利要求书所限定的范围。Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.
本发明的实施方式涉及一种减小无刷直流电机换向过程引起的力矩波动方法，如图1所示，包括恒流源、数字信号处理器、逆变器和无刷直流电机，所述恒流源的正极电压输入端连接逆变器的正极，恒流源的负极电压输入端连接逆变器的负极；所述数字信号处理器的前六路脉冲信号输出端分别对应连接逆变器的六路脉冲信号输入端；所述逆变器的a脚、b脚和c脚分别按顺序与无刷直流电机的A、B、C三相绕组对应连接。其中，所述逆变器为由六个功率管T1～T6组成的三相桥式逆变器。Embodiments of the present invention relate to a method for reducing torque fluctuations caused by the commutation process of a brushless DC motor, as shown in Figure 1, including a constant current source, a digital signal processor, an inverter and a brushless DC motor, the The positive pole voltage input terminal of the constant current source is connected to the positive pole of the inverter, and the negative pole voltage input terminal of the constant current source is connected to the negative pole of the inverter; the first six pulse signal output terminals of the digital signal processor are respectively connected to the Six-way pulse signal input terminals; the a pin, b pin and c pin of the inverter are respectively connected to the A, B, C three-phase windings of the brushless DC motor in sequence. Wherein, the inverter is a three-phase bridge inverter composed of six power transistors T1-T6.
所述恒流源包括电源U、功率管T、第一二极管D1、第二二极管D2和电感L；所述第一二极管D1的负极与功率管T的集电极连接，并同时和电源U的正极连接，第二二极管D2的负极、功率管T的发射极和电感L的一端同时连接，电感L的另一端和第一二极管D1的正极连接，并同时作为恒流源的正极，第二二极管D2的正极和电源的负极连接，并同时作为恒流源的负极，功率管T的基极作为恒流源的脉冲信号输入端。其中，所述电源U为直流电源。所述电感L为续流电感。所述第一二极管D1和第二二极管D2均为续流二极管。The constant current source includes a power supply U, a power transistor T, a first diode D1, a second diode D2 and an inductor L; the cathode of the first diode D1 is connected to the collector of the power transistor T, and At the same time, it is connected to the positive pole of the power supply U, the negative pole of the second diode D2, the emitter pole of the power transistor T, and one end of the inductor L are connected at the same time, and the other end of the inductor L is connected to the positive pole of the first diode D1, and simultaneously serves as The positive pole of the constant current source, the positive pole of the second diode D2 is connected to the negative pole of the power supply, and simultaneously serves as the negative pole of the constant current source, and the base of the power transistor T serves as the pulse signal input terminal of the constant current source. Wherein, the power supply U is a DC power supply. The inductance L is a freewheeling inductance. Both the first diode D1 and the second diode D2 are freewheeling diodes.
本实施方式使用恒流源代替传统的电压源，三相全桥逆变器上的6个功率管只负责换向，不进行PWM脉宽调制，从而降低了开关损耗。利用母线上功率管进行单管PWM脉宽调制来控制母线电流，并且通过母线上的电感续流，使输出的电流几乎恒定。In this embodiment, a constant current source is used instead of a traditional voltage source, and the six power transistors on the three-phase full-bridge inverter are only responsible for commutation, without PWM pulse width modulation, thereby reducing switching loss. The power tube on the bus is used to perform single-tube PWM pulse width modulation to control the bus current, and the inductance on the bus is freewheeling to make the output current almost constant.
图1所示的控制系统为转速电流双闭环控制系统，其中外环为速度环，电机控制器实时计算出电机的转速作为电机速度环的反馈nf，与设定的电机转速给定nr经过PI调节器进行控制，转速外环输出值作为电流内环的给定，设为ir。内环是电流环，电机控制器实时采样母线电感电流作为电流内环的反馈if。通过滞环控制恒流源上的功率管的PWM脉宽调制，确保母线上的电流实际值跟踪上电流环给定值。当if大于ir时，电机控制器最后一路脉冲信号控制恒流源中的功率管T关断，以确保电流if下降至电流环内，当if小于ir时，电机控制器最后一路脉冲信号控制恒流源中的功率管T开通，以确保电流if上升至电流环内。The control system shown in Figure 1 is a speed and current double closed-loop control system, in which the outer loop is the speed loop, and the motor controller calculates the motor speed in real time as the feedback nf of the motor speed loop, which is consistent with the set motor speed reference nr Controlled by the PI regulator, the output value of the outer loop of the speed is taken as the given value of the inner loop of the current, which is set as ir . The inner loop is the current loop, and the motor controller samples the bus inductor current in real time as the feedback if of the current innerloop . The PWM pulse width modulation of the power tube on the constant current source is controlled by the hysteresis loop to ensure that the actual value of the current on the bus tracks the given value of the upper current loop. When if is greater thani r, the last pulse signal of the motor controller controls the power tube T in the constant current source to turn off, so as to ensure that the current if if falls into the current loop. When ifis less thani r, the motor controller finally One pulse signal controls the power tube T in the constant current source to turn on, so as to ensure that the current ifrises into the current loop.
无刷直流电机换向时，利用电机控制器检测电机霍尔传感器发出的位置信号，将检测出的霍尔传感器位置信号送入电机控制器内部，电机控制器根据接收到的霍尔传感器信号控制逆变器功率管的开关状态，经过电机控制器的PWM口输出逆变器开关管的开关信号，进行正确换向。When the brushless DC motor commutates, the motor controller is used to detect the position signal sent by the Hall sensor of the motor, and the detected position signal of the Hall sensor is sent to the inside of the motor controller, and the motor controller controls the motor according to the signal received from the Hall sensor. The switching state of the power tube of the inverter outputs the switching signal of the switching tube of the inverter through the PWM port of the motor controller to perform correct commutation.
不难发现，本发明在母线上加入功率管和电感，利用母线上功率管进行单管调制来控制母线电流，不仅可以能够代替逆变桥进行PWM脉宽调制来调节电机的转速，而且续流电感L使得母线电流脉动几乎为零，有效地抑制电机输出转矩脉动、降低开关损耗和噪音，使无刷直流电机运行更加平稳、安全，扩大了其应用范围。It is not difficult to find that the present invention adds a power tube and an inductance on the bus, and uses the power tube on the bus to perform single-tube modulation to control the bus current. The inductance L makes the bus current pulsation almost zero, effectively suppresses the output torque pulsation of the motor, reduces switching loss and noise, makes the operation of the brushless DC motor more stable and safe, and expands its application range.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810614003.2ACN108768224A (en) | 2018-06-14 | 2018-06-14 | A Method for Reducing Torque Fluctuation Caused by Commutation Process of Brushless DC Motor |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810614003.2ACN108768224A (en) | 2018-06-14 | 2018-06-14 | A Method for Reducing Torque Fluctuation Caused by Commutation Process of Brushless DC Motor |
| Publication Number | Publication Date |
|---|---|
| CN108768224Atrue CN108768224A (en) | 2018-11-06 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810614003.2APendingCN108768224A (en) | 2018-06-14 | 2018-06-14 | A Method for Reducing Torque Fluctuation Caused by Commutation Process of Brushless DC Motor |
| Country | Link |
|---|---|
| CN (1) | CN108768224A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109600078A (en)* | 2018-11-21 | 2019-04-09 | 东华大学 | Permanent-magnet brushless DC electric machine torque fluctuations suppressing method based on tandem type converter |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1710801A (en)* | 2005-06-21 | 2005-12-21 | 北京航空航天大学 | Low power consumption control system for permanent magnet brushless DC motor with small armature inductance |
| CN204089664U (en)* | 2014-11-07 | 2015-01-07 | 黑龙江省科学院科技孵化中心 | Based on the brushless direct current motor drive circuit of Buck converter |
| CN104300854A (en)* | 2014-11-07 | 2015-01-21 | 黑龙江省科学院科技孵化中心 | Brushless direct current motor drive circuit based on Buck convertor |
| CN104753414A (en)* | 2015-03-20 | 2015-07-01 | 南京航空航天大学 | Buck circuit brushless direct current motor driving system and control method thereof |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1710801A (en)* | 2005-06-21 | 2005-12-21 | 北京航空航天大学 | Low power consumption control system for permanent magnet brushless DC motor with small armature inductance |
| CN204089664U (en)* | 2014-11-07 | 2015-01-07 | 黑龙江省科学院科技孵化中心 | Based on the brushless direct current motor drive circuit of Buck converter |
| CN104300854A (en)* | 2014-11-07 | 2015-01-21 | 黑龙江省科学院科技孵化中心 | Brushless direct current motor drive circuit based on Buck convertor |
| CN104753414A (en)* | 2015-03-20 | 2015-07-01 | 南京航空航天大学 | Buck circuit brushless direct current motor driving system and control method thereof |
| Title |
|---|
| 王晓光等: "基于电流型斩波控制器的盘式无铁心永磁同步电机控制方法", 《中国电机工程学报》* |
| 王晓远等: "基于电流矢量的盘式无铁心永磁同步电机瞬时转矩控制", 《电工技术学报》* |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109600078A (en)* | 2018-11-21 | 2019-04-09 | 东华大学 | Permanent-magnet brushless DC electric machine torque fluctuations suppressing method based on tandem type converter |
| CN109600078B (en)* | 2018-11-21 | 2022-01-11 | 东华大学 | Permanent magnet brushless direct current motor torque fluctuation suppression method based on cascade converter |
| Publication | Publication Date | Title |
|---|---|---|
| CN106487287B (en) | A kind of brshless DC motor commutation torque ripple minimization method | |
| US10411618B2 (en) | Air conditioner, and method and device for controlling its compressor to stop | |
| CN102163947B (en) | Commutation torque ripple suppression method for permanent magnet brushless DC motor | |
| WO2019129273A1 (en) | Method for reducing noise of switched reluctance motor by adjusting pwm carrier frequency | |
| CN102931894B (en) | Method and device for dynamically adjusting dead time of brushless DC motor during phase change | |
| JP5832177B2 (en) | Power factor correction circuit | |
| CN104796050B (en) | A kind of delay control method for suppressing torque pulsation of brushless DC motor | |
| CN102594101A (en) | Isolated rapid turn-off metal oxide field effect transistor (MOFET) driving circuit | |
| CN103236813B (en) | A kind of control system of permanent-magnet brushless DC electric machine | |
| WO2016188462A1 (en) | Magnetically suspended bearing switching power amplifier and control method thereof | |
| CN105305894B (en) | A kind of SRM torque ripple minimization control methods based on torque partition function on-line amending | |
| US20210359611A1 (en) | Control method for dc converter and dc converter | |
| CN116015024A (en) | Active resonance driving circuit and control method | |
| CN108768224A (en) | A Method for Reducing Torque Fluctuation Caused by Commutation Process of Brushless DC Motor | |
| CN112055937A (en) | Power amplifier | |
| CN109194136A (en) | It is a kind of to reduce two-way LLC converter transformer magnetic saturation control method | |
| CN110518823A (en) | Inverter, boost control method and control device thereof, preceding stage circuit and electric appliance | |
| CN114696719A (en) | Motor drive system and compressor | |
| CN113437907B (en) | Method for restraining commutation torque fluctuation of permanent magnet brushless direct current motor by DC-DC converter | |
| CN104836491B (en) | Brushless direct current motor driving system for capacitor-less direct-current converter | |
| JP2015091212A (en) | Power conversion device | |
| CN114826060A (en) | Brushless direct current motor commutation torque fluctuation suppression method based on multi-output converter | |
| CN109600078B (en) | Permanent magnet brushless direct current motor torque fluctuation suppression method based on cascade converter | |
| CN106655916B (en) | A kind of control circuit of switched reluctance machines | |
| US20220103096A1 (en) | Load driving apparatus, air conditioner, and method for operating load driving apparatus |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20181106 |