无刷直流电机控制器的软件设计中英文翻译精.docx
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无刷直流电机控制器的软件设计中英文翻译精.docx
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无刷直流电机控制器的软件设计中英文翻译精
CommutationTorqueRippleReductioninBLDCMotorUsingPWM_ON_PWMMode
GuangweiMeng,HaoXiong,HuaishuLiDepartmentofElectricalEngineering,NavalUniversityofEngineering,Wuhan,China.
Abstract:
ThepaperanalyzesthesteadycommutationprocessoftheBLDCmotorusingPWMmode,confirmsthecommutationtimetokeepnoncommutationphasecurrentamplitudeconstantduringcommutationperiodbywayofPWMintheperiodtoimplementthecompensationcontroltoeliminatecommutationtorquerippleunderbothlowspeedandhighspeedoperation,investigatestheeffectbyPWMmodeonathree-phasesix-state120°turn-onBLDCmotor,andpresentstorqueripplecompensationcontrolinPWM_ON_PWMmode,whichcannotonlyentirelyeliminatetorquerippleresultedfromthecurrentemergingintheturn-offphaseduringnon-commutationperiodbutalsocompensatetorqueripplecausedbythecommutationcurrentduringcommutationperiod.
IndexTerms—BLDCmotor,commutation,PWM,torqueripple.
I.INTRODUCTION
TheBLDCmotorshavebeenwidelyusedduetoitsfeatures-asimplestructure,goodspeedadjustingperformance,highpowerdensity,lownoiseandsimplecontrol,etc.ItisahotspottosuppressthetorquerippleandimprovethecontrolperformanceofaBLDCmotorwiththetrapezoidalbackemf.
BLDCmotorsusuallyoperateinallkindsofPWMmodes,whichnotonlyaffectthedynamiclossofpowerswitchesandradiationuniformity,butalsoinfluencethetorqueripple.Itisaneffectivewaytosuppressthetorqueripplethroughchangingdcbuschoppercontroltoremainnon-commutationphasecurrentamplitudeconstant,butitresultsintoamorecomplextopology[1]-[3].Itisjustfitforlowspeedapplicationstocontrolnon-commutationphasecurrentamplitudetoregulatethecommutationtorqueripple.ItisanalyzedabouttheinfluenceresultedfromPWMONmodeonthetorqueripple.Theideasin[1]-[3]aretoadoptdifferentsuppressionmethodsindifferentspeedinterval,buttheydon’ttaketheeffectbyPWMmodesonthesystem
inaccount.Thepredictivecurrent,neuralnetworkcontrolandactivedisturbancerejectioncontroletcareintroducedtosuppressthetorqueripple,butthecontrolalgorithmismorecomplicatedandharderforrealization.
DependingonthecommutationprocessofBLDCmotorsandtheeffectbyPWMmodesonthesystem,thepaperpresentsatorqueripplecom-pensationcontrolinPWM_ON_PWMmodeatdifferentspeedsbyseekingdifferentPWMmodulationratiosduringcommutationperiodasmotorrunsatlowspeedandhighspeed.Themethodretainstheoriginalto-pology,improvesthecontrolperformanceofthesystemdramatically,andmoreoveriseasytorealize.
II.ELECTROMAGNETICTORQUEOFBLDCMOTOR
DURINGCOMMUTATIONPROCESS
AssumethattheBLDCmotoristhree-phasesymmetricalandY-connected,andneglecteddycurrentsandhysteresislosses,itsequivalentcircuitandmaincircuitareshowninFigure1.r,Laretheresistanceandinductanceofthestatorwindingsrespectively;CBAeee,,arethecounteremfsofthecorrespondingphasewindingsrespectively;CBAiii,,arethecorrespondingphasecurrentsrespectively.
0=++CBAiii(1
Thecounteremfofeveryphasewindingisatrapezoidalwaveformwithaflat-topwidthgreaterthanorequalto1200electricaldegree,
anditsflat-topamplitudeisEm.Whenthemotorworksinthree-phasesix-state1200turn-onmode,thecurrentsdon’tcommutatesinstantaneouslyasaresultoftheinductanceofthearmaturewinding.Takethepowerswitch1Tand2T’sturn-onto
2Tand3T’sturn-onforexample.Duringthecommutation,itisgainedasfollowsmCBAEeee=-==(2
SupposethatthemechanicalangularvelocityoftherotorisΩ,thetoquecanbeobtainedasfollowsduringthecommutationprocess.
Ω
=Ω++=CmCCBBAAeiEieieieT2(3Itisobviousfrom(3thatthetoqueisproportionaltothenon-commutationphasecurrentduringcommutation,i.e.thecommutationtorqueripplecanbeeliminatedsolongasnon-commutationphasecurrentremainsconstantduringcommutation.IIITORQUERIPPLEREDUCTIONINPWMMODE
anewPWMmodeispresented-PWM_ON_PWM,i.e.usingPWMmodeinthefirst30°andthelast30°whilekeepingconstantturn-on
modeinthemiddle60°.Themodecanentirelyeliminatetheemergingcurrentintheturn-offphaseduringnon-commutationandthusreducethetorque
rippleduringnon-commutation.
PWM_ON_PWMisabilateralmodulation,butthedynamiclossesofpowerswitchesinthemodeareequaltothoseofunilateralmodulation.Sixswitchesaremodulatedinturn,sothepowerswitcheshaveauniformradiationandthesystemhasahigherreliability.ThemodeisemployingPWMontheturn-onpowerswitches
andthusitcansuppressthetorquerippleduringcommutationtoacertainextentevenifacompensationcontrolisnotappliedatalowspeed.
InPWM_ON_PWMmode,itcannotonlyeliminatethetorquerippleduringnon-commutationbutalsosuppressthecommutationtorquerippleatlowspeedoperationbykeepingd
mBBUrIED034+=inthecommutationcompensationcontroltime⎪⎪⎭
⎫⎝⎛++=mcErIrIrLt21ln00atlowspeedoperation,i.e.dmUrIE≤+034.Athighspeedoperationi.e.dmUrIE≥+034,overlappingcommutationisusedtokeeptheturn-onphaseconstantlyonandmakethecontrolpulsedutycycleoftheturn-offphase1340-+=d
mAAUrIEDinthecommutationcompensationcontroltime
⎪⎪⎭
⎫⎝⎛----=0021lnrIEUrIrLtmdc,whichcannotonlyeliminatethetorquerippleduringnoncommutationbutalsosuppressthecommutationtorquerippleathighspeedoperation.
Asimulationiscarriedouttoverifythemethod.Theparametersare
NTmrnVUmkgJrmHLLNN4.0,1600,48,0157.0,66.0,262===⋅=Ω==.
Innon-full-bridgemodulationmodesuchasH_PWM-L_ONmode,powerswitchesintheupperarmsusePWMmodewhiletheothersinthelower
armsuseconstantturn-onmodein1200turn-oninterval.ThesimulationwaveformofphasecurrentisshowninFig.3.Itisobviousthatacurrentemergesintheturn-offphaseduringnon-turn-onperiodanditspulsatingfrequencyisthesameasthemodulating
frequencywhileitsamplitudevarieswiththevariationofbackemfamplitude,which
producesareversetorque.
Figure2H_PWM-L_ONphasecurrentwaveformFigure3PWM_ON_PWMphasecurrentwaveformThesimulationwaveformofphasecurrentinPWM_ON_PWMmodeisshowninFig.4.Itisobviousthatnocurrentemergesintheturn-offphaseduringnon-turnonperiod,whichreducesthetorquerippleduringnoncommutationcomparedwithotherPWMmode.
Fig.5showsthewaveformsofthephasecurrentandtorqueatlowspeedwithPWMpulsedutycycleDA=0.2withoutcompensationcontrol.Fig.6showsthewaveformsofthephasecurrentandtorqueatlowspeedwiththecontrolpulsedutycycleDBB=0.4intheturn-onphasewithinthecommutationtimetc=0.0013byacompensationcontrol.Thecomparisonindicatesthatthetorqueripplecausedbycommutationcanbealmosteliminatedbymeansofacommutationcompensation
controlatlowspeedapplication.
ItisfoundfromFig.3toFig.8thatusingacommutationcompensationcontrolinPWM_ON_PWMmodecannotonlyavoidthetorqueripplecausedbytheemergingcurrentintheturn-offphaseduringnoncommutationbutalsoeffectivelysuppressthecommutationtorquerippleatbothlowspeedandhighspeedapplications.
Figure4phasecurrentandtorquewaveformduringFigure5whenrunningatlowspeedbychangingthe
Lowspeedrunningphasecurrentandphasecompensationtorquewaveform
Figure6underthespeedofphasecurrentandtorquewaveformFigure7high-speedrunthroughthecompensationcontrolof
phasecurrentandtorquewaveform
IV.CONCLUSIONS
BasedontheanalysisofcommutationprocessofBLDCmotorandtheeffectbyPWMmodeonthecontrolsystem,acommutationcompensationcontrolinPWM_ON_PWMmodeisworkedout,whichcannotonlyeliminatetorquerippleresultedfromthecurrentemergingintheturn-offphaseduringnon-commutationperiodbutalsocompensatecommutationtorqueripple.Acontrolsystemwithouttorqueripplecanberealizedthroughthemethodunderbothlowspeedandhighspeedoperation.
REFERENCES
[1]S.Wang,T.Li,andZ.Wang,“CommutationtorqueripplereductioninbrushlessDCmotordrivesusingasinglecurrentsensor,”ElectricMachinesandControl,vol.12,pp.288-293,March.2008.
[2]X.ZhangandZ.Lü,“NewBLDCMdrivemethodtosmooththetorque,”PowerElectronics,vol.41,pp.102-104,Feb.2007.
[3]H.J.SongandC.Ick.“CommutationtorqueripplereductioninbrushlessDCmotordriversusingasingleDCcurrentsensor,”IEEETrans.OnPowerElectr,vol.19,pp.312-319,Feb.2004.
[4]G.H.Kim,J.SeogandS.W.Jong,“AnalysisofthecommutationtorquerippleeffectforBLDCMfedbyHCRPWM-VSI,”Proc.ofAPEC’92,1992,pp.277-284.[5]X.ZhangandB.Chen,“ThedifferentinfluencesoffourPWMmodesoncommutationtorqueripplesinbrushlessDCmotorcontrolsystem,”ElectricMachinesandControl,vol.7,pp.87-91,Feb.2003.
[6]D.Chen,Z.LiuandJ.Renetal,«AnalysisofeffectsonBLDCMtorqueripplebyPWMmodes,”.ElectricalDrivers,vol.35,pp.18-20,April2005.
中文翻译
用PWM_ON_PWM模式抑制无刷直流电机换相引起的脉动转矩中国武汉海军工程大学电机工程系蒙广伟、雄郝、李怀树编
摘要:
本文分析了无刷直流电动机采用PWM控制稳定换相的过程,证实了运用PWM模式,在换相时控制非换相相电流有稳定不变的幅度,并进行补偿以消除低速和高速工作下的换相转矩脉动;研究了运用三相六状态的PWM模式120°启动无刷直流电机的方法,并提出基于脉宽调制的PWM模式如何来抑制转矩脉动,PWM控制不仅可以消除非换相期间由关断电流引起的转矩脉动,还可以补偿换相期间由换相电流引起的转矩脉动。
关键词:
直流无刷电机、换相、PWM脉宽调制、转矩波动
1.前言
由于直流无刷电机具备结构简单、调速性能好、功率密度高、噪音低、控制简便等优点,现已得到广泛的运用。
用梯形反电动势法抑制转矩脉动和完善直流无刷电机控制性能已成为一个热点。
直流无刷电机经常运转在各种PWM模式,PWM不仅影响着电力开关的动态损耗和辐射均匀性,也影响着转矩脉动。
通过直流母线波纹斩波,抑制转矩脉动以稳定非换相相电流幅值恒定是很有效的方式,但这导致了一个更复杂的拓扑结构[式(1—式(3],它只适用于低速运作场合,通过控制非换相相电流幅值来控制转矩脉动。
分析PWM模式下转矩脉动的作用,[式(1—式(3]中的观点是在不同的速度区间采用不同的抑制方
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