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WO2016017880A1 - Procédé de compensation d'erreur de position de rotor en utilisant un courant de modélisation de moteur à courant continu sans balai sans détecteur de position - Google Patents

Procédé de compensation d'erreur de position de rotor en utilisant un courant de modélisation de moteur à courant continu sans balai sans détecteur de position Download PDF

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Publication number
WO2016017880A1
WO2016017880A1 PCT/KR2015/000369 KR2015000369W WO2016017880A1 WO 2016017880 A1 WO2016017880 A1 WO 2016017880A1 KR 2015000369 W KR2015000369 W KR 2015000369W WO 2016017880 A1 WO2016017880 A1 WO 2016017880A1
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WO
WIPO (PCT)
Prior art keywords
current
rotor
error component
speed
error
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Ceased
Application number
PCT/KR2015/000369
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English (en)
Korean (ko)
Inventor
김장목
김동윤
강정구
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University Industry Cooperation Foundation of Pusan National University
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University Industry Cooperation Foundation of Pusan National University
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Publication date
Application filed by University Industry Cooperation Foundation of Pusan National University filed Critical University Industry Cooperation Foundation of Pusan National University
Publication of WO2016017880A1 publication Critical patent/WO2016017880A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements

Definitions

  • the three-phase brushless DC motor (BLDC) ideally distributes the trapezoidal shape having a 120 ° phase difference as shown in FIG.
  • the switching time determination method using the back EMF constant is a method of calculating the speed by modeling the brushless DC motor in the controller, estimating the back EMF using the voltage equation, and then determining the switching time by calculating the back EMF constant. Since the counter electromotive force of the conduction section is flat, the ratio of counter electromotive force to rotor speed always has a constant value. Since the magnitude of the counter electromotive force is changed at the time of switching as shown in FIG. 3, the ratio of the counter electromotive force to the rotor speed is reduced. The position of the rotor is detected by detecting this time. Although sensorless control can be robust against error in measurement parameters without configuring additional hardware, a complicated equation and many effects of back EMF constants can cause a distorted current waveform to be set incorrectly.
  • An object of the present invention is to provide a rotor position error compensation method capable of operating stably and reliably by minimizing pulsation generated when driving a brushless DC motor without a position sensor.
  • the estimated rotor speed is integrated after a negative sign is applied to a current error component having a positive value in a 30 ° section after phase switching. It is characterized by compensating.
  • FIG. 8 is a graph and a flowchart for analyzing the amount of change in current when the actual rotor speed is faster than the estimated rotor speed.
  • Position error compensation method using the modeling current of the brushless DC motor without position sensor according to the embodiment of the present invention based on the current error component described above, the speed and actual rotation of the estimated rotor in the brushless DC motor without position sensor Measuring a current error component according to the speed of the electron, integrating after giving a sign to the current error component, obtaining a counter electromotive force error component using the integrated value, and then obtaining a speed error component of the rotor; Compensating the speed error component to the estimated rotor speed.
  • the current error component is determined by the position of the estimated rotor and the position error of the actual rotor, and whether the speed of the estimated rotor is faster than the speed of the actual rotor through the position where the current error component occurs. Or you can determine if it is slow.
  • a negative sign is applied to a current error component having a positive value in a 30 ° section after phase switching to integrate and compensate for the estimated rotor speed.
  • a positive sign is given before the phase inversion to the current error component having a positive value and a negative value in the 30 ° section before and after the phase inversion. Compensates the velocity of the estimated rotor after integrating with a negative sign. Therefore, accurate rotor position can be estimated.
  • the sixth harmonic can be generated by the following Equation 1, and as shown in FIG. 10, the part corresponding to the red (positive interval) of the sixth harmonic is given a sign of +1, and the blue (negative interval) The part corresponding to gives -1 to integrate the current error component.
  • ⁇ m is the estimation of the rotor position.
  • the rotor speed equation includes the estimated rotor speed as shown in Equation 2 below, reflecting that it is estimated to be smaller than the actual speed due to the error of current estimation modeling and the effect of reducing the switch conduction. .
  • n is the preset control operation period
  • e m is the recommended counter electromotive force
  • ⁇ e err is the counter electromotive force error component
  • K E is the counter electromotive force constant
  • the estimated rotor position including the error component is represented by the following equation (3).
  • the back electromotive force error component can be obtained as shown in Equation 5 by integrating the current error component by adding +1 or -1 as shown in Equation 4.
  • the rotor speed error can be calculated by the following equation.
  • ⁇ err is an angular velocity error compensation component.
  • Equation 6 The estimated rotor speed compensation is obtained by substituting Equation 6 into Equation 2 below.
  • an error between the estimated rotor speed and the actual rotor speed occurs, an error between the estimated rotor position and the actual rotor position occurs.
  • a current error occurs, and the current error component is integrated by giving a +1 or -1 sign to the current error component.
  • the back EMF error component is calculated by integrating the current error component, and the speed error component is calculated. By compensating the calculated speed error component, the error between the estimated rotor speed and the actual rotor speed can be reduced.
  • the current current changes according to the estimated rotor speed and the actual rotor speed ( ) And previous current ( Through the difference of) ) And the position at which the current error component occurs to determine whether the estimated rotor position precedes or falls behind the actual rotor position, thereby converging the steady state error resulting from the speed error. .
  • the present invention is applicable to the rotor position error compensation method using a modeling current of a brushless DC motor without a position sensor.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

La présente invention concerne un procédé de compensation d'erreur de position de rotor en utilisant un courant de modélisation de moteur à courant continu sans balai sans détecteur de position. La présente invention a pour objet de réaliser un procédé de compensation d'erreur de position de rotor qui minimise une impulsion générée au moment de l'excitation du moteur à courant continu sans balai sans détecteur de position de manière à permettre au moteur de fonctionner de façon stable et fiable. À cet effet, la présente invention comprend les étapes suivantes : mesure d'un composant d'erreur de courant en fonction d'une vitesse d'un rotor estimé et d'une vitesse d'un rotor réel dans un moteur à courant continu sans balai sans détecteur de position ; attribution d'un signe à la composante d'erreur de courant et ensuite intégration de la composante ; acquisition d'une composante d'erreur de force contre-électromotrice en utilisant la valeur intégrée et ensuite acquisition d'une composante d'erreur de vitesse du rotor ; et compensation de la vitesse du rotor estimé en fonction de la composante d'erreur de vitesse. La présente invention compense ainsi la vitesse du rotor estimé en fonction de la composante d'erreur de vitesse pour compenser l'erreur de position du rotor et peut ainsi minimiser une impulsion de vitesse et réaliser un fonctionnement stable et fiable.
PCT/KR2015/000369 2014-07-31 2015-01-14 Procédé de compensation d'erreur de position de rotor en utilisant un courant de modélisation de moteur à courant continu sans balai sans détecteur de position Ceased WO2016017880A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020140098215A KR101622970B1 (ko) 2014-07-31 2014-07-31 위치센서 없는 브러시리스 직류모터의 모델링 전류를 이용한 회전자 위치 오차 보상 방법
KR10-2014-0098215 2014-07-31

Publications (1)

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WO2016017880A1 true WO2016017880A1 (fr) 2016-02-04

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PCT/KR2015/000369 Ceased WO2016017880A1 (fr) 2014-07-31 2015-01-14 Procédé de compensation d'erreur de position de rotor en utilisant un courant de modélisation de moteur à courant continu sans balai sans détecteur de position

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KR (1) KR101622970B1 (fr)
WO (1) WO2016017880A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110601611A (zh) * 2019-08-29 2019-12-20 南京理工大学 补偿无刷直流电机反电动势常数的无位置控制系统
CN111555670A (zh) * 2020-04-13 2020-08-18 中国矿业大学 一种永磁无刷直流电机转子位置和速度估算方法
CN112104293A (zh) * 2019-06-18 2020-12-18 西北工业大学 一种不依赖电机参数的无刷直流电机内功角检测方法
CN112803851A (zh) * 2020-12-31 2021-05-14 北京航空航天大学 一种基于同步锁相的无刷直流电机换相误差提取方法
CN113411013A (zh) * 2021-07-14 2021-09-17 北京航空航天大学 反电动势函数积分预测的无刷直流电机控制系统及方法
CN113630047A (zh) * 2021-09-13 2021-11-09 北京航空航天大学 无刷直流电机的换相误差补偿系统及换相误差补偿方法

Citations (3)

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JP2004015891A (ja) * 2002-06-05 2004-01-15 Toshiba Corp インバータ装置、ブラシレスｄｃモータの制御方法およびコンプレッサ駆動システム
JP2005094995A (ja) * 2003-09-20 2005-04-07 Lg Electronics Inc モータの速度誤差補償装置
KR20140021145A (ko) * 2012-08-08 2014-02-20 부산대학교 산학협력단 위치센서 없는 브러시리스 직류모터 운전장치

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004015891A (ja) * 2002-06-05 2004-01-15 Toshiba Corp インバータ装置、ブラシレスｄｃモータの制御方法およびコンプレッサ駆動システム
JP2005094995A (ja) * 2003-09-20 2005-04-07 Lg Electronics Inc モータの速度誤差補償装置
KR20140021145A (ko) * 2012-08-08 2014-02-20 부산대학교 산학협력단 위치센서 없는 브러시리스 직류모터 운전장치

Non-Patent Citations (1)

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Title
KANG, JEONG GU: "For Control of BLDCM DC Current Model based Rotor Position Estimation Algorithm.", PUSAN NATIONAL UMVERSITY, August 2013 (2013-08-01), pages 32 - 38 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112104293A (zh) * 2019-06-18 2020-12-18 西北工业大学 一种不依赖电机参数的无刷直流电机内功角检测方法
CN110601611A (zh) * 2019-08-29 2019-12-20 南京理工大学 补偿无刷直流电机反电动势常数的无位置控制系统
CN111555670A (zh) * 2020-04-13 2020-08-18 中国矿业大学 一种永磁无刷直流电机转子位置和速度估算方法
CN111555670B (zh) * 2020-04-13 2022-02-15 中国矿业大学 一种永磁无刷直流电机转子位置和速度估算方法
CN112803851A (zh) * 2020-12-31 2021-05-14 北京航空航天大学 一种基于同步锁相的无刷直流电机换相误差提取方法
CN113411013A (zh) * 2021-07-14 2021-09-17 北京航空航天大学 反电动势函数积分预测的无刷直流电机控制系统及方法
CN113630047A (zh) * 2021-09-13 2021-11-09 北京航空航天大学 无刷直流电机的换相误差补偿系统及换相误差补偿方法
CN113630047B (zh) * 2021-09-13 2024-05-10 北京航空航天大学 无刷直流电机的换相误差补偿系统及换相误差补偿方法

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KR20160015675A (ko) 2016-02-15

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