CN1767356A - DC brushless motor speed control device and its method - Google Patents
DC brushless motor speed control device and its method Download PDFInfo
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- CN1767356A CN1767356A CNA2004100724442A CN200410072444A CN1767356A CN 1767356 A CN1767356 A CN 1767356A CN A2004100724442 A CNA2004100724442 A CN A2004100724442A CN 200410072444 A CN200410072444 A CN 200410072444A CN 1767356 A CN1767356 A CN 1767356A
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Abstract
The invention provides a dc brushless motor speed controller which comprises: a coordinate transformer, a position speed reckoning part, a speed controller, a current controller and a processor, wherein the position speed reckoning part receives the magnet field current and the torque current of the polar coordinate to reckon the relative speed reckon value and the rotor position; the speed controller generates the current order value of the polar coordinate by processing the external speed order value and the speed reckon value; the current control part changes the current order value into the magnet field voltage order value and the torque voltage order value; the processor orders the rotate speed controller to choose one of the nominal torque control or weakening magnet control to do best magnet field weaken control to reduce the power consumption and noise.
Description
Technical field
The present invention relates to the speed control unit and the method field of dc brushless motor, relate in particular to by optimum magnetic field and slacken speed control unit and its method that control reduces the dc brushless motor of power consumption and noise.
Background technology
When the induction machine of prior art is worked, produce self induction voltage by rotary speed, this self induction voltage and rotating speed are directly proportional, and along with speed-raising, can surpass the driving voltage on the motor once in a while.For fear of this phenomenon, carry out field weakening apparatus control, allow magnetic field and rotating speed be inversely proportional to, slacken magnetic field.Along with the increase of motor speed, magnetic field slackens with the relation of inverse ratio, reduces moment of torsion, in case the phenomenon that self induction voltage surpasses driving voltage occurs.
But, allow magnetic field when slackening inversely with motor speed, can be very big in the driving torque loss of fast state, so controlling magnetic field slackens state, so that under fast state, maximally utilise driving torque.
Fig. 1 is the speed control unit block diagram of prior art dc brushless motor.
As shown in Figure 1, speed control unit 10 comprises motor 11, current measuring element 12,13, coordinate converting section 14, speed estimation part 15, speed controlling portion 16, field weakening apparatus control part 17, current control division 18, voltage generating unit 19 and pole-changing portion 20.Motor 11 comprises stator and rotor, under the effect of each phase voltage that pole-changing portion 20 provides, electric current, is rotated.Current measuring element 12,13 is detecting the A phase and the C phase current i of the rectangular coordinate of motor 11 stators respectively
As, i
CsAfter the rotor position that coordinate converting section 14 receives from speed estimation part 15, according to rotor position, A phase and C phase current i
As, i
CsConvert polar field supply i to
DsWith torque current i
QsTorque current i
QsThan field supply i
Ds90 ° of phase lags.Speed estimation part 15 receives polar field supply i
DsWith torque current i
QsAfter, extrapolate the speed calculation value ω relevant with polar induction coefficient
e, and the position θ of rotor.The speed value ω that speed controlling portion 16 receives by input terminal
*With speed calculation value ω
e, and generate polar torque current command value i in view of the above
Qs *Field weakening apparatus control part 17 inbound pacing reckoning value ω
eAfter, according to the current-order software that has stored, produce polar field supply command value i
Ds *Current control division 18 has received the polar torque current command value i from speed controlling portion 16
Qs *, from polar flux current instruction value i of field weakening apparatus control part 17
Ds *And polar field supply i
DsWith torque current i
Qs, they are converted to torque voltage instruction value V respectively
Qs *With magnetic field voltage instruction value V
Ds *Voltage generating unit 19 receives torque voltage instruction value V
Qs *, magnetic field voltage instruction value V
Ds *And rotor position, they are converted to three-phase voltage command value V
As, V
Bs, V
CsPole-changing portion 20 is according to three-phase voltage command value V
As, V
Bs, V
Cs, connect three phase mains for the stator of giving motor 11, be transformed into the pulse-width modulation time.
When more causing power voltage insufficient on the motor because of the motor high speed rotating, field weakening apparatus control part 17 is benchmark in order to carry out the control on the field weakening apparatus state to deposit current-order software, and speed calculation value ω
eThe field supply command value i of proportional relation
Ds *, as the D shaft current, and be transformed into negative value, output to current control division 18.
Fig. 2 is the current-order software that the field weakening apparatus control part of Fig. 1 utilizes.As shown in Figure 2, in the existing current-order software, as speed calculation value ω
eSurpass certain speed ω
pThe time, with negative value generation negative growth.
Comprise speed omega
pCurrent-order software be to be the software of benchmark with the parameter of electric machine, ignore the parametric variables that influence brought such as temperature, no matter the present load state how, all uses to be suitable for a fixed load and even full load software.Therefore working as load condition is changed to non-loaded or fractional load, the speed control unit of prior art can not feed optimal voltage to motor, might cause occurring excessive electric current and consume electric power, and when high speed rotating, also might produce the electromagnetic noise of motor.
Summary of the invention
Technical problem to be solved by this invention is, provide a kind of speed control unit and method of dc brushless motor, under the condition of not using immobilization software, according to the velocity variations relevant with load, processing speed command value and speed calculation value are carried out field weakening apparatus control.
Another technical problem to be solved by this invention is, a kind of speed control unit and method of dc brushless motor are provided, by the required state of clear and definite field weakening apparatus control, carry out field weakening apparatus control in optimal period, and in finishing control in optimal period.
Another technical problem to be solved by this invention is, a kind of speed control unit and method of dc brushless motor is provided, and allows the electric current of D axle obtain optimization, reduces current drain, saves electric energy and reduces noise.
For the technical solution problem, the technical solution used in the present invention is:
The invention provides a kind of speed control unit of dc brushless motor, comprise coordinate converting section 34, position and speed reckoning portion 35, speed controlling portion 36, current control division 38, handling part 37, coordinate converting section 34 is according to the position of rotor, the phase current of the rectangular coordinate of motor, by Coordinate Conversion, be transformed into polar field supply i
DsWith torque current i
Qs, position and speed reckoning portion 35 receives polar field supply i
DsWith torque current i
Qs, extrapolate the speed calculation value ω of the motor relevant with polar induction coefficient
eAnd rotor position, speed controlling portion 36 is by handling the speed value ω from the outside
e *With speed calculation value ω
e, produce polar current instruction value i
Ds *, i
Qs *, current control division 38 converts current instruction value to magnetic field voltage instruction value V
Ds *With torque voltage instruction value V
Qs *, handling part 37 bases and magnetic field voltage instruction value V
Ds *With torque voltage instruction value V
Qs *Relevant connection voltage V
sAnd/or speed value ω
e *, allow speed controlling portion 36 in nominal torque control and field weakening apparatus control, select an execution.And this handling part 37 calculates the formula of connecting voltage and is
This handling part 37 is relatively connected voltage V
sDeposited the maximum voltage V that connects
MaxAfter, when connecting voltage V
sConnect voltage V less than maximum
MaxThe time, carry out nominal torque control, when connecting voltage V
sConnect voltage V greater than maximum
MaxThe time, carry out field weakening apparatus control.This handling part 37 is by allowing speed controlling portion 36 produce torque current command value i
Qs *, and make field supply command value i
Ds * Be 0, carry out nominal torque control, by allowing speed controlling portion 36 produce field supply command value i
Ds *, and make torque current command value i
Qs *Be breakdown torque current instruction value i
Q.max, carry out field weakening apparatus control.Speed calculation value ω when this handling part 37 is controlled the beginning field weakening apparatus
eSave as field weakening apparatus control rate ω
wThis handling part 37 is carried out in the process of field weakening apparatus control, as speed value ω
e *Less than field weakening apparatus control rate ω
wThe time, finish field weakening apparatus control, carry out nominal torque control, as speed value ω
e *Greater than field weakening apparatus control rate ω
wThe time, continue to carry out field weakening apparatus control.
The speed control unit of a kind of dc brushless motor of the present invention, form by coordinate converting section 34, position and speed reckoning portion 35, the first speed controlling portion 36a, second speed control part 36b, current control division 38, coordinate converting section 34 is according to the position of rotor, the phase current of the rectangular coordinate of motor, be transformed into polar field supply i
DsWith torque current i
Qs, position and speed reckoning portion 35 receives polar field supply i
DsWith torque current i
Qs, extrapolate the speed calculation value ω of the motor relevant with polar induction coefficient
eAnd rotor position, the first speed controlling portion 36a basis and magnetic field voltage instruction value V
Ds *With torque voltage instruction value V
Qs *Relevant connection voltage V
sAnd/or speed value ω
e *, handle speed value ω from the outside
e *With speed calculation value ω
e, produce polar field supply command value i
Ds *, second speed control part 36b is according to connecting voltage V
sAnd/or speed value ω
e *, processing speed command value ω
e *With speed calculation value ω
e, produce polar torque current command value i
Qs *, current control division 38 is field supply command value i
Ds *, and torque current command value i
Qs *Convert magnetic field voltage instruction value V respectively to
Ds *With torque voltage instruction value V
Qs *And this first speed controlling portion 36a and second speed control part 36b calculate and connect voltage V
sFormula be
As described connection voltage V
sConnect voltage V less than maximum
MaxThe time, this first speed controlling portion 36a and second speed control part 36b carry out nominal torque control, when connecting voltage V
sConnect voltage V greater than maximum
MaxThe time, the first speed controlling portion 36a and second speed control part 36b carry out field weakening apparatus control.When carrying out nominal torque control, this first speed controlling portion 36a is by producing torque current command value i
Qs *, second speed control part 36b makes field supply command value i
Ds * Be 0, when carrying out field weakening apparatus control, second speed control part 36b produces field supply command value i
Ds *, the first speed controlling portion 36a makes torque current command value i
Qs *Be breakdown torque current instruction value i
Q.maxSimultaneously, the first speed controlling portion 36a and second speed control part 36b, the speed calculation value ω during field weakening apparatus control beginning
eSave as field weakening apparatus control rate ω
wThis first control part 36a and second speed control part 36b carry out in the field weakening apparatus control procedure, as speed value ω
e *Less than field weakening apparatus control rate ω
wThe time, finish field weakening apparatus control, carry out nominal torque control, as speed value ω
e *Greater than field weakening apparatus control rate ω
wThe time, continue to carry out field weakening apparatus control.In addition, the first speed controlling portion 36a and second speed control part 36b form a speed controlling portion 36c.
The invention provides the method for control speed of another kind of dc brushless motor, the method for control speed of this dc brushless motor comprises that detection-phase, Coordinate Conversion stage, reckoning stage, electric current assignment phase, electric current keep stage and voltage assignment phase, at detection-phase, detect the electric current of the rectangular coordinate of motor, in the Coordinate Conversion stage, according to the position of rotor,, be transformed into polar field supply i the current detection value of rectangular coordinate
DsWith torque current i
Qs, in the reckoning stage, according to polar field supply i
DsWith torque current i
Qs, calculate the speed calculation value ω of the motor relevant with polar induction coefficient
eAnd rotor position, in the electric current assignment phase, according to magnetic field voltage instruction value V
Ds *With torque voltage instruction value V
Qs *Relevant connection voltage V
sAnd/or speed value ω
e *, handle speed value ω from the outside
e *With speed calculation value ω
e, at polar torque current command value i
Qs *With field supply command value i
Ds *Between select a generation, keep the stage at electric current, allow remaining current instruction value keep normal value, in the voltage assignment phase, current instruction value is converted to magnetic field voltage instruction value V
Ds *With torque voltage instruction value V
Qs *And this connects voltage V
sThe formula that calculates is
When this connects voltage V
sConnect voltage V less than maximum
MaxThe time, stage of development produces torque current command value i
Qs *, the maintenance stage makes field supply command value i
Ds * Be 0, carry out nominal torque control, when connecting voltage V
sConnect voltage V greater than maximum
MaxThe time, stage of development produces field supply command value i
Ds *, the maintenance stage makes torque current command value i
Qs *Be breakdown torque current instruction value i
Q.max, carry out field weakening apparatus control.Speed calculation value ω when the method for control speed of this dc brushless motor is controlled the beginning field weakening apparatus
eStore into field weakening apparatus control rate ω
wWhen carrying out field weakening apparatus control, as this speed value ω
e *Less than field weakening apparatus control rate ω
wThe time, method finishes field weakening apparatus control, carries out nominal torque control, as speed value ω
e *Greater than field weakening apparatus control rate ω
wThe time, continue to carry out field weakening apparatus control.
The invention provides a kind of method for control speed of dc brushless motor, the method for control speed of this dc brushless motor, comprise detection-phase, Coordinate Conversion stage, reckoning stage, electric current assignment phase and voltage assignment phase, detect the phase current of the rectangular coordinate of motor at detection-phase, in the position of Coordinate Conversion stage according to rotor, the phase current detected value of rectangular coordinate,, be transformed into polar field supply i by Coordinate Conversion
DsWith torque current i
Qs, the reckoning stage according to polar field supply i
DsWith torque current i
Qs, extrapolate the speed calculation value ω of the motor relevant with polar induction coefficient
eAnd rotor position, in the electric current assignment phase, according to magnetic field voltage instruction value V
Ds *With torque voltage instruction value V
Qs *Relevant connection voltage V
sAnd/or speed value ω
e *, handle speed value ω from the outside
e *With speed calculation value ω
e, produce polar torque current command value i respectively
Qs *With field supply command value i
Ds *,, current instruction value is converted to magnetic field voltage instruction value V in the voltage assignment phase
Ds *With torque voltage instruction value V
Qs *This connects voltage V
sComputing formula be
When this connects voltage V
sConnect voltage V less than maximum
MaxThe time, stage of development produces torque current command value i
Qs *And make field supply command value i
Ds * Be 0, carry out nominal torque control, when connecting voltage V
sConnect voltage V greater than maximum
MaxThe time, stage of development produces field supply command value i
Ds *, and make torque current command value i
Qs *Be breakdown torque current instruction value i
Q.max, carry out field weakening apparatus control.Speed calculation value ω when the method for control speed of this dc brushless motor is controlled the beginning field weakening apparatus
eStore into field weakening apparatus control rate ω
wWhen carrying out field weakening apparatus control, as this speed value ω
e *Less than field weakening apparatus control rate ω
wThe time, the method for control speed of described dc brushless motor finishes field weakening apparatus control, carries out nominal torque control, as speed value ω
e *Greater than field weakening apparatus control rate ω
wThe time, the method for control speed of dc brushless motor continues to carry out field weakening apparatus control.
The invention has the beneficial effects as follows:
The present invention does not use fixed form software, but according to the speed relevant with load condition, processing speed command value and speed calculation value are carried out field weakening apparatus control.
The present invention can begin and finish field weakening apparatus control by clearly needing to carry out the state of field weakening apparatus control on optimal time point.
In addition, the present invention can produce optimal electric current on the D axle, reduces power consumption, and then can reduce noise.
Description of drawings
Fig. 1 is the block diagram of the speed control unit of prior art dc brushless motor
Fig. 2 is the current-order software that the field weakening apparatus control part of Fig. 1 utilizes
Fig. 3 is the first embodiment block diagram of the speed control unit of dc brushless motor of the present invention
Fig. 4 a is the nominal torque control action example of speed control unit of the dc brushless motor of Fig. 3
Fig. 4 b is the magnetic field control action example of speed control unit of the dc brushless motor of Fig. 3
Fig. 5 is the flow chart of the method for control speed of dc brushless motor of the present invention
Fig. 6 a is the second embodiment part block diagram of the speed control unit of dc brushless motor of the present invention
Fig. 6 b moves example for second embodiment of the speed control unit of dc brushless motor of the present invention
Fig. 7 a is the phase current waveform figure of the speed control unit of prior art dc brushless motor
Fig. 7 b is the phase current waveform figure of the speed control unit of dc brushless motor of the present invention
Fig. 8 is that the noise curve of prior art dc brushless motor and dc brushless motor of the present invention compares schematic diagram
Fig. 9 is the second embodiment schematic diagram of the phase current waveform of the speed control unit of dc brushless motor of the present invention
Wherein:
30: speed control unit 31: motor
32,33: current detecting part 34: coordinate converting section
35: position and speed reckoning portion 36: speed controlling portion
37: handling part 38: current control division
39: voltage control division 40: pole-changing portion
Embodiment
Below in conjunction with the drawings and specific embodiments to the speed control unit of dc brushless motor of the present invention with and method be described in further detail:
Fig. 3 is the speed control unit first embodiment block diagram of dc brushless motor of the present invention.
As shown in Figure 3, speed control unit 30 of the present invention is made up of motor 31, current measuring element 32,33, coordinate converting section 34, position and speed reckoning portion 35, speed controlling portion 36, handling part 37, current control division 38, voltage generating unit 39, pole-changing portion 40.Motor 31 has stator and rotor, under the effect of each phase voltage that pole-changing portion 40 provides, electric current, is rotated.Current measuring element 32,33 detects the A phase and the C phase current i of the rectangular coordinate of motor 31 stators respectively
As, i
CsAfter coordinate converting section 34 receives the rotor position that position and speed reckoning portion 35 transmits, according to rotor position, mutually and C phase current i A
As, i
CsConvert polar field supply i to
DsWith torque current i
QsTorque current i
QsThan field supply i
Ds90 ° of phase lags.Position and speed reckoning portion 35 receives polar field supply i
DsWith torque current i
QsAfter, extrapolate the speed calculation value ω of the motor relevant with polar induction coefficient
ePosition θ with rotor.The speed value ω that speed controlling portion 36 receives by input terminal
e *With speed calculation value ω
e, generate polar torque current command value i in view of the above
Qs *And/or polar field supply command value i
Ds *Handling part 37 and magnetic field voltage instruction value V
Ds *With torque voltage instruction value V
Qs *Relevant connection voltage V
sAnd/or the speed calculation value, select speed controlling portion 36 to carry out nominal torque control and field weakening apparatus control in view of the above.Current control division 38 is according to the polar torque current command value i from speed controlling portion 36 and/or handling part 37
Qs *With flux current instruction value i
Ds *, and polar field supply i
DsWith torque current i
Qs, they are converted to torque voltage instruction value V respectively
Qs *With magnetic field voltage instruction value V
Ds * Voltage generating unit 39 receives torque voltage instruction value V
Qs *, magnetic field voltage instruction value V
Ds *And rotor position, convert thereof into three-phase voltage command value V
As, V
Bs, V
CsPole-changing portion 40 is according to three-phase voltage command value V
As, V
Bs, V
Cs, connect three phase mains for the stator of giving motor 31, be transformed into the pulse-width modulation time.Here, all parts of other except that pole-changing portion 40 can both exist with form of software, and are controlled by microprocessor.
This coordinate converting section 34, position and speed reckoning portion 35, current control division 38, voltage control division 39, pole-changing portion 40 carry out and the identical process of speed control unit 10 of Fig. 1.Below, with reference to accompanying drawing 4a and 4b, speed controlling portion 36 and handling part 37 to being different from prior art are elaborated.
Here, connect voltage V
sThe formula of definition is
Fig. 4 a and Fig. 4 b are the speed control unit action example of Fig. 3.
Among Fig. 4 a, handling part 37 allows speed controlling portion 36 processing speed command value ω
e *With speed calculation value ω
e, produce polar torque current command value i
Qs *, it is outputed to current control division 38, carry out nominal torque control.When control part 37 is carried out nominal torque control, make polar field supply command value i
Ds *Be 0.
Among Fig. 4 b, handling part 37 allows speed controlling portion 36 processing speed command value ω
e *With speed calculation value ω
e, produce polar field supply command value i
Ds *, it is outputed to current control division 38, carry out field weakening apparatus control.Handling part 37 allows torque current command value i
Qs *Keep certain fixed value breakdown torque current instruction value i
Q.max, and torque current command value i
Qs *Output to current control division 38.Here, breakdown torque current instruction value i
Q.maxBe the maximum command value on the Q axle, adopt the value that has stored.
As shown in Figure 5, processing means 37 according to above-mentioned judgement, are carried out the process of nominal torque control and field weakening apparatus control, be elaborated.Fig. 5 is the method for control speed flow chart of dc brushless motor of the present invention.
Among the stage S61, polar torque voltage instruction value V that handling part 37 received current control parts 38 produce
Qs *With magnetic field voltage instruction value V
Ds *, calculate connection voltage V by formula 1
s
Among the stage S62, handling part 37 judges whether the field supply command value is 0, confirms whether field weakening apparatus state of a control of current state.When the field supply command value is 0, then conclude the current nominal torque state of a control that is in, when the field supply command value is 1, then conclude the current field weakening apparatus state of a control that is in.
Among the stage S63, if current state is the nominal torque state of a control, then handling part 37 is judged connection voltage V
sWhether connect voltage V greater than maximum
MaxThis maximum is connected voltage V
MaxOrdinary representation dc brushless motor 31 can carry out the maximum voltage of Linear Control.When connecting voltage V
sConnect voltage V greater than maximum
Max, mean that then requirement carries out high-speed cruising, enter stage S64, otherwise execution phase S66 continues to carry out current nominal torque control.
Among the stage S64, handling part 37 is set at 1 to the field supply command value, represents the control of current execution field weakening apparatus, and at this moment speed calculation value ω
eStore into field weakening apparatus control rate ω
w
Among the stage S65, handling part 37 is carried out field weakening apparatus control.
Among the stage S67, when carrying out field weakening apparatus control, handling part 37 is current speed value ω
e *With the field weakening apparatus speed omega
wCompare, as speed value ω
e *Less than field weakening apparatus control rate ω
wThe time, execution phase S68 makes that the field supply command value is 0.Then, enter stage S69, finish field weakening apparatus control, and enter stage S66, carry out nominal torque control.As speed value ω
e *Greater than field weakening apparatus control rate ω
wThe time, continue to carry out current field weakening apparatus control.
Fig. 6 a and Fig. 6 b are part block diagram and the action example of speed control unit second embodiment of dc brushless motor of the present invention.
The technique for displaying feature is not identical with Fig. 3 among Fig. 6 a, and current control division 38 is also identical with Fig. 3.Speed controlling portion 36 and handling part 37 before having substituted with the first speed controlling portion 36a and second speed control part 36b only.The first speed controlling portion 36a is according to speed calculation value ω
e, handle speed value ω from the outside
e *With speed calculation value ω
e, produce polar torque current command value i
Qs *Second speed control part 36b is according to speed calculation value ω
e, processing speed command value ω
e *With speed calculation value ω
e, produce polar field supply command value i
Ds *
In addition, the first and second speed controlling portion 36a, 36b carry out more than some among each stage S61, S62 that handling part 37 carries out, S63, S64, S67, S68, the S69 at least, judge the time point that needs beginning or finish field weakening apparatus control.Judge that in view of the above the first speed controlling portion 36a and second speed control part 36b carry out field weakening apparatus control and nominal torque control in stage S65, S66.
When carrying out field weakening apparatus control, the first speed controlling portion 36a processing speed command value ω
e *With speed calculation value ω
e, generation has certain breakdown torque current instruction value i
Q.maxTorque current command value i
Qs *, and second speed control part 36b processing speed command value ω
e *With speed calculation value ω
e, produce polar field supply command value i
Ds *, it is passed to current control division 38.
When carrying out nominal torque control, the first speed controlling portion 36a processing speed command value ω
e *With speed calculation value ω
e, produce polar torque current command value i
Qs *, it is passed to current control division 38.Second speed control part 36b generation size is polar field supply command value i of 0
Ds *
Among Fig. 6 b, the first speed controlling portion 36a and second speed control part 36b consist of a speed controlling portion 36c, and the work that the speed controlling portion 36 of Fig. 3 and handling part 37 are carried out changes by carrying out by an element.Speed controlling portion 36c is judging the initial point and the terminal point of field weakening apparatus control, according to this judged result, carries out nominal torque control and field weakening apparatus control.
Fig. 7 a, Fig. 7 b are the speed control unit phase current waveform and the speed control unit phase current waveform comparison diagram of the present invention of prior art.These waveforms are speed calculation ω under the non-loaded state
eThe waveform of measuring when changeing for per minute 1600.
Shown in Fig. 7 a, Fig. 7 b, when adopting speed control unit of the present invention, the value of its phase current is than the speed control unit phase current lower slightly 20% of prior art.This shows that when speed was identical, power consumption significantly descended.Particularly, the speed control unit of prior art has adopted the control method at the maximum load state.Therefore, under no-load condition, excessive power consumption can appear.On the contrary, speed control unit of the present invention is controlled according to the speed calculation value by control method, has reduced power consumption to greatest extent.
Fig. 8 is the noise curve schematic diagram of prior art dc brushless motor and dc brushless motor of the present invention.As shown in Figure 8, when pressing the high-speed cruising more than per minute 1400 commentaries on classics, the noise that dc brushless motor of the present invention produces is compared with prior art, and maximum can reduce about 2 decibels.This is because the effect that the reduction electric current shown in Fig. 6 b is produced.
Fig. 9 is the speed control unit phase current waveform second embodiment schematic diagram of the present invention.Shown in 9 figure, the phase current of motor 31 has demonstrated stable waveform for a long time.The noise that this stable waveform can reduce power consumption and quicken to be produced.
Scope of the present invention is not limited to embodiment, and the scope of the present invention should be as the criterion with the claim scope and make an explanation.
Claims (23)
1, a kind of speed control unit of dc brushless motor, it is characterized by: the speed control unit of described dc brushless motor comprises coordinate converting section (34), position and speed reckoning portion (35), speed controlling portion (36), current control division (38), handling part (37), coordinate converting section (34) is according to the position of rotor, the phase current of the rectangular coordinate of motor (31), be transformed into polar field supply (i
Ds) and torque current (i
Qs), position and speed reckoning portion (35) receives polar field supply (i
Ds) and torque current (i
Qs), extrapolate the speed calculation value (ω of the motor relevant with polar induction coefficient
e) and rotor-position (θ), speed controlling portion (36) is by handling the speed value (ω from the outside
e *) and speed calculation value (ω
e), produce polar current instruction value (i
Ds *, i
Qs *), current control division (38) converts current instruction value to magnetic field voltage instruction value (V
Ds *) and torque voltage instruction value (V
Qs *), handling part (37) basis and magnetic field voltage instruction value (V
Ds *) and torque voltage instruction value (V
Qs *) relevant connection voltage (V
s) and/or speed value (ω
e *), allow speed controlling portion (36) in nominal torque control and field weakening apparatus control, select an execution.
2, the speed control unit of dc brushless motor according to claim 1 is characterized by: described handling part (37) calculates connects voltage (V
s) formula be
3, the speed control unit of dc brushless motor according to claim 2 is characterized by: described handling part (37) is relatively connected voltage (V
s) and deposited the maximum voltage (V that connects
Max) after, when connecting voltage (V
s) connect voltage (V less than maximum
Max) time, then carry out nominal torque control, when connecting voltage (V
s) connect voltage (V greater than maximum
Max) time, carry out field weakening apparatus control.
4, the speed control unit of dc brushless motor according to claim 3 is characterized by: described handling part (37) is by allowing speed controlling portion (36) produce torque current command value (i
Qs *), and make field supply command value (i
Ds *) be 0, carry out nominal torque control, by allowing speed controlling portion (36) produce field supply command value (i
Ds *), and make torque current command value (i
Qs *) be breakdown torque current instruction value (i
Q.max), carry out field weakening apparatus control.
5, the speed control unit of dc brushless motor according to claim 4 is characterized by: the speed calculation value (ω of described handling part (37) during the beginning of field weakening apparatus control
e) save as field weakening apparatus control rate (ω
W).
6, the speed control unit of dc brushless motor according to claim 5 is characterized by: described handling part (37) is carried out in the process of field weakening apparatus control, as speed value (ω
e *) less than field weakening apparatus control rate (ω
W) time, then finish field weakening apparatus control, carry out nominal torque control, as speed value (ω
e *) greater than field weakening apparatus control rate (ω
W) time, then continue to carry out field weakening apparatus control.
7, a kind of speed control unit of dc brushless motor, it is characterized by: the speed control unit of described dc brushless motor is made up of coordinate converting section (34), position and speed reckoning portion (35), first speed controlling portion (36a), second speed control part (36b), current control division (38), coordinate converting section (34) is according to the position of rotor, the phase current of the rectangular coordinate of motor (31), be transformed into polar field supply (i
Ds) and torque current (i
Qs), position and speed reckoning portion (35) receives polar field supply (i
Ds) and torque current (i
Qs), extrapolate the speed calculation value (ω of the motor relevant with polar induction coefficient
e) and rotor-position (θ), first speed controlling portion (36a) basis and magnetic field voltage instruction value (V
Ds *) and torque voltage instruction value (V
Qs *) relevant connection voltage (V
s) and/or speed value (ω
e *), handle speed value (ω from the outside
e *) and speed calculation value (ω
e), produce polar field supply command value (i
Ds *), second speed control part (36b) is according to connecting voltage (V
s) and/or speed value (ω
e *), processing speed command value (ω
e *) and speed calculation value (ω
e), produce polar torque current command value (i
Qs *), current control division (38) is field supply command value (i
Ds *) and torque current command value (i
Qs *) convert magnetic field voltage instruction value (V respectively to
Ds *) and torque voltage instruction value (V
Qs *).
8, the speed control unit of dc brushless motor according to claim 7 is characterized by: described first speed controlling portion (36a) and second speed control part (36b) calculate connects voltage (V
s) formula be
9, the speed control unit of dc brushless motor according to claim 8 is characterized by: as described connection voltage (V
s) connect voltage (V less than maximum
Max) time, described first speed controlling portion (36a) and second speed control part (36b) are carried out nominal torque control, when connecting voltage (V
s) connect voltage (V greater than maximum
Max) time, first speed controlling portion (36a) and second speed control part (36b) are carried out field weakening apparatus control.
10, the speed control unit of dc brushless motor according to claim 9 is characterized by: when carrying out nominal torque control, described first speed controlling portion (36a) is by producing torque current command value (i
Qs *), second speed control part (36b) makes field supply command value (i
Ds *) be 0, when carrying out field weakening apparatus control, second speed control part (36b) produces field supply command value (i
Ds *), first speed controlling portion (36a) makes torque current command value (i
Qs *) be breakdown torque current instruction value (i
Q.max).
11, according to the speed control unit of claim 9 or 10 described dc brushless motors, it is characterized by: described first speed controlling portion (36a) and second speed control part (36b), the speed calculation value (ω during the control of beginning field weakening apparatus
e) store into field weakening apparatus control rate (ω
W).
12, the speed control unit of dc brushless motor according to claim 11 is characterized by: carry out in the process of field weakening apparatus control, as speed value (ω at described first control part (36a) and second speed control part (36b)
e *) less than field weakening apparatus control rate (ω
W) time, finish field weakening apparatus control, and carry out nominal torque control, as speed value (ω
e *) greater than field weakening apparatus control rate (ω
W) time, continue to carry out field weakening apparatus control.
13, according to the speed control unit of any one described dc brushless motor in the claim 7 to 10, it is characterized by: described first speed controlling portion (36a) and second speed control part (36b) are formed a speed controlling portion (36c).
14, a kind of method for control speed of dc brushless motor, it is characterized by: the method for control speed of described dc brushless motor comprises that detection-phase, Coordinate Conversion stage, reckoning stage, electric current assignment phase, electric current keep stage and voltage assignment phase, at detection-phase, detect the electric current of the rectangular coordinate of motor, in the Coordinate Conversion stage, according to the position of rotor,, be transformed into polar field supply (i the current detection value of rectangular coordinate
Ds) and torque current (i
Qs), in the reckoning stage, according to polar field supply (i
Ds) and torque current (i
Qs), calculate the speed calculation value (ω of the motor relevant with polar induction coefficient
e) and rotor-position (θ), in the electric current assignment phase, according to magnetic field voltage instruction value (V
Ds *) and torque voltage instruction value (V
Qs *) relevant connection voltage (V
s) and/or speed value (ω
e *), handle speed value (ω from the outside
e *) and speed calculation value (ω
e), at polar torque current command value (i
Qs *) and field supply command value (i
Ds *) between select a generation, keep the stage at electric current, allow remaining current instruction value keep normal value, in the voltage assignment phase, current instruction value is converted to magnetic field voltage instruction value (V
Ds *) and torque voltage instruction value (V
Qs *).
15, the method for control speed of dc brushless motor according to claim 14 is characterized by: described connection voltage (V
s) formula that calculates is
16, the method for control speed of dc brushless motor according to claim 15 is characterized by: as described connection voltage (V
s) connect voltage (V less than maximum
Max) time, stage of development produces torque current command value (i
Qs *), the maintenance stage makes field supply command value (i
Ds *) be 0, carry out nominal torque control, when connecting voltage (V
s) connect voltage (V greater than maximum
Max) time, then stage of development produces field supply command value (i
Ds *), the maintenance stage makes torque current command value (i
Qs *) be breakdown torque current instruction value (i
Q.max), carry out field weakening apparatus control.
17, the method for control speed of dc brushless motor according to claim 16 is characterized by: the speed calculation value (ω of the method for control speed of described dc brushless motor during the beginning of field weakening apparatus control
e) store into field weakening apparatus control rate (ω
W).
18, the method for control speed of dc brushless motor according to claim 17 is characterized by: when carrying out field weakening apparatus control, as described speed value (ω
e *) less than field weakening apparatus control rate (ω
w) time, then method finishes field weakening apparatus control, carries out nominal torque control, as speed value (ω
e *) greater than field weakening apparatus control rate (ω
W) time, then method continues to carry out field weakening apparatus control.
19, a kind of method for control speed of dc brushless motor, it is characterized by: the method for control speed of described dc brushless motor, comprise detection-phase, Coordinate Conversion stage, reckoning stage, electric current assignment phase and voltage assignment phase, detect the phase current of the rectangular coordinate of motor at detection-phase, in the position of Coordinate Conversion stage according to rotor, the phase current detected value of rectangular coordinate, be transformed into polar field supply (i
Ds) and torque current (i
Qs), the reckoning stage according to polar field supply (i
Ds) and torque current (i
Qs), extrapolate the speed calculation value (ω of the motor relevant with polar induction coefficient
e) and rotor-position (θ), in the electric current assignment phase, according to magnetic field voltage instruction value (V
Ds *) and torque voltage instruction value (V
Qs *) relevant connection voltage (V
s) and/or speed value (ω
e *), handle speed value (ω from the outside
e *) and speed calculation value (ω
e), produce polar torque current command value (i respectively
Qs *) and field supply command value (i
Ds *), in the voltage assignment phase, current instruction value is converted to magnetic field voltage instruction value (V
Ds *) and torque voltage instruction value (V
Qs *).
20, the method for control speed of dc brushless motor according to claim 19 is characterized by: described connection voltage (V
s) computing formula be
21, the method for control speed of dc brushless motor according to claim 20 is characterized by: when connecting voltage (V
s) connect voltage (V less than maximum
Max) time, stage of development produces torque current command value (i
Qs *) and make field supply command value (i
Ds *) be 0, carry out nominal torque control, when connecting voltage (V
s) connect voltage (V greater than maximum
Max) time, stage of development produces field supply command value (i
Ds *), and make torque current command value (i
Qs *) be breakdown torque current instruction value (i
Q.max), carry out field weakening apparatus control.
22, the method for control speed of dc brushless motor according to claim 21 is characterized by: the speed calculation value (ω the when method for control speed of described dc brushless motor is controlled the beginning field weakening apparatus
e) store into field weakening apparatus control rate (ω
W).
23, the method for control speed of dc brushless motor according to claim 21 is characterized by: when carrying out field weakening apparatus control, as speed value (ω
e *) less than field weakening apparatus control rate (ω
W) time, the method for control speed of described dc brushless motor finishes field weakening apparatus control, carries out nominal torque control, as speed value (ω
e *) greater than field weakening apparatus control rate (ω
W) time, the method for control speed of dc brushless motor continues to carry out field weakening apparatus control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2004100724442A CN1767356A (en) | 2004-10-27 | 2004-10-27 | DC brushless motor speed control device and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2004100724442A CN1767356A (en) | 2004-10-27 | 2004-10-27 | DC brushless motor speed control device and its method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1767356A true CN1767356A (en) | 2006-05-03 |
Family
ID=36743014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2004100724442A Pending CN1767356A (en) | 2004-10-27 | 2004-10-27 | DC brushless motor speed control device and its method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1767356A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101399514B (en) * | 2007-07-26 | 2012-09-05 | 包米勒公司 | System for determining the position and speed for a permanent magnet rotor of an electric machine |
-
2004
- 2004-10-27 CN CNA2004100724442A patent/CN1767356A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101399514B (en) * | 2007-07-26 | 2012-09-05 | 包米勒公司 | System for determining the position and speed for a permanent magnet rotor of an electric machine |
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