CN109347371A - A commutation torque ripple suppression method for brushless DC motors based on current prediction - Google Patents
A commutation torque ripple suppression method for brushless DC motors based on current prediction Download PDFInfo
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- CN109347371A CN109347371A CN201811226285.5A CN201811226285A CN109347371A CN 109347371 A CN109347371 A CN 109347371A CN 201811226285 A CN201811226285 A CN 201811226285A CN 109347371 A CN109347371 A CN 109347371A
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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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
本发明公开了一种基于电流预测控制的无刷直流电机换相转矩脉动抑制方法。此方法采用的控制系统为双闭环控制系统，外环为速度环，内环为电流环采用电流预测控制器，抑制换相转矩脉动；根据霍尔传感器的霍尔信号确定电机转子位置并完成转速计算；外环速度调节器对误差进行调节输出内环电流给定值；外环速度控制器输出的电流给定值和内环电流反馈值进行比较，经过电流预测控制器，结合电机转子位置信号，输出PWM占空比，控制相应功率管的导通和关断。本发明所述的方法在全速范围内均有效抑制换相转矩脉动，算法简单、实现容易、适应性强、效果明显，能够很好地被嵌入到换相期间，有效地抑制换相转矩脉动。
The invention discloses a method for suppressing commutation torque ripple of a brushless direct current motor based on current prediction control. The control system used in this method is a double closed-loop control system, the outer loop is the speed loop, the inner loop is the current loop, and the current prediction controller is used to suppress the commutation torque ripple; the position of the motor rotor is determined according to the Hall signal of the Hall sensor and completes the Speed calculation; the outer loop speed regulator adjusts the error and outputs the inner loop current given value; the current given value output by the outer loop speed controller is compared with the inner loop current feedback value, and through the current prediction controller, combined with the motor rotor position Signal, output PWM duty cycle, control the turn-on and turn-off of the corresponding power tube. The method of the invention can effectively suppress the commutation torque ripple in the full speed range, the algorithm is simple, the realization is easy, the adaptability is strong, and the effect is obvious, and the method can be well embedded in the commutation period to effectively suppress the commutation torque. pulsation.
Description
Technical field
The invention belongs to motor control technology field more particularly to a kind of brshless DC motor commutations based on current forecasting
Method for suppressing torque ripple.
Background technique
Brshless DC motor (BLDCM) is widely used due to having many advantages, such as that power density is big, high-efficient, small in size
In fields such as space flight and aviation, military equipment, industrial automations.But torque pulsation problem present in brshless DC motor operation
There is large effect to the accurate position of realization and high performance speed control.The torque pulsation of brshless DC motor mainly includes
Torque pulsation, commutation torque ripple caused by cogging torque pulsation, non-ideal counter electromotive force.Wherein, commutation torque ripple is nothing
The chief component of brushless motor torque pulsation.
For the commutation torque ripple problem of brshless DC motor, domestic and foreign scholars propose many effective methods,
In most typical suppressing method include: 1) Commutation method by overlap；2) hysteresis current method；3) PWM copped wave method；4) integral variable structure control
Electric current optimization method；5) DC-DC converter is utilized, the DC bus-bar voltage of motor is adjusted, and then is gone in control commutation process
The change rate of current of electric inhibits commutation torque ripple.Earliest commutation torque ripple theory is proposed that he recognizes by R.Carlson
To be that change is mutually different with the change rate for the phase current that swaps out the main reason for leading to brshless DC motor commutation torque ripple, very much
Suppressing method be all guarantee that the change phase of motor is equal with the phase current change rate that swaps out in commutation process, and then guarantee it is non-
The invariable this thinking of commutation phase current is set about.Because the commutation torque ripple of brshless DC motor is whole torque pulsation
Chief component (at most can reach average torque 50%) is therefore studied the simple and practical brshless DC motor of one kind and is changed
Phase method for suppressing torque ripple is meaningful.
Summary of the invention
(1) technical problems to be solved
For existing commutation torque ripple technical problem, the present invention provides a kind of brushless straight based on current forecasting
Galvanic electricity machine commutation torque ripple suppressing method.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
A kind of brshless DC motor commutation torque ripple suppressing method based on current forecasting comprising following steps:
Step 1: for the control system that the method uses for double closed-loop control system, outer ring is speed ring, and inner ring is electric current loop
Using predictive current control device, inhibit commutation torque ripple；
Step 2: determining motor rotor position according to the hall signal of Hall sensor and completes revolving speed calculating；
Step 3: output inner ring given value of current value is adjusted to error in outer ring speed regulator；
Step 4: the given value of current value and inner ring current feedback values of outer ring speed control output are compared, by electricity
Predictive controller is flowed, in conjunction with motor rotor position signal, controls the turn-on and turn-off of corresponding power pipe.
Preferably, in step 2, motor outer ring obtains turning for motor using Hall sensor inside brshless DC motor
Sub- position signal and motor speed, and the feedback quantity as motor outer ring, in conjunction with the specified rate that motor inputs, as outer ring speed
The input signal of ring.
Preferably, in step 2, the skip signal and skip signal of Hall element output inside a certain phase motor are utilized
Time interval used calculates the revolving speed of rotor in conjunction with the number of pole-pairs of motor.
Preferably, in step 3, the error of the specified rate of the feedback quantity and motor speed of motor speed, by outer ring PI
Adjuster obtains the specified rate of electric current.
Preferably, the phase current of brshless DC motor is obtained using current sensor, and sample rate current handle
To inner ring current feedback amount.
Preferably, in step 5, inner ring predictive current control is combined with PWM-ON conduction mode, right during commutation
PWM modulation is carried out when opening mutually identical with shutdown, the electric current rate of rise of phase and the electric current descending slope of shutdown phase are opened in control
It is equal, guarantee that the phase current of non-commutation is kept constant.
(3) beneficial effect
The beneficial effects of the present invention are: brshless DC motor commutation torque of the method provided by the invention based on current forecasting
Pulsation suppressing method, uses current predictive control method, inner ring predictive current control is the same as PWM-ON conduction mode during commutation
It combines, to PWM modulation is carried out when opening mutually identical with shutdown, the electric current rate of rise of phase and the electric current of shutdown phase are opened in control
Descending slope is equal, guarantees that the phase current of non-commutation is kept constant, to reduce commutation torque ripple.This method is simple, realizes
It is easy, adaptable, effect is obvious.And be applicable in full speed range, either in opened loop control, traditional electric current PI control
System, or during capable of being embedded in commutation well in the control system using modern intelligent control algorithm, effectively
Inhibit commutation torque ripple.
Detailed description of the invention
Fig. 1 is that the present invention is based on the three-phases of the suppressing method of the brshless DC motor commutation torque ripple of predictive current control
The topological diagram of full-bridge inverter；
Fig. 2 is that the present invention is based on the commutations of the suppressing method of the brshless DC motor commutation torque ripple of predictive current control
The control figure of period three-phase windings modulator approach；
Fig. 3 is that the present invention is based on the double of the suppressing method of the brshless DC motor commutation torque ripple of predictive current control to close
Ring control block diagram.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
As shown in figure 3, present embodiments provide for a kind of, the brshless DC motor commutation based on predictive current control turns
The suppressing method of square pulsation, specific implementation step are as follows:
Step 1: determining motor rotor position according to the hall signal of Hall sensor and completes revolving speed calculating.
Step 2: outer ring speed ring design and speed regulator export inner ring given value of current value.
Step 3: the given value of current value and inner ring current feedback values of outer ring speed control output are compared, by electricity
Predictive controller is flowed, in conjunction with motor rotor position signal, PWM duty cycle is exported, controls the turn-on and turn-off of corresponding power pipe.
Wherein step 1 comprising the following specific steps
Three hall signals output inside motor, available 8 Encoded output signals (000,011,001,101,
100,110,010,111), wherein 111 and 000 is error signal, it is equal that rotor is divided into 6 electrical angles by other 6 kinds of signals
For 60 degree of region, therefore, the rotor-position of motor can be determined by 6 kinds of encoded signals of these three hall signals.
According to hall signal, motor actual speed is calculated, hall signal turns in 0 and 1 jump, the i.e. pole permanent magnet magnet steel N and S
The Hall element being fixed on stator is crossed, in the case where knowing motor number of pole-pairs p and bound-time interval t, the reality of motor
Revolving speed n can be calculated: n=1/p.
Wherein step 2 comprising the following specific steps
Speed feedback value revolving speed as obtained in step 1 of outer ring speed ring is calculated, and speed error Δ n is as outer
The input of ring controller.
Outer ring speed control is controlled using PI, and error is adjusted, and exports inner ring given value of current value iref。
Wherein step 3 the following steps are included:
The controller of inner ring electric current loop uses PI controller, in conjunction with current predictive control method, forms predictive current control
Device.Basic thought: in single chopping modulation mode, the commutation torque ripple of PWM-ON modulation system is minimum.If keeping electricity
Flow it is constant, need adjust open mutually and shutdown phase current change slope it is equal so that Non-commutation phase current remains unchanged, in PWM-
On the basis of ON modulation, in conjunction with predictive-current control strategy, the duty ratio for mutually and turning off the switching tube of phase is opened in control respectively.
Assuming that electric current changes to B phase from A phase, A phase is off phase, and B phase is to open phase, and C phase is non-commutation phase.In the commutation phase
Between, the control method of proposition is that shutdown mutually and when opening identical carries out PWM modulation, it is assumed that VT1 duty ratio is D at this timeA, VT3 accounts for
Sky is than being DB, VT2 holding opening state.The PWM modulation waveform of three-phase windings is as shown in Figure 2 during commutation.According to motor three-phase
Voltage and current equation, the control rule of current forecasting is following formula during commutation can be calculated
Inhibit principle in conjunction with commutation torque, i.e., during holding commutation, Non-commutation phase current icIt keeps constant and duty can be obtained
Compare DAAnd DBRelational expression:
In commutation course, it is modulated opening the PWM duty cycle for mutually mutually applying such as above formula with shutdown, so that it may reduce
Torque pulsation during commutation.For the continuity of control, the duty ratio for opening phase is set as duty ratio before motor commutation
D, i.e. DB(k) D is calculated further according to above formula in=DA(k) value.
It can be seen from the above explanation turning according to the brshless DC motor commutation based on predictive current control that very invention proposes
Square pulsation suppressing method and specific embodiment, available relatively simple brshless DC motor commutation torque ripple inhibit
Method effectively reduces the torque pulsation of motor, improves the control precision of system.
In conclusion present embodiments provide for a kind of brshless DC motor commutation torque arteries and veins based on predictive current control
Dynamic suppressing method, using current predictive control method, inner ring predictive current control is combined with PWM-ON conduction mode, is being changed
To PWM modulation is carried out when opening mutually identical with shutdown during phase, the electric current rate of rise of phase and the electric current of shutdown phase are opened in control
Descending slope is equal, guarantees that the phase current of non-commutation is kept constant, to reduce commutation torque ripple.This method is simple, realizes
It is easy, adaptable, effect is obvious.Either in opened loop control, traditional electric current PI control, or using modern intelligence control
During commutation can be embedded in well in the control system of algorithm processed, commutation torque ripple is effectively inhibited.
The technical principle of the invention is described above in combination with a specific embodiment, these descriptions are intended merely to explain of the invention
Principle shall not be construed in any way as a limitation of the scope of protection of the invention.Based on explaining herein, those skilled in the art
It can associate with other specific embodiments of the invention without creative labor, these modes fall within this hair
Within bright protection scope.
Claims (6)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811226285.5A CN109347371A (en) | 2018-10-18 | 2018-10-18 | A commutation torque ripple suppression method for brushless DC motors based on current prediction |
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| CN201811226285.5A CN109347371A (en) | 2018-10-18 | 2018-10-18 | A commutation torque ripple suppression method for brushless DC motors based on current prediction |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111464094A (en) * | 2020-05-13 | 2020-07-28 | 吉林大学 | Model predictive controller for brushless DC motor and its construction method |
| CN112003506A (en) * | 2020-08-25 | 2020-11-27 | 哈尔滨理工大学 | A position sensorless model predictive control system and control method for a brushless DC motor |
| CN113541539A (en) * | 2021-06-11 | 2021-10-22 | 东莞理工学院 | Method for suppressing torque ripple of brushless DC motor |
| CN114070137A (en) * | 2022-01-17 | 2022-02-18 | 浙江大学 | An electric tricycle motor commutation torque ripple suppression system |
| CN114123874A (en) * | 2021-11-10 | 2022-03-01 | 中国兵器工业集团航空弹药研究院有限公司 | Commutation torque ripple suppression method based on off-phase current control, storage medium and equipment |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111464094A (en) * | 2020-05-13 | 2020-07-28 | 吉林大学 | Model predictive controller for brushless DC motor and its construction method |
| CN112003506A (en) * | 2020-08-25 | 2020-11-27 | 哈尔滨理工大学 | A position sensorless model predictive control system and control method for a brushless DC motor |
| CN113541539A (en) * | 2021-06-11 | 2021-10-22 | 东莞理工学院 | Method for suppressing torque ripple of brushless DC motor |
| CN114123874A (en) * | 2021-11-10 | 2022-03-01 | 中国兵器工业集团航空弹药研究院有限公司 | Commutation torque ripple suppression method based on off-phase current control, storage medium and equipment |
| CN114070137A (en) * | 2022-01-17 | 2022-02-18 | 浙江大学 | An electric tricycle motor commutation torque ripple suppression system |
| CN114070137B (en) * | 2022-01-17 | 2022-04-29 | 浙江大学 | An electric tricycle motor commutation torque ripple suppression system |
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