CN107147337B - Torque fluctuation control device and control method for high-power brushless direct current motor - Google Patents

Torque fluctuation control device and control method for high-power brushless direct current motor Download PDF

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CN107147337B
CN107147337B CN201710583165.XA CN201710583165A CN107147337B CN 107147337 B CN107147337 B CN 107147337B CN 201710583165 A CN201710583165 A CN 201710583165A CN 107147337 B CN107147337 B CN 107147337B
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current
phase
singlechip
direct current
igbt
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CN107147337A (en
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储建华
韦汉培
王刚
扶文树
左昱昱
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Jiangsu Kaixuan Intelligent Technology Co ltd
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Jiangsu Kaixuan Intelligent Technology Co ltd
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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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a torque fluctuation control device of a high-power brushless direct current motor, which comprises an energy storage module, an inversion module, a bus current detection module, a bus voltage detection module, a phase current detection module and a singlechip. The invention also discloses a control method of the high-power brushless direct current motor torque fluctuation control device, which comprehensively considers the voltage control and the current control, adopts different methods to control the torque fluctuation in the non-commutation period and the commutation period, is flexible, can effectively prevent the overvoltage and the undervoltage of a driving system caused by the power grid fluctuation, further causes the output torque fluctuation of the brushless direct current motor, and can ensure the minimum commutation torque fluctuation caused by the commutation process of the brushless direct current motor.

Description

Torque fluctuation control device and control method for high-power brushless direct current motor
Technical Field
The invention relates to the technical field of brushless direct current motor control, in particular to a torque fluctuation control device and a control method of a high-power brushless direct current motor.
Background
The brushless direct current motor is used as a novel electromechanical integrated product, and has been widely applied to the fields of industrial control, aerospace, numerical control machine tool, micro-special processing and the like due to a series of advantages of high efficiency, high power density, good speed regulation performance, simple control and the like. Since the motor winding presents the sensibility, the winding current can not be changed instantaneously during the commutation, but has a changing process, and thus the current waveform is not an ideal rectangular waveform, but is similar to a trapezoidal waveform, thereby causing current fluctuation in the motor and causing commutation torque fluctuation. For a brushless motor with good manufacturing quality, the cogging torque ripple and the harmonic torque ripple are smaller, and the commutation torque ripple is a main problem, so that the improvement of the commutation torque ripple and the control performance of the brushless direct current motor becomes a research hot spot and a difficulty. At present, torque fluctuation is restrained by controlling phase current in the industrial field from the aspect of control, but for a high-power brushless direct current motor, the amplitude of the phase current is too large, bus large voltage fluctuation caused by power grid fluctuation is also large, certain difficulty exists in control of the motor, and in addition, the torque fluctuation is more difficult to effectively control due to the influence of factors such as motor rotating speed and the like in actual production operation.
In view of the foregoing, it is important to provide a torque ripple control device for a high-power brushless dc motor.
Disclosure of Invention
It is an object of the present invention to solve at least the above problems and to provide at least the advantages to be described later.
The invention also aims to provide a torque fluctuation control device of the high-power brushless direct current motor, which aims at the problem that the torque fluctuation of the high-power brushless direct current motor is obvious, and the torque fluctuation of the high-power brushless direct current motor is effectively controlled by the scheme from the two aspects of current control and voltage control, the influence of the power grid voltage fluctuation on the motor torque fluctuation is considered, and the torque fluctuation caused by the power grid voltage fluctuation during the non-commutation period of the brushless direct current motor can be effectively prevented by timely adjusting the bus voltage and controlling the line current and the phase current, and the commutation torque fluctuation caused by inconsistent phase current change rate during the commutation period can be prevented.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided a torque ripple control device of a high power brushless dc motor, comprising:
the input end of the inversion module is connected with a power supply, and the output end of the inversion module is connected with the current input end of the direct current motor;
the energy storage module comprises a battery energy storage unit, a first branch and a second branch, wherein the output positive electrode of the battery energy storage unit is respectively connected with the first branch and the second branch, the first branch consists of a first normally-open relay, a first normally-closed relay and a step-down chopper circuit which are sequentially connected, the second branch consists of a second normally-open relay, a second normally-closed relay and a step-up chopper circuit which are sequentially connected, the two paths are connected in parallel and then are output and connected to the direct current end of the inversion module, the input ends of the first normally-open relay and the second normally-open relay are respectively connected to the output positive electrode end of the battery energy storage unit, a capacitor is connected between the energy storage module and the inversion module in parallel, and a switch tube is connected in series on the direct current positive electrode between the energy storage module and the inversion module;
the bus current detection module is connected to the direct-current end of the inversion module;
the bus voltage detection modules are connected to two sides of the end capacitor;
the phase current detection module is connected to the power input end of the direct current motor; and
the input end of the singlechip is respectively connected with the output ends of the bus current detection module, the bus voltage detection module and the phase current detection module, and the output end of the singlechip is respectively connected with the control ends of the inversion module, the energy storage module and the switching tube;
the direct current motor is provided with a Hall sensor for determining the open phase and the closed phase of the direct current motor, the output end of the Hall sensor is connected with the input end of the singlechip, and the first normally-open relay, the first normally-closed relay, the second normally-open relay and the second normally-closed relay form an interlocking device.
Preferably, the step-down chopper circuit comprises a first IGBT, a first inductor and a first diode, wherein the first IGBT and the first inductor are sequentially connected, the cathode end of the first diode is connected between the first IGBT and the first inductor, the anode end of the first diode is connected with the negative end of the end capacitor, the first IGBT is connected with the first normally-closed relay, and the first inductor is connected with the positive end of the end capacitor.
Preferably, the boost chopper circuit comprises a second inductor, a second diode and a second IGBT, wherein the second inductor and the second diode are sequentially connected, a first end of the second IGBT is connected between the second inductor and the second diode, a second end of the second IGBT is connected with a negative end of the end capacitor, the second inductor is connected with the second normally-closed relay, and a cathode of the second diode is connected with a positive end of the end capacitor.
Preferably, the inversion module is formed by connecting three pairs of IGBT bridge arms consisting of a third IGBT and an eighth IGBT in sequence, and two sides of the end capacitor are connected with a power grid through a rectifying unit; the switching tube is a ninth IGBT, the switching tube is connected with the positive electrode end of the end capacitor and the direct current input end of the inversion module, and the output end of the singlechip is connected with the driving end of each IGBT.
Preferably, the two ends of the end capacitor are further connected with a primary voltage stabilizing circuit, which comprises a third normally open relay, an adjustable inductor, a third diode, a double-arm bridge formed by four triodes and a buffer capacitor connected between the double-arm bridge, wherein the third normally open relay is connected with the positive electrode end of the end capacitor, the first end of the double-arm bridge is connected with the cathode end of the third diode, the second end of the double-arm bridge is connected with the negative electrode end of the end capacitor, and each triode control end is connected with the singlechip.
A control method of a torque fluctuation control device of a high-power brushless direct current motor comprises the following steps:
step one, when the system is started, the brushless direct current motor is not started, the bus voltage detection module detects the bus voltage between primary end capacitors in each algorithm period, and after 100 periods of detection, the singlechip calculates the average bus voltage U dcavg ；
Step two, starting the brushless direct current motor, wherein the bus voltage detection module detects real-time bus voltage U 'between primary end capacitors in each algorithm period during the non-commutation period of the brushless direct current motor' dc The bus current detection module also detects the bus current once in each algorithm period, and after 50 periods of detection, the singlechip calculates the average bus current I 0avg Meanwhile, in each algorithm period, the real-time bus voltage U 'is judged through the singlechip' dc And the average bus voltage U calculated in the step one dcavg The magnitude of the real-time bus voltage U 'in the non-commutation period is regulated through corresponding relays and IGBT in the energy storage module' dc To the magnitude of the real-time bus voltage U 'during the non-commutation period' dc And average bus voltage U dcavg Dynamic balance between the two to smooth the output torque of the brushless DC motor during non-commutation period;
step three, during commutation of the brushless DC motor, firstlyThe first normally open relay and the second normally open relay in the energy storage module are in a normally open state, the bus current detection module detects the bus current once in each algorithm period, and after 5 periods of detection, the singlechip calculates average bus current I '' 0avg Average bus current I 'during phase change is judged by a singlechip' 0avg Average bus current I during non-commutation period calculated in step two 0avg And the magnitude of the bus current and the phase current is controlled by controlling the on-off of the corresponding IGBT through the corresponding PWM waves in different rotating speed sections so as to stabilize the bus current and minimize the torque fluctuation of the brushless direct current motor.
Preferably, in step two, the real-time bus voltage U 'is regulated during the non-commutation period by means of the corresponding relay of the energy storage module and the IGBT' dc And average bus voltage U dcavg The control method of the dynamic balance between the two parts is as follows: when the singlechip detects U' dc ＜U dcavg When the energy storage module is in a closed state, the second normally-open relay of the second branch is still in a closed state, the boost chopper circuit is turned on, the buck chopper circuit is turned off, the IGBT in the boost chopper circuit is controlled to be turned on or off by PWM waves to improve the energy storage value of the capacitor at the output end, and the real-time bus voltage U '' dc Lifting to average bus voltage U dcavg Is a value of (2); when the singlechip detects U' dc ＞U dcavg When the energy storage module is in a closed state, the first normally-open relay of the first branch is still in a closed state, the step-down chopper circuit is turned on, the step-up chopper circuit is turned off, the IGBT in the step-down chopper circuit is controlled to be turned on or off by PWM waves to reduce the energy storage value of the capacitor at the output end, and the real-time bus voltage U 'is reduced' dc Down to average bus voltage U dcavg Wherein the PWM wave is from a closed loop output: in each algorithm period, the real-time bus voltage U 'is obtained' dc And average bus voltage U dcavg The difference is sent to a PI controller, and the PI controller outputs PWM waves for controlling the IGBT.
Preferably, in the third step, the rotation speed section of the brushless dc motor during the commutation period is determinedThe breaking method specifically comprises the following steps: when the singlechip detects I' 0avg |＞|I 0avg When I, judging that the brushless direct current motor is in a low rotation speed section, and when the singlechip detects I' 0avg |＜|I 0avg And when the motor is in the high-speed section, judging that the brushless direct current motor is in the high-speed section.
Preferably, in the third step, the specific control method for controlling the bus current and the phase current by controlling the on-off of the corresponding IGBT through the corresponding PWM wave in different rotation speed segments during the phase change includes: when the singlechip judges that the brushless direct current motor is in a low-speed section, the bus current detection module detects real-time bus current I 'once in each algorithm period' 0 Absolute value of real-time bus current I 'in phase change period' 0 Average bus current absolute value during I and non-commutation I 0avg The I difference is sent to a PI controller, and the PWM wave in the third step is output to control the on-off of a ninth IGBT between the energy storage module and the inversion module so as to achieve the absolute value I 'of the real-time bus current in the phase change period' 0 Average bus current absolute value during I and non-commutation I 0avg Dynamic balance between I while stabilizing absolute value I 'of real-time bus current during commutation' 0 I (I); when the singlechip judges that the brushless direct current motor is in a high-speed section, firstly, the singlechip determines an on phase X and an off phase Y during phase change of the brushless direct current motor through a Hall sensor signal, and a phase current detection module detects current I in the phase change process of the on phase X in real time X And current I of the switching-off phase Y Y And the singlechip records the current I X Starting from commutation moment to current I X Absolute value |I X I is equal to the average bus current I during non-commutation 0avg Absolute value |I 0avg Time t of I time open The singlechip calculates the change rate k of X-phase current of the open phase during the phase change open ＝|I 0avg |/t open The method comprises the steps of carrying out a first treatment on the surface of the Singlechip microcomputer recording current I Y Starting from commutation moment to current I Y Absolute value |I Y Time t when i equals zero close The singlechip calculates the change rate k of the phase-off Y-phase current during the phase change close ＝|I 0avg |/t close At the next commutation moment, the X-phase current change rate k of the open phase is changed open Rate of change of Y phase current with off phase k close The difference is sent into a PI controller, corresponding PWM waves are output to control the on-off of IGBT bridge arms corresponding to the phase-off Y, and the phase-off Y phase current I is slowed down Y A reduced rate such that the phase X current I is on X Rate of change and off-phase Y-phase current I Y Dynamic balance among the change rates ensures the stability of the non-commutation current.
Preferably, in the first to third steps, the ninth IGBTs connected in series between the energy storage module and the inversion module are all in an all-on state except for being controlled by corresponding PWM waves when the brushless dc motor is in a low speed section in the phase-change time section.
The invention at least comprises the following beneficial effects:
1. the torque fluctuation control device of the high-power brushless direct current motor has the advantages of simple structure, low cost, strong practicability and convenient control, and the buck chopper circuit and the boost chopper circuit are matched for use, so that the battery energy storage unit is in a reasonable charge and discharge state, the power grid resource with fluctuation can be utilized to the maximum extent, and the damage of undervoltage, overvoltage and the like to the brushless direct current motor control system can be prevented;
2. the control method of the torque fluctuation control device of the high-power brushless direct current motor considers the specificity of the high-power brushless direct current motor, adopts different methods to control the torque fluctuation in the non-commutation period and the commutation period, comprehensively utilizes voltage control and current control, and has more flexible control method.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of the structure of the device of the present invention;
fig. 2 is a schematic diagram of the structure of the secondary voltage stabilizing circuit.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Example 1
The invention provides a torque fluctuation control device of a high-power brushless direct current motor, which is shown in fig. 1 and comprises an energy storage module 1, an inversion module 2, a bus current detection module 3, a bus voltage detection module 4, a phase current detection module 5 and a singlechip 6.
The input end of the inversion module 2 is connected with a power supply, and the output end of the inversion module 2 is connected with the current input end of the direct current motor.
The energy storage module 1 comprises a battery energy storage unit, a first branch and a second branch, wherein the output positive electrode of the battery energy storage unit is respectively connected with the first branch and the second branch, the first branch is composed of a first normally open relay KM11, a first normally closed relay KM12 and a step-down chopper circuit which are sequentially connected, the second branch is composed of a second normally open relay KM21, a second normally closed relay KM22 and a step-up chopper circuit which are sequentially connected, the output of the two branches is connected in parallel and then is connected with the direct current end of the inversion module 2, the input ends of the first normally open relay KM11 and the second normally open relay KM21 are respectively connected with the output positive electrode of the battery energy storage unit, a capacitor C1 is connected between the energy storage module 1 and the inversion module 2 in parallel, and a switching tube is connected on the direct current positive electrode between the energy storage module 1 and the inversion module 2 in series.
The step-down chopper circuit comprises a first IGBT1, a first inductor Lf1 and a first diode D1, wherein the first IGBT1 and the first inductor Lf1 are sequentially connected, the cathode end of the first diode D1 is connected between the first IGBT1 and the first inductor Lf1, the anode end of the first diode D1 is connected to the negative end of the end capacitor C1, the first IGBT1 is connected with the first normally-closed relay KM12, and the first inductor Lf1 is connected to the positive end of the end capacitor C1; the boost chopper circuit comprises a second inductor Lf2, a second diode and a second IGBT2, wherein the second inductor Lf2 and the second diode are sequentially connected, the first end of the second IGBT2 is connected between the second inductor Lf2 and the second diode D2, the second end of the second IGBT2 is connected with the negative end of the end capacitor C1, the second inductor Lf2 is connected with the second normally-closed relay KM22, and the cathode of the second diode D2 is connected with the positive end of the end capacitor C1.
The bus current detection module 3 is connected to the direct current end of the inversion module 2; the bus voltage detection modules 4 are connected to two sides of the end capacitor C1; the phase current detection module 5 is connected to the power input terminal of the direct current motor.
The input end of the singlechip 6 is respectively connected with the output ends of the bus current detection module, the bus voltage detection module and the phase current detection module, and the output end of the singlechip 6 is respectively connected with the control ends of the inversion module 2, the energy storage module 1 and the switching tube.
The direct current motor is provided with a Hall sensor for determining the open phase and the closed phase of the direct current motor, and the output end of the Hall sensor is connected with the input end of the singlechip 6.
The step-down chopper circuit is used for reducing the voltage value of the end capacitor and reducing the bus voltage; the boost chopper circuit is used for improving the voltage value of the end capacitor and improving the bus voltage. And the singlechip is used for carrying out algorithm processing on input data of the bus current detection module, the bus voltage detection module and the phase current detection module to generate corresponding PWM waves to control the on-off of the corresponding IGBT.
The inversion module 2 is formed by connecting three pairs of IGBT bridge arms consisting of a third IGBT3 and an eighth IGBT8 in sequence, and two sides of the end capacitor C1 are connected with a power grid through a rectifying unit; the switching tube is a ninth IGBT9, which is connected with the positive end of the end capacitor C1 and the direct current input end of the inversion module 2, and the output end of the singlechip 6 is connected with the driving end of each IGBT.
The output anode of the battery energy storage unit is divided into two branches for transmission, and the first branch consists of a first normally-open relay KM11, a first normally-closed relay KM12 and a step-down chopper in sequence; the second branch consists of a second normally open relay KM21, a second normally closed relay KM22 and a boost chopper, the two paths are connected in parallel and then output to be connected with an inversion module 2, a large-capacity energy storage end capacitor C1 is connected in parallel between an energy storage module 1 and the inversion module 2, and the energy storage end capacitor C1 and the inversion module 2 are connected with each other through a ninth IGBT9 in series. Meanwhile, the power grid is connected with the input end of the rectifying unit, and the output end of the rectifying unit is connected with the capacitor C1. The first normally open relay KM11, the first normally closed relay KM12, the second normally open relay KM21 and the second normally closed relay KM22 form a two-way interlocking device.
The torque fluctuation control device of the high-power brushless direct current motor has the advantages of simple structure, low cost, strong practicability and convenient control, and the buck chopper circuit and the boost chopper circuit are matched for use, so that the battery energy storage unit is in a reasonable charge and discharge state, the power grid resource with fluctuation can be utilized to the maximum extent, and the damage of undervoltage, overvoltage and the like to the brushless direct current motor control system can be prevented.
Example two
On the basis of the first embodiment, two ends of the end capacitor C1 are further connected with a secondary voltage stabilizing circuit, as shown in fig. 2, the secondary voltage stabilizing circuit comprises a third normally open relay KM3, an adjustable inductor L3, a third diode D3, a double-arm bridge formed by four triodes Q1-Q4 and a buffer capacitor C2 connected between the double-arm bridge, the other end of the third normally open relay KM3 is connected with the positive end of the end capacitor C1, the first end of the double-arm bridge is connected with the cathode end of the third diode D3, the second end of the double-arm bridge is connected with the negative end of the end capacitor C1, and each triode control end is connected with the singlechip 6.
The secondary voltage stabilizing circuit in the embodiment has the advantages of simple structure and low cost, and can effectively control the stability of the voltage on the direct current bus by controlling the charge and discharge process of the slow charge capacitor C2 through controlling the on-off of the third normally open relay and each triode when the voltage fluctuation on the direct current bus is smaller, so that the motor torque fluctuation is effectively restrained. When the voltage fluctuation on the direct current bus exceeds a certain range, the voltage of the direct current bus is stabilized through the energy storage module, so that 2 targeted modes for restraining the torque fluctuation of the direct current motor are formed.
Example III
A control method of a torque fluctuation control device of a high-power brushless direct current motor comprises the following steps:
step one, when the system is started, the brushless direct current motor is not started, the bus voltage detection module 4 detects the bus voltage between the primary end capacitors C1 in each algorithm period, and after 100 period detection, the singlechip 6 calculates the average bus voltage U dcavg ；
Step two, starting the brushless direct current motor, wherein the bus voltage detection module 4 detects the real-time bus voltage U 'between the primary end capacitors C1 in each algorithm period during the non-commutation period of the brushless direct current motor' dc The bus current detection module also detects the bus current once in each algorithm period, and after 50 period detection, the singlechip 6 calculates the average bus current I 0avg Meanwhile, in each algorithm period, the real-time bus voltage U 'is judged through the singlechip 6' dc And the average bus voltage U calculated in the step one dcavg The real-time bus voltage U 'during non-commutation is regulated by corresponding relays and IGBTs in the energy storage module 1' dc To the magnitude of the real-time bus voltage U 'during the non-commutation period' dc And average bus voltage U dcavg Dynamic balance between the two to smooth the output torque of the brushless DC motor during non-commutation period;
step three, during the commutation period of the brushless direct current motor, the first normally open relay KM11 and the second normally open relay KM21 in the energy storage module 1 are in a normally open state, the bus current detection module detects the bus current once in each algorithm period, and after 5 periods of detection, the singlechip 6 calculates the average bus current I '' 0avg The average bus current I 'during the phase change is judged by the singlechip 6' 0avg Average bus current I during non-commutation period calculated in step two 0avg And the magnitude of the bus current and the phase current is controlled by controlling the on-off of the corresponding IGBT through the corresponding PWM waves in different rotating speed sections so as to stabilize the bus current and minimize the torque fluctuation of the brushless direct current motor.
In the second step, the real-time bus voltage U 'is adjusted by the corresponding relay of the energy storage module 1 and the IGBT during the non-commutation period' dc And average bus voltage U dcavg The purpose of inter-dynamic balance is to prevent the fluctuation of bus voltage caused by the fluctuation of a power grid in a non-commutation area, thereby causing the torque fluctuation of a brushless direct current motor, and the specific control method is as follows: when the singlechip 6 detects U' dc ＜U dcavg When the energy storage module 1 is in a closed state, the second normally-open relay KM21 of the second branch is closed, the second normally-closed relay KM22 is still in a closed state, the boost chopper circuit is turned on, the buck chopper circuit is turned off, the energy storage value of the output end capacitor C1 is improved by controlling the on-off of the IGBT in the boost chopper circuit through PWM waves, and the real-time bus voltage U 'is obtained' dc Lifting to average bus voltage U dcavg Real-time bus voltage U' dc And average bus voltage U dcavg Dynamic balance between the two. When the singlechip 6 detects U' dc ＞U dcavg When the energy storage module 1 is in a closed state, the first normally-open relay KM11 of the first branch is closed, the first normally-closed relay KM12 is still in a closed state, the step-down chopper circuit is turned on, the step-up chopper circuit is turned off, the IGBT in the step-down chopper circuit is controlled to be turned on or off by PWM waves to reduce the energy storage value of the capacitor C1 at the output end, and the real-time bus voltage U 'is obtained' dc Down to average bus voltage U dcavg Real-time bus voltage U' dc And average bus voltage U dcavg Dynamic balance between the two. Wherein the PWM wave is from a closed loop output: in each algorithm period, the real-time bus voltage U 'is obtained' dc And average bus voltage U dcavg The difference is fed into a PI controller, and the PI controller outputs PWM waves for controlling the IGBT1 and the IGBT 2.
In the above technical solution, in the third step, the method for judging the rotating speed section of the brushless dc motor during the commutation period specifically includes: when the singlechip 6 detects I%' 0avg |＞|I 0avg When I, judging that the brushless direct current motor is in a low rotation speed section, and when the singlechip 6 detects I' 0avg |＜|I 0avg And when the motor is in the high-speed section, judging that the brushless direct current motor is in the high-speed section.
Further, in the third step, the specific control method for controlling the bus current and the phase current by controlling the on-off of the corresponding IGBT through the corresponding PWM wave in different rotation speed sections during the phase change includes: when the singlechip is 6 judgedWhen the brushless direct current motor is in a low-speed section, the bus current detection module detects real-time bus current I 'once in each algorithm period' 0 Absolute value of real-time bus current I 'in phase change period' 0 Average bus current absolute value during I and non-commutation I 0avg The difference of I is sent to a PI controller, and the PWM wave in the third output step controls the on-off of a ninth IGBT9 connected in series between the energy storage module 1 and the inversion module 2 so as to achieve the absolute value I 'of the real-time bus current in the phase change period' 0 Average bus current absolute value during I and non-commutation I 0avg Dynamic balance between I while stabilizing absolute value I 'of real-time bus current during commutation' 0 I (I); when the singlechip 6 judges that the brushless direct current motor is in a high-speed section, firstly, the singlechip 6 determines an on phase X and an off phase Y during phase change of the brushless direct current motor through a Hall sensor signal, and a phase current detection module detects current I in the phase change process of the on phase X in real time X And current I of the switching-off phase Y Y And the singlechip 6 records the current I X Starting from commutation moment to current I X Absolute value |I X I is equal to the average bus current I during non-commutation 0avg Absolute value |I 0avg Time t of I time open The singlechip 6 calculates the change rate k of the X-phase current of the open phase during the phase change open ＝|I 0avg |/t open The method comprises the steps of carrying out a first treatment on the surface of the Singlechip 6 records current I Y Starting from commutation moment to current I Y Absolute value |I Y Time t when i equals zero close The singlechip 6 calculates the change rate k of the phase-off Y-phase current during the phase change close ＝|I 0avg |/t close At the next commutation moment, the X-phase current change rate k of the open phase is changed open Rate of change of Y phase current with off phase k close The difference is sent into a PI controller, corresponding PWM waves are output to control the on-off of IGBT bridge arms corresponding to the phase-off Y, and the phase-off Y phase current I is slowed down Y A reduced rate such that the phase X current I is on X Rate of change and off-phase Y-phase current I Y Dynamic balance among the change rates ensures the stability of the non-commutation current.
The method considers the specificity of the high-power brushless direct current motor, adopts different methods to control torque fluctuation in the non-commutation period and the commutation period, comprehensively utilizes voltage control and current control, and has more flexible control method.
Further, in the first to third steps, the ninth IGBT9 connected in series between the energy storage module 1 and the inverter module 2 is controlled by a corresponding PWM wave when the brushless dc motor is in the low speed stage in the above-mentioned commutation period, and all the other time is in an all-on state.
Example IV
On the basis of the third embodiment, the fluctuation of the power grid voltage is further subdivided, and when the singlechip 6 detects 0.95U dcavg ＜U' dc ＜U dcavg When the bus voltage is higher than the real-time bus voltage U ', the third normally open relay KM3 is closed, the first open relay and the second open relay are opened, the control triodes Q2 and Q4 are closed, the charge and discharge are buffered, the bus direct-current voltage is raised, and the real-time bus voltage U ' is reduced ' dc Lifting to average bus voltage U dcavg Real-time bus voltage U' dc And average bus voltage U dcavg Dynamic balance between the two. When U' dc ＜0.95U dcavg When the energy storage module 1 is in use, the third normally open relay KM3 is disconnected, and the boost chopper circuit in the energy storage module 1 is used for converting the real-time bus voltage U' dc Lifting to average bus voltage U dcavg Real-time bus voltage U' dc And average bus voltage U dcavg Dynamic balance between the two. When the singlechip 6 detects 1.05U dcavg ＞U' dc ＞U dcavg When the bus voltage is lower than the real-time bus voltage U ', the third normally open relay KM3 is closed, the first open relay and the second open relay are opened, the control triodes Q1 and Q3 are closed, the buffer capacitor is charged, the bus direct-current voltage is reduced, and the real-time bus voltage U ' is reduced ' dc Down to average bus voltage U dcavg Real-time bus voltage U' dc And average bus voltage U dcavg Dynamic balance between the two. When the singlechip 6 detects U' dc ＞1.05U dcavg When the energy storage module 1 is in use, the third normally open relay KM3 is disconnected, and the step-down chopper circuit in the energy storage module 1 is used for converting the real-time bus voltage U' dc Down to average bus voltage U dcavg Real-time bus voltage U' dc And average bus voltage U dcavg Dynamic balance between the two.
The high-power brushless direct current motor torque fluctuation control device has the advantages of simple structure, low cost, strong practicability, convenient control, and the combination of the step-down chopper circuit and the step-up chopper circuit, so that the battery energy storage unit is in a reasonable charge and discharge state, the power grid resource with volatility can be utilized to the maximum extent, and the damage of undervoltage, overvoltage and the like to a brushless direct current motor control system can be prevented; meanwhile, the control method of the torque fluctuation control device of the high-power brushless direct current motor considers the specificity of the high-power brushless direct current motor, adopts different methods to control the torque fluctuation in the non-commutation period and the commutation period, comprehensively utilizes voltage control and current control, and has more flexible control method.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.

Claims (5)

1. A control method of a torque ripple control device of a high-power brushless dc motor, characterized in that the torque ripple control device of the high-power brushless dc motor comprises:
the input end of the inversion module is connected with a power supply, and the output end of the inversion module is connected with the current input end of the direct current motor;
the energy storage module comprises a battery energy storage unit, a first branch and a second branch, wherein the output positive electrode of the battery energy storage unit is respectively connected with the first branch and the second branch, the first branch consists of a first normally-open relay, a first normally-closed relay and a step-down chopper circuit which are sequentially connected, the second branch consists of a second normally-open relay, a second normally-closed relay and a step-up chopper circuit which are sequentially connected, the two paths are connected in parallel and then are output and connected to the direct current end of the inversion module, the input ends of the first normally-open relay and the second normally-open relay are respectively connected to the output positive electrode end of the battery energy storage unit, a capacitor is connected between the energy storage module and the inversion module in parallel, and a switch tube is connected in series on the direct current positive electrode between the energy storage module and the inversion module;
the bus current detection module is connected to the direct-current end of the inversion module;
the bus voltage detection modules are connected to two sides of the end capacitor;
the phase current detection module is connected to the power input end of the direct current motor; and
the input end of the singlechip is respectively connected with the output ends of the bus current detection module, the bus voltage detection module and the phase current detection module, and the output end of the singlechip is respectively connected with the control ends of the inversion module, the energy storage module and the switching tube;
the direct current motor is provided with a Hall sensor for determining the open phase and the closed phase of the direct current motor, the output end of the Hall sensor is connected with the input end of the singlechip, and the first normally-open relay, the first normally-closed relay, the second normally-open relay and the second normally-closed relay form an interlocking device;
the buck chopper circuit comprises a first IGBT, a first inductor and a first diode, wherein the first IGBT and the first inductor are sequentially connected, the cathode end of the first diode is connected between the first IGBT and the first inductor, the anode end of the first diode is connected with the negative end of the end capacitor, the first IGBT is connected with the first normally-closed relay, and the first inductor is connected with the positive end of the end capacitor; the boost chopper circuit comprises a second inductor, a second diode and a second IGBT, wherein the second inductor and the second diode are sequentially connected, a first end of the second IGBT is connected between the second inductor and the second diode, a second end of the second IGBT is connected with a negative end of the end capacitor, the second inductor is connected with the second normally-closed relay, and a cathode of the second diode is connected with a positive end of the end capacitor; the inversion module is formed by connecting three pairs of IGBT bridge arms consisting of a third IGBT and an eighth IGBT in sequence, and two sides of the end capacitor are connected with a power grid through a rectifying unit; the switching tube is a ninth IGBT, the positive electrode end of the end capacitor is connected with the direct current input end of the inversion module, and the output end of the singlechip is connected with the driving end of each IGBT; the first end of the double-arm bridge is connected with the cathode end of the third diode, the second end of the double-arm bridge is connected with the cathode end of the end capacitor, and each triode control end is connected with the singlechip;
the control method of the torque fluctuation control device of the high-power brushless direct current motor comprises the following steps:
step one, when the system is started, the brushless direct current motor is not started, the bus voltage detection module detects the bus voltage between primary end capacitors in each algorithm period, and after 100 periods of detection, the singlechip calculates the average bus voltage U dcavg ；
Step two, starting the brushless direct current motor, wherein the bus voltage detection module detects real-time bus voltage U 'between primary end capacitors in each algorithm period during the non-commutation period of the brushless direct current motor' dc The bus current detection module also detects the bus current once in each algorithm period, and after 50 periods of detection, the singlechip calculates the average bus current I 0avg Meanwhile, in each algorithm period, the real-time bus voltage U 'is judged through the singlechip' dc And the average bus voltage U calculated in the step one dcavg The magnitude of the real-time bus voltage U 'in the non-commutation period is regulated through corresponding relays and IGBT in the energy storage module' dc To the magnitude of the real-time bus voltage U 'during the non-commutation period' dc And average bus voltage U dcavg Dynamic balance between the two to smooth the output torque of the brushless DC motor during non-commutation period;
step three, during the commutation period of the brushless direct current motor, the first normally-open relay and the second normally-open relay in the energy storage module are in a normally-open state, and the bus current detection module is arranged in each of the energy storage modulesDetecting primary bus current in algorithm period, and after 5 period detection, calculating average bus current I 'by the singlechip' 0avg Average bus current I 'during phase change is judged by a singlechip' 0avg Average bus current I during non-commutation period calculated in step two 0avg And the magnitude of the bus current and the phase current is controlled by controlling the on-off of the corresponding IGBT through the corresponding PWM waves in different rotating speed sections so as to stabilize the bus current and minimize the torque fluctuation of the brushless direct current motor.
2. The control method of a torque ripple control device of a high power brushless dc motor as claimed in claim 1, wherein in the second step, the real-time bus voltage U 'is adjusted by the corresponding relay of the energy storage module and the IGBT during the non-commutation period' dc And average bus voltage U dcavg The control method of the dynamic balance between the two parts is as follows: when the singlechip detects U' dc ＜U dcavg When the energy storage module is in a closed state, the second normally-open relay of the second branch is still in a closed state, the boost chopper circuit is turned on, the buck chopper circuit is turned off, the IGBT in the boost chopper circuit is controlled to be turned on or off by PWM waves to improve the energy storage value of the capacitor at the output end, and the real-time bus voltage U '' dc Lifting to average bus voltage U dcavg Is a value of (2); when the singlechip detects U' dc >U dcavg When the energy storage module is in a closed state, the first normally-open relay of the first branch is still in a closed state, the step-down chopper circuit is turned on, the step-up chopper circuit is turned off, the IGBT in the step-down chopper circuit is controlled to be turned on or off by PWM waves to reduce the energy storage value of the capacitor at the output end, and the real-time bus voltage U 'is reduced' dc Down to average bus voltage U dcavg Wherein the PWM wave is from a closed loop output: in each algorithm period, the real-time bus voltage U 'is obtained' dc And average bus voltage U dcavg The difference is sent to a PI controller, and the PI controller outputs PWM waves for controlling the IGBT.
3. The method for controlling a torque ripple control device of a high-power brushless dc motor according to claim 2, wherein in the third step, the method for determining a rotational speed segment of the brushless dc motor during the commutation period specifically comprises: when the singlechip detects I' 0avg |>|I 0avg When I, judging that the brushless direct current motor is in a low rotation speed section, and when the singlechip detects I' 0avg |＜|I 0avg And when the motor is in the high-speed section, judging that the brushless direct current motor is in the high-speed section.
4. The control method of the high-power brushless dc motor torque ripple control device according to claim 3, wherein in the third step, the specific control method for controlling the bus current and the phase current by controlling the on-off of the corresponding IGBT through the corresponding PWM wave in different rotation speed segments during the commutation is as follows: when the singlechip judges that the brushless direct current motor is in a low-speed section, the bus current detection module detects real-time bus current I 'once in each algorithm period' 0 Absolute value of real-time bus current I 'in phase change period' 0 Average bus current absolute value during I and non-commutation I 0avg The I difference is sent to a PI controller, and the PWM wave in the third step is output to control the on-off of a ninth IGBT between the energy storage module and the inversion module so as to achieve the absolute value I 'of the real-time bus current in the phase change period' 0 Average bus current absolute value during I and non-commutation I 0avg Dynamic balance between I while stabilizing absolute value I 'of real-time bus current during commutation' 0 I (I); when the singlechip judges that the brushless direct current motor is in a high-speed section, firstly, the singlechip determines an on phase X and an off phase Y during phase change of the brushless direct current motor through a Hall sensor signal, and a phase current detection module detects current I in the phase change process of the on phase X in real time X And current I of the switching-off phase Y Y And the singlechip records the current I X Starting from commutation moment to current I X Absolute value |I X I is equal to the average bus current I during non-commutation 0avg Absolute value |I 0avg Time t of I time open The singlechip calculates the change rate k of X-phase current of the open phase during the phase change open ＝|I 0avg |/t open The method comprises the steps of carrying out a first treatment on the surface of the Singlechip microcomputer recording current I Y Starting from commutation moment to current I Y Absolute value |I Y Time t when i equals zero close The singlechip calculates the change rate k of the phase-off Y-phase current during the phase change close ＝|I 0avg |/t close At the next commutation moment, the X-phase current change rate k of the open phase is changed open Rate of change of Y phase current with off phase k close The difference is sent into a PI controller, corresponding PWM waves are output to control the on-off of IGBT bridge arms corresponding to the phase-off Y, and the phase-off Y phase current I is slowed down Y A reduced rate such that the phase X current I is on X Rate of change and off-phase Y-phase current I Y Dynamic balance among the change rates ensures the stability of the non-commutation current.
5. The method according to claim 4, wherein in the first to third steps, the ninth IGBTs connected in series between the energy storage module and the inverter module are all in an on state except for being controlled by corresponding PWM waves when the brushless dc motor is in a low speed section in a commutation period.
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CN103701367A (en) * 2013-07-11 2014-04-02 北京航空航天大学 Soft start control device for sensorless brushless direct current motor
CN106549610A (en) * 2017-01-13 2017-03-29 哈尔滨理工大学 It is a kind of to suppress torque pulsation of brushless DC motor control system and its method for suppressing torque ripple
CN206894541U (en) * 2017-07-17 2018-01-16 江苏开璇智能科技有限公司 High-power brushless direct current generator torque ripple control device

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CN101159422A (en) * 2007-10-16 2008-04-09 李平 Permanent-magnet DC motor drive control system with approximate constant power pulling motor characteristics
CN101364781A (en) * 2008-07-01 2009-02-11 上海大学 Position-sensorless control device for wide speed regulating range brushless DC motor without filter
CN103701367A (en) * 2013-07-11 2014-04-02 北京航空航天大学 Soft start control device for sensorless brushless direct current motor
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