CN102780430A - High-frequency detection pulse injection method of brushless direct current motor - Google Patents
High-frequency detection pulse injection method of brushless direct current motor Download PDFInfo
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- CN102780430A CN102780430A CN2012102338333A CN201210233833A CN102780430A CN 102780430 A CN102780430 A CN 102780430A CN 2012102338333 A CN2012102338333 A CN 2012102338333A CN 201210233833 A CN201210233833 A CN 201210233833A CN 102780430 A CN102780430 A CN 102780430A
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Abstract
The invention belongs to the technical field of brushless direct current motor control and relates to a high-frequency detection pulse injection method of a brushless direct current motor. The method is characterized in that a high-frequency source is utilized for generating high-frequency detection pulse signals, the high-frequency detection pulse signals are respectively coupled onto each phase of power supply wires and windings of the brushless direct current motor through a coupling circuit, each phase of end voltage values of the brushless direct current motor are detected through a voltage sensor, the high-frequency voltage components of each phase of end voltage are obtained from each phase of end voltage values respectively through a band-pass filter, position signals are obtained according to amplitude, phase position or instantaneous value differences of the high-frequency voltage components, and a controller realizes the non-position sensor control of the brushless direct current motor according to the position signals. The high-frequency detection pulse injection method has the advantages that the precision and the real-time performance of detecting signals can be improved, and the system cost is reduced.
Description
Affiliated technical field
The invention belongs to brshless DC motor control technology field, relate to a kind of high-frequency detection pulse method for implanting.
Background technology
The most basic characteristics of brshless DC motor are need not brush can realize commutation.Brshless DC motor relies on electronic commutator and switches on mutually in a certain order according to position signalling for each, damages, needs the often brush of maintenance in the motor easily thereby saved, and has reduced motor manufacturing cost and maintenance cost, has expanded range of application.The position transducer of brshless DC motor must be installed in motor internal motor rotor position is detected, and position transducer needs to be serviced, and price is higher, has limited the stable and high effective operation of brshless DC motor under mal-condition.
The Brushless DC Motor without Position Sensor control technology is developed; The Brushless DC Motor without Position Sensor control technology is through some electric quantity signals that detect brshless DC motor or the position signalling that reaction obtains brshless DC motor; Under this control mode; Brshless DC motor has higher reliability and antijamming capability, has overcome position detection error and torque pulsation that the inaccurate installation of position transducer brings.The tradition inductance method does not rely on the rotor field motion just can obtain rotor-position; Its basic principle is in winding, to apply square wave pulse voltage; Because the armature reaction of winding; Can obtain inductance difference according to the current amplitude that records after relatively, obtain position signalling according to the relation between inductance and the rotor-position again.When adopting high-frequency pulse voltage, improved the detection number of times, reduce sense cycle, and then obtained more in time accurate rotor-position signal.
Frequency multiplexing technique is one of technology commonly used in the communication engineering; The channel distribution that it will transmit information is several mutual nonoverlapping subchannels; Every road signal takies one of them frequency range, adopts suitable band pass filter that multiple signals are separated at receiving terminal, thereby recovers needed signal.For example power line carrier communication equipment is one of common equipment of the employing frequency multiplexing technique in the communication of power system; It utilizes the channel of high voltage transmission line as wire communication, for telemechanical, protection, production commander, communication scheduling and the administrative service communication of electric power system provides means.
In the conventional method, produce the drive voltage signal time-sharing multiplex power line and the winding of high-frequency detection pulse and brshless DC motor by power switch based on the high-frequency detection pulse of the brushless direct current motor sensorless of inductance method principle.Can not the outputting drive voltage signal during detection position signal, influenced the motion control and the speed governing of brshless DC motor, produce the deviation of motor speed, particularly systematic function descends seriously when electric motor starting and low cruise; Also influence simultaneously the real-time that the high-frequency detection pulse is injected, caused the inaccurate of position signalling.
Brshless DC motor inductance difference commonly used is little, and the detection signal signal to noise ratio is low, and algorithm is realized difficulty.The maximum switching frequency in the selected back of power switch component is fixed, thereby has limited the raising of high-frequency detection pulse signal frequency, and the high precision electric current transducer that conventional method depends on has improved system cost, has limited the raising of accuracy of detection.
Summary of the invention
The present invention is intended to overcome the above-mentioned deficiency of prior art; A kind of accuracy and real-time that can improve detection signal is provided; The method for implanting of the brshless DC motor high-frequency detection pulse of the cost of reduction system is applicable to the application scenario that brushless direct current motor sensorless is controlled.
In order to realize above purpose, the present invention adopts following technical scheme:
A kind of high-frequency detection pulse method for implanting of brshless DC motor; It is characterized in that; This method utilizes high-frequency signal source to produce the high-frequency detection pulse signal; The high-frequency detection pulse signal is coupled to respectively through coupling circuit on the power line and winding of each phase of brshless DC motor, and the terminal voltage value of each phase through the voltage sensor senses brshless DC motor, the terminal voltage value of each phase are respectively through obtaining the high frequency voltage component of each phase terminal voltage behind the band pass filter; Difference according to amplitude, phase place or the instantaneous value of high frequency voltage component obtains position signalling, and controller is realized Brushless DC Motor without Position Sensor control according to position signalling.
As preferred implementation, described high-frequency detection pulse signal is produced by the separate signal source, the multiplexing power line of driving voltage frequency division and the motor windings of high-frequency detection pulse signal and motor; Between the high-frequency impulse decanting point of high-frequency detection pulse signal and power switch, be provided with the high-frequency signal trap; Be used to avoid high-frequency signal to get into power supply and power switch, make the difference of each phase terminal voltage high frequency voltage component not receive the influence of power supply and power switch.
Beneficial effect of the present invention is following:
(1) the present invention can bring up to the high-frequency detection pulse frequency more than the 500kHz; And the power switch component that does not rely on brshless DC motor can inject the high-frequency detection pulse; Simplified the design of control algolithm, reduced requirement, also reduced the cost of system power switch component.
(2) raising of high-frequency detection pulse frequency has enlarged each phase winding inductance difference; Can directly utilize voltage sensor that the high frequency voltage component is measured and obtain position signalling then; Thereby avoided use current with high accuracy transducer, also reduced the cost of system.
(3) the present invention has designed the high-frequency detection pulse method for implanting of multiplexing brshless DC motor power line of frequency division and winding; In the signal of detection position, do not influence the drive voltage signal of brshless DC motor; The accuracy and the promptness of position signalling have been improved; Be convenient to the motion of brshless DC motor is accurately controlled, and have good low speed and zero-speed performance.
Description of drawings
Fig. 1 brushless direct current motor sensorless control high-frequency detection pulse method for implanting schematic diagram
A kind of high-frequency signal trap of Fig. 2 high-frequency detection pulse method for implanting
A kind of transformer-coupled circuit of Fig. 3 high-frequency detection pulse method for implanting
A kind of high-frequency pulse signal source circuit of Fig. 4
The corresponding relation of Fig. 5 three-phase winding inductance difference and position signalling
Embodiment
Below in conjunction with accompanying drawing and instance the present invention is further specified.
Schematic diagram of the present invention is as shown in Figure 1, and its middle controller, brshless DC motor and power switch are identical with common brshless DC motor drive system.Visible from figure; Exist one to overlap the outlet side that high-frequency detection pulse injecting mechanism independently is deployed in power switch; Wherein high-frequency detection pulse injecting mechanism is made up of signal source and coupling circuit; The high-frequency detection pulse can't help power switch component and is produced, and is directly produced by signal source according to the high-frequency signal frequency instruction of controller or with the fixed frequency form, and the high-frequency signal of signal source generation is directly delivered on the power line of brshless DC motor through coupling circuit.
The high-frequency signal trap is arranged between high-frequency impulse decanting point and the power switch, under the condition of the driving voltage that does not influence motor, avoid the high-frequency detection pulse to get into power supply.The high-frequency signal trap stops high-frequency pulse signal through power switch and power supply, and has avoided because the detection error that the inductance difference of power switch and power supply is brought.Can use high-frequency signal trap commonly used among the present invention, Fig. 2 shows a kind of high-frequency signal trap, and this high-frequency signal trap is made up of inductance coil, protection component and tuned cell.
Coupling circuit is delivered to high-frequency signal on the power line of brshless DC motor, and avoids low frequency signal to get into the high-frequency signal generating means, and Fig. 3 shows a kind of transformer-coupled circuit, can select the different coupling circuit for different signal sources.Fig. 4 shows a kind of high-frequency pulse signal source circuit, and this circuit can produce a fixing high-frequency pulse signal, its output frequency f=1/ [1.278 (R
2+ RP) C
1], the frequency of visible its high-frequency signal depends on resistance R
2, RP and capacitor C
1Selection.Testing agency is made up of voltage sensor and band pass filter; Voltage sensor is measured the terminal voltage signal of brshless DC motor; Terminal voltage signal calculates position signalling through sending into controller after the band-pass filter, and controller sends driving command to power switch.
This invention can be applied to any brshless DC motor in any running status lower rotor part position Detection.For example; In motor stall start process, high-frequency detection pulse injecting mechanism starts in starting process at first, on the power line of brshless DC motor, injects the high-frequency detection pulse; Each phase winding inductance difference of brshless DC motor does not rely on the motion of rotor under the different rotor position; Also can obtain each phase winding inductance difference during stationary rotor, find rotor-position, and confirm the position signalling of next commutation point according to direction of rotation; When this position signalling is detected, brshless DC motor then carries out the commutation operation.
The field spider d-axis of brshless DC motor, hand over axial magnetic permeability different, each phase winding inductance is along with the difference of rotor-position changes, and all can change along with the difference of rotor-position for each phase winding inductance of any brshless DC motor.With the three-phase brushless dc motor is example, the cyclic variation as shown in Figure 5 of each phase winding inductance.In 360 ° of electrical degrees as shown in table 1, there are 6 magnitude relationship in each phase inductance, and 360 ° of electrical degrees are divided into 6 intervals, and the drive signal of brshless DC motor power switch is different in these 6 intervals.But difference in inductance is different not less simultaneously in the brushless DC motor rotor position, and the high-frequency detection pulse can be used for amplifying difference.
After brshless DC motor obtains initial position signal; Power switch is started working according to switching signal; Modulation system is selected the PWM modulation or the control methods such as encircling control that stagnates for use, when brshless DC motor gets into normal operating condition, has the driving voltage of motor on the brshless DC motor power line; Because the high-frequency detection pulse does not rely on device for power switching to produce; Independently high-frequency detection pulse injecting mechanism all must continuous firing in any moment of brshless DC motor operation, has high-frequency detection pulse and drive voltage pulses on the power line of brshless DC motor and the winding all the time, multiplexing power line of both frequency divisions and winding.
Because high-frequency signal and electrical network are isolated, the method for the present invention's design can not cause any pollution and influence to electrical network.Computing formula X according to induction reactance
L=2 π fL, when signal frequency improved, very little inductance difference was exaggerated very big induction reactance difference.With the three-phase brushless dc motor is example; The high-frequency signal that has the identical amplitude of same frequency on three phase windings of motor when the stator winding Y-connection of brshless DC motor, utilizes voltage sensor to measure the brushless dc set end voltage; Utilize band-pass filter to obtain the high frequency voltage component again; The high frequency voltage component is directly proportional with phase inductance, and relatively the size of high frequency voltage component can obtain the magnitude relationship of inductance, and tabling look-up obtains the position of rotor; The controller of brshless DC motor is according to the accurate commutation of position signalling control brshless DC motor, and then stable operation.Three-phase winding inductance difference and position signalling corresponding relation are seen table 1.
Table 1
Need further specify; Practical implementation method of the present invention is extensive; The embodiment that do in this place effect that only elaborates has only been chosen a kind of preferred case study on implementation and has been analyzed, and some details can change to some extent in actual the use; Comprise the combination and the assembly of parts, these distortion and application all should belong to scope of the present invention.
Claims (3)
1. the high-frequency detection pulse method for implanting of a brshless DC motor; It is characterized in that; This method utilizes high-frequency signal source to produce the high-frequency detection pulse signal; The high-frequency detection pulse signal is coupled to respectively through coupling circuit on the power line and winding of each phase of brshless DC motor, and the terminal voltage value of each phase through the voltage sensor senses brshless DC motor, the terminal voltage value of each phase are respectively through obtaining the high frequency voltage component of each phase terminal voltage behind the band pass filter; Difference according to amplitude, phase place or the instantaneous value of high frequency voltage component obtains position signalling, and controller is realized Brushless DC Motor without Position Sensor control according to position signalling.
2. high-frequency detection pulse method for implanting according to claim 1 is characterized in that, described high-frequency detection pulse signal is produced by the separate signal source, the multiplexing power line of driving voltage frequency division and the motor windings of high-frequency detection pulse signal and motor.
3. high-frequency detection pulse method for implanting according to claim 1; It is characterized in that; Between the high-frequency impulse decanting point of high-frequency detection pulse signal and power switch, be provided with the high-frequency signal trap; Be used to avoid high-frequency signal to get into power supply and power switch, and make the difference of each phase terminal voltage high frequency voltage component not receive the influence of power supply and power switch.
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| CN105450192A (en) * | 2014-08-08 | 2016-03-30 | 北京谊安医疗系统股份有限公司 | Variable-gain small-signal differential amplification circuit |
| CN107370424A (en) * | 2017-06-05 | 2017-11-21 | 江苏集萃智能制造技术研究所有限公司 | A kind of initial position of rotor determination methods based on the lower resistance sampling of bridge arm three |
| CN109474219A (en) * | 2018-11-06 | 2019-03-15 | 天津大学 | A kind of parameter of electric machine discrimination method based on frequency dividing coupling |
| CN110907824A (en) * | 2019-11-06 | 2020-03-24 | 天津工业大学 | Motor fault detection system based on high-frequency signal coupling injection |
| CN111293931A (en) * | 2020-03-17 | 2020-06-16 | 天津大学 | High-precision low-noise brushless direct current motor position sensorless control system and method |
| RU2734652C1 (en) * | 2019-03-12 | 2020-10-21 | Тяньгун Юниверсити | Method and control device without position sensor for motor with permanent magnets with activation by means of long cable |
| WO2020214659A1 (en) | 2019-04-15 | 2020-10-22 | Milwaukee Electric Tool Corporation | Sensorless motor control for a power tool |
| CN112886878A (en) * | 2021-01-28 | 2021-06-01 | 中电海康无锡科技有限公司 | Non-inductive starting method, device and system for direct current brushless motor |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105450192A (en) * | 2014-08-08 | 2016-03-30 | 北京谊安医疗系统股份有限公司 | Variable-gain small-signal differential amplification circuit |
| CN107370424A (en) * | 2017-06-05 | 2017-11-21 | 江苏集萃智能制造技术研究所有限公司 | A kind of initial position of rotor determination methods based on the lower resistance sampling of bridge arm three |
| CN107370424B (en) * | 2017-06-05 | 2020-02-14 | 江苏集萃智能制造技术研究所有限公司 | Rotor initial position judgment method based on lower bridge arm three-resistance sampling |
| CN109474219B (en) * | 2018-11-06 | 2021-12-03 | 天津大学 | Motor parameter identification method based on frequency division coupling |
| CN109474219A (en) * | 2018-11-06 | 2019-03-15 | 天津大学 | A kind of parameter of electric machine discrimination method based on frequency dividing coupling |
| RU2734652C1 (en) * | 2019-03-12 | 2020-10-21 | Тяньгун Юниверсити | Method and control device without position sensor for motor with permanent magnets with activation by means of long cable |
| JP7267456B2 (en) | 2019-04-15 | 2023-05-01 | ミルウォーキー エレクトリック ツール コーポレイション | Sensorless motor control for power tools |
| WO2020214659A1 (en) | 2019-04-15 | 2020-10-22 | Milwaukee Electric Tool Corporation | Sensorless motor control for a power tool |
| US11833655B2 (en) | 2019-04-15 | 2023-12-05 | Milwaukee Electric Tool Corporation | Sensorless motor control for a power tool |
| KR20210134818A (en) * | 2019-04-15 | 2021-11-10 | 밀워키 일렉트릭 툴 코포레이션 | Sensorless Motor Control for Power Tools |
| KR102642286B1 (en) * | 2019-04-15 | 2024-02-28 | 밀워키 일렉트릭 툴 코포레이션 | Sensorless motor control for power tools |
| US11305412B2 (en) | 2019-04-15 | 2022-04-19 | Milwaukee Electric Tool Corporation | Sensorless motor control for a power tool |
| JP2022529427A (en) * | 2019-04-15 | 2022-06-22 | ミルウォーキー エレクトリック ツール コーポレイション | Sensorless motor control for power tools |
| EP3956975A4 (en) * | 2019-04-15 | 2022-12-28 | Milwaukee Electric Tool Corporation | Sensorless motor control for a power tool |
| AU2020257177B2 (en) * | 2019-04-15 | 2023-04-13 | Milwaukee Electric Tool Corporation | Sensorless motor control for a power tool |
| CN110907824A (en) * | 2019-11-06 | 2020-03-24 | 天津工业大学 | Motor fault detection system based on high-frequency signal coupling injection |
| CN111293931A (en) * | 2020-03-17 | 2020-06-16 | 天津大学 | High-precision low-noise brushless direct current motor position sensorless control system and method |
| CN112886878A (en) * | 2021-01-28 | 2021-06-01 | 中电海康无锡科技有限公司 | Non-inductive starting method, device and system for direct current brushless motor |
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