【摘要】：相較于傳統(tǒng)的有刷電機,永磁無刷直流電機具有壽命長、調速范圍寬、功率密度大、效率高等優(yōu)勢,在電動工具領域得到了廣泛應用。位置傳感器為無刷直流電機的換相控制提供實時的轉子位置信息,但其增加了系統(tǒng)的成本,對安裝精度要求較高且對溫度敏感,并不適用于對可靠性要求較高的應用場合。因此本文對無刷直流電機無傳感器驅動控制技術進行了深入研究。首先,對基于線反電勢估算的無傳感器換相控制方案進行研究。建立了自然坐標系下無刷直流電機的數(shù)學模型,對無刷直流電機的三相六狀態(tài)控制原理和調速原理進行了分析和總結。研究了基于線反電勢過零檢測的換相控制原理,合理地簡化了線反電勢的計算公式,給出了電機正轉和反轉時的換相控制方案,并進行仿真驗證。其次,對基于短時脈沖檢測的無傳感器起動方法進行研究。分析了通入短時檢測脈沖后,定子繞組等效電感與轉子初始位置區(qū)間的關系,研究了轉子初始位置定位和位置閉環(huán)加速起動的原理,給出了相應的控制方法。考慮了轉子位于臨界區(qū)間的檢測精度有限的問題,對檢測電流設置了優(yōu)先級。在MATLAB/SIMULINK中搭建三相無刷直流電機控制系統(tǒng)模型,仿真對比了該起動方法與傳統(tǒng)三段式起動法的起動性能。然后,對基于線反電勢估算的無傳感器控制方案存在的換相位置檢測誤差進行了分析。討論了低通濾波器移相導致的換相誤差,針對電機不同轉速,提出了“60°-α”和“120°-α”的補償策略,并對其進行仿真驗證。分析了逆變器開關管PWM控制所產生的線反電勢估算誤差,并推導了該誤差的表達式。仿真對比不同脈寬調制方式控制下,換相位置檢測誤差隨轉速的變化情況。最后,對本文提出的換相控制策略和補償策略進行實驗驗證。研究了控制系統(tǒng)的硬件結構;設計了基于短時脈沖檢測的起動控制和基于線反電勢估算的換相控制的軟件流程,并編寫程序。搭建實驗平臺,分析實驗結果,驗證了所述方法的正確性和可行性。
[Abstract]:Compared with the traditional brushed motor, permanent magnet brushless DC motor has many advantages, such as long life, wide speed range, high power density and high efficiency, so it has been widely used in the field of power tools. The position sensor provides real-time rotor position information for the commutation control of brushless DC motor, but it increases the cost of the system, requires high installation accuracy and is sensitive to temperature, and is not suitable for applications with high reliability requirements. Therefore, the sensorless drive control technology of brushless DC motor is deeply studied in this paper. Firstly, the sensorless commutation control scheme based on line back EMF estimation is studied. The mathematical model of brushless DC motor in natural coordinate system is established, and the three-phase six-state control principle and speed regulation principle of brushless DC motor are analyzed and summarized. The principle of commutation control based on zero crossing detection of line back EMF is studied, the calculation formula of line back EMF is simplified reasonably, and the commutation control scheme of motor forward and reverse is given, and the simulation verification is carried out. Secondly, the sensorless starting method based on short-time pulse detection is studied. The relationship between the equivalent inductance of stator winding and the initial position interval of rotor is analyzed after the short time detection pulse is introduced. The principle of rotor initial position positioning and position closed loop acceleration starting is studied, and the corresponding control method is given. Considering the limited detection accuracy of the rotor in the critical range, the priority of the detection current is set. The control system model of three-phase brushless DC motor is built in MATLAB/SIMULINK, and the starting performance of the starting method is compared with that of the traditional three-stage starting method. Then, the commutation position detection error of sensorless control scheme based on line back EMF estimation is analyzed. The commutation error caused by phase shift of low pass filter is discussed. The compensation strategies of "60 擄- 偽" and "120 擄- 偽" are put forward according to the different rotating speed of the motor, and the simulation results are carried out. The estimation error of line back EMF caused by PWM control of inverter switch is analyzed, and the expression of the error is derived. The variation of phase change position detection error with rotating speed under different pulse width modulation (PWM) control is simulated and compared. Finally, the commutation control strategy and compensation strategy proposed in this paper are verified by experiments. The hardware structure of the control system is studied, the software flow chart of starting control based on short time pulse detection and commutation control based on line back EMF estimation is designed, and the program is programmed. The experimental platform is built, the experimental results are analyzed, and the correctness and feasibility of the method are verified.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TM33

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