Full magnetic pole phase-by-phase driving DC brushless motor and driver circuit
阅读说明:本技术 全磁极逐相驱动直流无刷电机和驱动器电路 (Full magnetic pole phase-by-phase driving DC brushless motor and driver circuit ) 是由 彭明 彭宇科 于 2019-04-18 设计创作,主要内容包括:本发明提供全磁极逐相驱动直流无刷电机和驱动器电路,与传统的直流无刷电机往往要驱动至少二相绕组而因二相绕组所处的物理位置不同而使驱动效率受限,以及与传统的逐相驱动直流无刷电机只驱动一半的磁极而使转矩和功率下降,本发明的全磁极逐相驱动直流无刷电机和驱动器电路在每一时刻只精确驱动电机绕组的一相绕组,提高了电能的驱动效率。在每次驱动时对磁性转子的全部南极和北极都同时进行驱动并由此而使得转子的转矩和功率增加,采用不同的调速方法使之具有转速大范围保持大转距的特点并同时实现了轻量化,低转速保持大转距对于电动车简化变速器的结构提供了有利条件,而高的电能驱动效率使电动车的巡航里程得以提高。(The invention provides a full magnetic pole phase-by-phase driving direct current brushless motor and a driver circuit, wherein the driving efficiency is limited because the physical positions of two-phase windings are different when the full magnetic pole phase-by-phase driving direct current brushless motor is compared with the traditional direct current brushless motor, and the torque and the power are reduced because the full magnetic pole phase-by-phase driving direct current brushless motor and the driver circuit only drive one phase winding of a motor winding precisely at each moment. When the electric vehicle is driven each time, all south poles and north poles of the magnetic rotors are simultaneously driven, so that the torque and the power of the rotors are increased, different speed regulation methods are adopted, the electric vehicle has the characteristic that the rotating speed keeps large torque in a large range, the light weight is realized, the low rotating speed keeps large torque, favorable conditions are provided for the electric vehicle to simplify the structure of a speed changer, and the high electric energy driving efficiency enables the cruising mileage of the electric vehicle to be improved.)
1. Full magnetic pole is drive DC brushless motor and driver circuit looks one by one, including motor and drive circuit, its characterized in that: the winding mode of the stator coil of the brushless DC motor is that the coil of the same phase winding is wound between two adjacent tooth slots of a single armature tooth, and the driving circuit only energizes and drives one phase winding during each driving, so that the rotor rotates at a single armature tooth position each time, and then energizes and drives the next phase winding to drive the rotor to rotate in a phase-to-phase electrical and tooth-to-tooth rotating mode.
2. The full pole phase-by-phase drive brushless dc motor and driver circuit of claim 1, wherein: the winding directions of two adjacent coils of the same phase winding of the stator of the direct current brushless motor are opposite, the starting end and the terminating end of each phase winding are led out of the motor and are respectively connected to power driving devices on respective drivers, and the number of phases is more than or equal to 2.
3. The full pole phase-by-phase drive brushless dc motor and driver circuit of claim 1, wherein: the relationship between the number of magnetic poles of the permanent magnet rotor of the direct current brushless motor and the number of phases and the number of slots of the stator armature is as follows: the number of the stator armature slots is equal to the number of the magnetic poles in south and north of the permanent magnet rotor multiplied by the number of phases, and the number of the phases is more than or equal to 2.
4. The full pole phase-by-phase drive brushless dc motor and driver circuit of claim 1, wherein: two position sensor signals are used for each phase winding of the brushless DC motor stator.
5. A full pole phase-by-phase drive dc brushless motor and driver circuit as claimed in claim 1 and claim 2, wherein: the driving current directions of two adjacent driving periods of the same phase winding of the direct current brushless motor stator are exchanged through power drivers connected to the starting end and the terminating end of the winding, and the driving current directions of two adjacent driving periods of the same phase winding are opposite.
6. A full pole phase-by-phase drive dc brushless motor and driver circuit as claimed in claim 1 and claim 2 and claim 3 and claim 4 and claim 5, wherein: the brushless dc motor rotor may be a cylindrical permanent magnet rotor inside an outer stator wound with coils, or an annular permanent magnet rotor outside an inner stator wound with coils.
7. A full pole phase-by-phase drive dc brushless motor and driver circuit as claimed in claim 1 and claim 2, wherein: the power driving device of each phase winding is composed of a bridge type power driver composed of a left arm composed of two groups of series-connected IGBTs (compound fully-controlled voltage-driven power semiconductor devices) and a right arm composed of another two groups of series-connected IGBTs, the starting end and the terminating end of each phase winding are connected to the middle point of the left arm and the right arm of the bridge type power driver, the upper control end and the lower control end of the left arm and the right arm of each group of bridge type power driver are respectively controlled by 4 different signals, and the power driving device can also adopt a high-power MOS field effect transistor and other high-power devices.
8. A full pole phase-by-phase drive dc brushless motor and driver circuit as claimed in claim 1 and claim 7, wherein: the phase position sensor signals in the driver circuit and the phase sequence driving pulse signal phase of the same phase are in phase-reversal driving to drive the upper arm of the power driving device.
9. A full pole phase-by-phase drive dc brushless motor and driver circuit as claimed in claim 1 and claim 7, wherein: in the driver circuit, each phase position sensor signal and a phase sequence driving pulse signal phase of the same phase are subjected to phase inversion with a direct current high level or a pulse width modulation signal with the frequency of 100 Hz to 100 kHz to drive a lower arm of the power driving device.
10. The full pole phase-by-phase drive brushless dc motor and driver circuit of claim 1, wherein: the driver circuit adjusts the rotational speed of the motor by varying the frequency of the rotational pulses associated with the phase sequence drive pulses, and the pulse width modulation signal is used to assist in adjusting the rotational speed.
11. A full pole phase-by-phase drive dc brushless motor and driver circuit according to claim 1 and claim 2 and claim 7 and claim 8, characterized in that: when the DC brushless motor rotates, the driver circuit only has the upper arm of one group of power driving device and the lower arm of the other group of power driving device after passing through the winding coil to conduct and work at each moment and drive a phase winding in the DC brushless motor.
Technical Field
The invention relates to the technical field of direct current brushless motors and direct current brushless motor driver circuits.
Background art:
the brushless DC motor consists of a motor main body and a driving circuit, and is a typical electromechanical integrated product.
The direct-current brushless motor is widely adopted in the new energy electric automobile, the efficiency of the direct-current brushless motor directly influences the cruising mileage of the electric automobile after single charging, and how to improve the efficiency of the direct-current brushless motor becomes a very critical factor. The efficient energy conversion can be brought by the efficient electric energy driving, so that the longer endurance mileage and the energy saving are brought. In the conventional dc brushless motor, the star connection and the delta connection of the three-phase ac motor are almost used. Which flows through at least two phase coils each time it is energized, one phase coil must be at a non-optimal efficiency when the other phase coil is driven at the best efficiency due to the different physical locations where the phase coils are mounted. The theoretical research and practical application of the method indicate that the star connection method has higher efficiency than the triangular connection method and is widely adopted, and the vector sum of the force output by the two-phase electrified coils is 1.732 times rather than twice as much as that of the two-phase electrified coils because the two-phase coils are driven simultaneously. This limits the efficiency of the dc brushless motor. And when the direct current brushless motor rotates forwards and backwards, the sensor position is not variable, so that the efficiency is different. And only one half of magnetic poles of the rotor are often driven by adopting the traditional phase-by-phase driving, so that the power and the torque are reduced.
From the two aspects, it can be seen that in order to improve the cruising range of the new energy electric vehicle, the direct current brushless motor winding must be precisely driven, and the driving efficiency can be improved to realize the optimal power output, so that the cruising range of the new energy electric vehicle is improved, and the improvement of the torque of the direct current brushless motor and the light weight of the motor are also the key technologies and national requirements for the direct current brushless motor.
Disclosure of Invention
The invention provides a full magnetic pole phase-by-phase driving DC brushless motor and a driver circuit, in the DC brushless motor, a position sensor is positioned in front of a driving coil in an attraction driving mode, the position sensor gives a signal and then a driver energizes a phase coil behind the position sensor to generate a magnetic pole different from a rotor magnetic pole under the position sensor so as to attract a rotor to rotate to the position of the phase coil, and then to the position of the next phase coil, so that the rotor is driven to rotate; in the repelling driving mode, the position sensor is positioned behind the driving coil, and after the position sensor gives a signal, the driver energizes the coil in front of the position sensor to generate a magnetic pole which is the same as the magnetic pole of the rotor below the position sensor so as to repel the rotor to rotate away from the position of the coil, so that the rotor is driven to rotate, and the rotor rotates to the position of the coil in the next phase in the same way. Only one phase of the coil is driven at each drive to drive the rotor with the best efficiency. Because the rotor only rotates one tooth slot position by each driving, the torque pulsation is small. Because the rotor uses the multiple magnetic pole pairs, the driving circuit simultaneously generates acting force on all south poles and north poles, so that the rotor has the characteristic of large-range rotating speed and large-range torque, and different position sensors are switched during forward and reverse rotation, so that the forward and reverse rotation have the same performance.
In the brushless motor, because the winding directions of two adjacent coils of the same phase winding on the stator are opposite, when a driving current flows through the phase winding, armature teeth of the two adjacent coils of the phase winding respectively generate a south pole and a north pole, and the south pole and the north pole of the rotor are both driven simultaneously. The PWM pulse width modulation can be adjusted to enable the PWM pulse width modulation to be in a high duty ratio state all the time, the adjustment of the rotating speed is provided by the frequency of other driving pulses instead of the ordinary PWM pulse width speed regulation, and the PWM pulse width modulation pulse keeps a high duty ratio at each speed, so that the PWM pulse width modulation pulse has the characteristics of high efficiency, large rotating speed range and high torque, and the pulse width can be reduced under the condition that the speed is kept basically unchanged and the torque can be reduced to further save electric energy.
The rotor of the direct current brushless motor winding is a cylindrical magnetic material cylinder which is radially filled with permanent magnetism in an outer stator wound with coils when in an inner rotor structure, the cylinder can also be formed by embedding permanent magnets on a cylindrical magnetizer according to a manufacturing process, and the cylindrical magnetic material can be solid or hollow; when the outer rotor structure is a circular ring-shaped magnetic material ring which is radially filled with permanent magnetism and is wound by a coil, the outer rotor structure can also be formed by fixing permanent magnets on a circular ring-shaped object according to a manufacturing process.
The schematic diagrams of the stator coil winding and position sensor and the rotor structure are shown in the attached figures 1, 2, 3, 4 (inner rotor structure) and 5 (outer rotor structure, winding coil winding method and inner rotor structure are the same, winding direction of the same phase winding between two adjacent tooth slots of a single armature tooth is opposite to that of two adjacent coils, and the illustration is omitted here for clarity).
The brushless motor rotor driving mode of the invention is to electrify the stator coils in sequence phase by phase, only one phase coil is electrified at each moment, the rotor is driven to rotate one tooth position, and the rotor is driven to rotate one tooth position when the next phase coil is electrified, so that the driving current directions of two adjacent driving periods of the same phase winding are opposite, thereby forming the rotation of the rotor, and all south poles and north poles on the rotor are driven by each driving.
The drive circuit of the brushless motor consists of a pulse oscillator capable of adjusting and controlling the rotating speed, a phase sequence generator, a PWM (pulse width modulation) pulse width modulator, a duty ratio adjuster, an AND gate for comparing a sensor signal with a phase sequence signal and a bridge type power driver (generally a high-power MOS (metal oxide semiconductor) tube or an IGBT (insulated gate bipolar transistor) composite full-control voltage drive type power semiconductor device module) for driving winding coils of all phases.
Drawings
Fig. 1 is a schematic structural diagram of a brushless motor of the present invention (taking an inner rotor three-phase 8-pole, 24-slot as an example), wherein: (i) is a stator armature, (ii) is an inner rotor, (1) to 24 are armature teeth of the stator, (H1), H2, H3, H4, H5, and H6 are position sensors, (U + and U-are start ends of U-phase windings, respectively, (V + and V-are start ends of V-phase windings, respectively), and (W + and W-are start ends of W-phase windings, respectively.
Fig. 2, fig. 3 and fig. 4 are respective structural schematic diagrams of three-phase windings of the brushless motor of the present invention (taking three-phase 8-pole inner rotor and 24-slot as examples), wherein the three-phase windings are respectively an outer stator for winding coils, an inner rotor of a permanent magnet, and
fig. 5 is a schematic structural diagram of the brushless motor of the present invention (taking three-phase 4-pole outer rotor and 12 slots as an example), and is a permanent magnet outer rotor, and is an inner stator armature for winding coils, N and S are 4 north and south poles of the permanent magnet outer rotor, US and UN are south and north poles generated by the armature teeth on the stator when the U-phase winding is energized at a certain time, VS and VN are south and north poles generated by the armature teeth on the stator when the V-phase winding is energized at another time, WS and WN are south and north poles generated by the armature teeth on the stator when the W-phase winding is energized at a different time, and H1, H2, H3, H4, H5, and H6 are position sensors.
Fig. 6 is a schematic diagram of a driving circuit (in the case of three-phase driving, the number of driving phases can be increased in this manner for an N-phase motor) SW1 of the present invention is a rotation/stop switch.
Fig. 7 is a schematic diagram of a bridge power driver circuit according to the present invention (taking three-phase driving as an example, the number of driving phases can be increased for an N-phase motor).
Detailed Description
The invention provides a full magnetic pole phase-by-phase driving brushless motor and a driving circuit thereof, wherein a position sensor is positioned in front of a driving coil in the direct current brushless motor in an attraction rotation mode according to the principles of magnetic opposite attraction and like repulsion, the position sensor is used for energizing a phase coil behind the position sensor by a driver after giving a signal to generate magnetic force to attract a rotor to rotate to the position of the phase coil, and then the rotor is driven to rotate to the position of the next phase coil. In the repulsion force rotating mode, the position sensor is positioned behind the driving coil in the DC brushless motor, after the position sensor gives out a signal, the driver energizes the phase coil behind the position sensor to generate magnetic force to repel the rotor to rotate away from the phase coil, and then the rotor is driven to rotate to the next phase coil position. The rotor is driven with best efficiency by driving only one phase coil in each driving, and the rotor has the characteristics of small torque pulsation, large rotating speed and large torque in a large range, and an electronic switch can be added to switch sensors in different physical positions in forward and reverse rotation, so that the forward and reverse rotation have the same performance.
The number of the slots of the brushless motor stator is equal to the number of south and north magnetic poles of the permanent magnet rotor multiplied by the number of phases. Taking three-phase winding, four pairs of 8 poles are taken as an example, the number of the slots is equal to 3 multiplied by 8 poles, and the number of the slots is 24; if six pairs of 12 poles are used, 36 slots are used.
The invention relates to a winding method of a stator coil of a brushless motor winding, which is characterized in that the stator coil is wound between two adjacent tooth slots of a single armature tooth, the winding directions of two adjacent coils of the same phase winding are opposite, namely, partial coils of the same phase winding are wound in two side slots of the single armature tooth, taking a three-phase winding as an example, namely, a phase winding (U phase) is wound around the
And 2, FIGS. 3 and 4 are winding diagrams of three groups of windings of a U phase, a V phase and a W phase respectively. S and N are north and south magnetic poles of the rotor. H1, H2, H3, H4, H5, H6 are position diagrams of 6 position sensors, two for each phase winding.
One great benefit of single armature tooth winding is that magnetic force is concentrated and magnetic leakage is low, for example, a common three-phase brushless motor needs to be wound across at least 2 armature teeth, for example, fig. 2 is to be wound on the left side of the
The power driving device for driving the winding to be electrified consists of an IGBT composite full-control voltage driving type power semiconductor device, and a high-power MOS tube and other high-power devices can also be adopted.
The operation principle of the phase coil winding is described below by taking a repulsive force rotation mode (the position sensor is located behind the phase coil winding in the rotation direction) as an example, and the position sensor is located in front of the phase coil winding in the rotation direction when the attraction drive mode is adopted.
When the SW1 rotation/stop switch is in the off (rotation) state, one of the input terminals of each of U1 to U6 is in the high state.
In the driving circuit of the brushless motor of the present invention as shown in fig. 6, the pulse oscillator IC1 with adjustable control speed generates oscillation pulses to be output to the three-phase six-state phase sequence generator composed of the IC2 decimal counter/pulse distributor CD4017, and generates D0, D1, D2, D3, D4 and D5 three-phase six-state high level pulses, and the position sensors (which can also adopt other types of position sensors for sensing magnetic signals) composed of hall elements H1, H2, H3, H4, H5 and H6 respectively generate HA, HB, HC, HD, HE and HF signals to be input to and gates U1 to U6 after passing through the inverter, and the position sensors output low level signals when the south pole of the rotor is near the south pole, and output high level signals after being inverted by the inverter, and then output D0 by the three-phase six-state phase sequence generator composed of the IC2 decimal counter/pulse distributor CD4017, d1, D2, D3, D4 and D5 are high-level pulse phase-inversed. When one south pole of the permanent magnet rotor is at a Hall element H1 as shown in FIG. 2, HA gives a low level which is inverted and then gives a high level to an input end of U1, when IC2 gives a high level signal of D0, U1 outputs a high level, U1 outputs a high level which is divided into two paths, one path is connected to a triode Q1 to make it conductive, so that a photocoupler IC25 is conducted to drive the
After the last pulse driving, when the south pole of the rotor rotates to the vicinity of the
After the second pulse driving, when the south pole of the rotor rotates to the vicinity of the armature tooth 3 and is close to the Hall element H3, HC gives low level, and after phase inversion, HC gives high level to one input end of U3, when IC2 gives D2 as a high level signal, U3 outputs high level, U3 outputs high level which is divided into two paths, one path is connected to triode Q3 to conduct it, so that photocoupler IC29 is conducted through SH3 to drive T9 which is conducted by IGBT, U3 gives another path of high level signal, and after the PWM signal phase with variable duty ratio output by U9 and IC1 is connected with the later output PWM driving signal SL3 to IC34 field effect tube driver to drive T12 which is conducted, the power supply + V flows through W + winding to W-through T9 through T + winding, and then to ground through T12, completing the first driving, the current direction is T9 to T12, the winding way of the W winding on FIG. 4 makes the armature tooth 3 generate rotation, and
The next three pulse rotations will perform the current commutation process.
When one south pole of the permanent magnet rotor reaches a Hall element H4 through the three-time pulse rotation, HD gives a low level, the low level is inverted and then gives a high level to an input end of a U4, when IC2 gives a high level signal of D3, U4 outputs a high level, the high level output by U4 is divided into two paths, one path is connected to a triode Q4 to conduct the triode, so that a photoelectric coupler IC24 is conducted through SH4 to drive the IGBT of the T3 to conduct, the other path of high level signal given by U4 is connected with a PWM signal phase with variable duty ratio output by U10 and IC1 and then outputs a PWM driving signal SL4 to an IC31 field effect tube driver to drive the IGBT of the T2 to conduct, a power supply + V flows through the U-winding to the U + through the T3 and then passes through the T2 to the ground to complete the primary driving, the current direction is from T3 to the T2, the south pole winding way of the U winding enables the
After the fourth pulse driving, the south pole of the rotor rotates to the
After the fifth pulse driving, the south pole of the rotor rotates to the armature tooth 6 close to the Hall element H6, HF gives a low level, the HF gives a high level after phase inversion to an input end of the U6, when IC2 gives a high level signal of D5, U6 outputs a high level, the high level output by U6 is divided into two paths, one path is connected to the triode Q6 to conduct the triode, so that the photoelectric coupler IC28 is conducted through SH6 to drive the T11 IGBT to conduct, the other path of high level signal given by U6 outputs a PWM signal phase with variable duty ratio between U12 and IC1, and then outputs a PWM driving signal SL6 to the IC35 field effect tube driver to drive the IGBT of T10 to conduct, a power supply + V flows through a W-winding to W + through a T11 and then passes through a T10 to the ground to complete the driving, the current direction is from T11 to T10, the winding way of the W winding generates the armature tooth 6, the rotor drives the pole tooth to rotate towards the south pole of the armature tooth, and drives the north pole on the armature tooth to rotate towards the south pole of the armature tooth to generate the armature tooth to drive, similarly, the
And repeating the process from one pulse rotation to the sixth pulse rotation to form continuous operation of the motor rotor, wherein each pulse rotation is that armature teeth on the stator coil simultaneously drive all south poles and north poles on the rotor.
When the stall switch SW1 is turned on, one of the inputs of the and gates U1 to U12 is low, so that they are all output low, thereby turning off the MOS/IGBT drivers of T1 to T12 and stalling the motor.
In FIG. 6, IC13 generates power supply + VH about 15V higher than power supply + V from MC1555 and peripheral elements for supplying to photocoupler.
V1 in fig. 6 is a frequency regulator of rotation pulses related to phase-sequential drive pulses, by which the rotation speed of the motor is regulated, V2 for regulating the frequency of the pulse width modulation signal, and V3 for regulating the duty ratio of the pulse width modulation signal.
In the driving circuit of the invention, the pulse width modulation can be in a high duty ratio state all the time, the regulation of the rotating speed is provided by the frequency of the rotating pulse, but the normal PWM pulse width speed regulation is not, the PWM pulse keeps a higher duty ratio at each speed, so that the driving circuit has the characteristics of high efficiency and large rotating speed range and high torque. Meanwhile, because the signals given by the position sensor and the rotation phase sequence signals are in phase relation, the rotor gradually achieves synchronization with the set rotating speed in the rotation process.
Because the rotating speed and the pulse width modulation duty ratio are generated respectively, after the set rotating speed is reached, the automatic control can be carried out by combining an artificial mode and the rotating speed after detection, and the pulse width modulation duty ratio can be adjusted to be reduced under the conditions of not influencing or reducing the rotating speed when the load is fixed and reduced (such as the new energy electric vehicle runs at a constant speed on a flat ground), so that the further energy saving is realized.
Since each of the power drivers of the present invention is only on at 1/6 times during the drive cycle, a larger load can be driven with a smaller power driver.
Because the winding mode of the stator of the brushless motor winding is single-slot winding and one-by-one communication, compared with the traditional direct current brushless motor, the brushless motor winding has the characteristics of small rotation pulsation and large torque during each transposition (the more the magnetic pole pairs and the slots are, the more the force points are acted, and the larger the torque force is), meets the characteristics of low rotation speed and high torque required by a new energy electric vehicle motor, and is particularly suitable for a new energy electric vehicle due to high efficiency and energy conservation.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
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