阅读说明：本技术 一种直流无刷电机的仿真模拟方法、装置及其应用 (A kind of simulation method of DC brushless motor, device and its application ) 是由 侯康 萧放 孙刚 石晶林 于 2018-05-18 设计创作，主要内容包括：本发明涉及一种直流无刷电机的仿真模拟装置,包括建模与计算模块,用于根据接收的参数计算并获得直流无刷电机的仿真模型；参数输入模块,与所述建模与计算模块连接,并用于将计算所述仿真模型所需的电机参数传输至所述建模与计算模块；接口模块,与所述建模与计算模块连接,并用于将计算所述仿真模型所需的相电压传输至所述建模与计算模块；输出模块,与所述建模与计算模块连接,并输出根据所述仿真模型获得的霍尔信号。(The present invention relates to a kind of analogue simulation devices of DC brushless motor, including modeling and computing module, and the simulation model of DC brushless motor is calculated and obtained for parameter based on the received；Parameter input module connect with the modeling with computing module, and is transmitted to the modeling and computing module for the parameter of electric machine needed for calculating the simulation model；Interface module connect with the modeling with computing module, and is transmitted to the modeling and computing module for phase voltage needed for calculating the simulation model；Output module connect with the modeling with computing module, and exports the hall signal obtained according to the simulation model.)

1. a kind of analogue simulation device of DC brushless motor, comprising:

Modeling and computing module, calculate for parameter based on the received and obtain the simulation model of DC brushless motor；

Parameter input module is connect with the modeling with computing module, and for motor needed for calculating the simulation model Parameter is transmitted to the modeling and computing module；

Interface module connect with the modeling with computing module, and passes for phase voltage needed for calculating the simulation model Transport to the modeling and computing module；

Output module connect with the modeling with computing module, and the hall signal that is obtained according to the simulation model of output with Current signal.

2. analogue simulation device according to claim 1, which is characterized in that the modeling utilizes engineering with computing module It practises algorithm and obtains the simulation model, and obtain the electricity of the simulation model according to the parameter of electric machine and the phase voltage calculation Torque, angular acceleration, induced potential and mechanical angle.

3. analogue simulation device according to claim 2, which is characterized in that the parameter of electric machine includes according to simulation object Motor model determine rating of electric machine parameter and adjustable load parameter.

4. analogue simulation device according to claim 3, which is characterized in that the rating of electric machine parameter is electronic including inducting Potential constant, torque constant and motor magnetoelectricity conversion constant；The load parameter includes damping constant, equivalent moment of inertia and load Torque.

5. analogue simulation device according to claim 1, which is characterized in that the phase voltage with the analogue simulation by filling The electric machine controller for setting connection generates.

6. analogue simulation device according to claim 1, which is characterized in that the analogue simulation device further includes for seeing Survey and record the observation and logging modle of the simulation model calculating process.

7. analogue simulation device according to claim 6, which is characterized in that the parameter input module and it is described observation with Logging modle is connected with host computer respectively.

8. a kind of simulation method of DC brushless motor, comprising the following steps:

Step 1) is used for the parameter of electric machine of phantom according to the input of the motor model of simulation object；

Step 2) is according to the electric moment and angular acceleration of the parameter of electric machine and phase voltage calculation simulation model；

Step 3) calculates the mechanical angle and electric current for obtaining the simulation model according to the angular acceleration.

9. simulation method according to claim 8, which is characterized in that the simulation object is three-phase direct-current brushless electricity Machine, the angular acceleration that the step 2) obtains may be expressed as:

Wherein, F (θ_e) it is angular acceleration, θ_eFor electrical angle.

10. a kind of electric machine controller optimization system, including DC brushless motor as described in any one of claim 1 to 7 emulation Simulator, what is connect with the analogue simulation device is used to provide the electric machine controller of phase voltage, with the electric machine controller The test device of the motor operation index for acquiring and analyzing the analogue simulation model of connection, and filled with the test It sets and is connected with the motor control assembly, for the analysis according to the test device as a result, optimizing the electric machine controller Control algolithm optimization device.

Technical field

The present invention relates to simulation technical field, in particular to a kind of simulation method of DC brushless motor, device and It is applied.

Background technique

With the development of social production, motor is used in the production and living of people as a kind of energy conversion device, DC brushless motor is the widely applied seed type of motor, using transistor commutating circuit instead of traditional mechanical Brush and commutator are typical electromechanical integration equipments.

For DC brushless motor because of simple structure, high reliablity is functional, makes frequently as the core component of servo-system With.In order to make DC brushless motor match with motor driven, the motor type for plurality of specifications is often needed repeatedly to be surveyed Examination can not provide the general model of one kind in the prior art and be tested, so that this since DC brushless motor model is more Test method not only cost of idleness, but also influence efficiency.

Therefore, it is necessary to a kind of simulation models of general DC brushless motor, so that efficient and inexpensive test.

Summary of the invention

The present invention provides a kind of analogue simulation device of DC brushless motor, comprising:

Modeling and computing module, calculate for parameter based on the received and obtain the simulation model of DC brushless motor；

Parameter input module is connect with the modeling with computing module, and for that will calculate needed for the simulation model The parameter of electric machine is transmitted to the modeling and computing module；

Interface module is connect with the modeling with computing module, and for the electricity of phase needed for calculating the simulation model Pressure is transmitted to the modeling and computing module；

Output module connect with the modeling with computing module, and exports and believed according to the Hall that the simulation model obtains Number and current signal.

Preferably, the modeling obtains the simulation model using machine learning algorithm with computing module, and according to described The parameter of electric machine and the phase voltage calculation obtain electric moment, angular acceleration, induced potential and the mechanical angle of the simulation model.

Preferably, the parameter of electric machine includes the rating of electric machine parameter and adjustable determined according to the motor model of simulation object Whole load parameter.

Preferably, the rating of electric machine parameter includes induced electromotive force constant, torque constant and motor magnetoelectricity conversion constant； The load parameter includes damping constant, equivalent moment of inertia and loading moment.

Preferably, the phase voltage is generated by the electric machine controller connecting with the analogue simulation device.

Preferably, the analogue simulation device further includes the observation for observing and recording the simulation model calculating process With logging modle.

Preferably, the parameter input module and the observation are connected with host computer respectively with logging modle.

According to another aspect of the present invention, a kind of simulation method of DC brushless motor is also provided, including following Step:

Step 1) is used for the parameter of electric machine of phantom according to the input of the motor model of simulation object；

Step 2) is according to the electric moment and angular acceleration of the parameter of electric machine and phase voltage calculation simulation model；

Step 3) calculates the mechanical angle and electric current for obtaining the simulation model according to the angular acceleration.

Preferably, the simulation object is three-phase direct-current brushless motor, and the angular acceleration that the step 2) obtains can indicate Are as follows:

Wherein, F (θ_e) it is angular acceleration, θ_eFor electrical angle.

According to another aspect of the present invention, a kind of electric machine controller optimization system is also provided, including as described above straight Brushless motor analogue simulation device is flowed, what is connect with the analogue simulation device is used to provide the electric machine controller of phase voltage, with The test device of the motor operation index for acquiring and analyzing the analogue simulation model of the electric machine controller connection, with And connect with the test device and the motor control assembly, for the analysis according to the test device as a result, optimization The optimization device of the control algolithm of the electric machine controller.

Compared with the existing technology, the present invention achieves following advantageous effects: DC brushless motor provided by the invention Simulation method and device input parameter relevant to motor model is passed through according to the working principle of DC brushless motor And environmental parameter, it can be realized the analogue simulation to be worked in a variety of environmental conditions the DC brushless motor of various models, it is general Adaptive is good, is widely used；Meanwhile above-mentioned simulation model, it may also be used for test and optimization to motor driver, it can not only letter Change test optimization step, additionally it is possible to save testing cost, improve testing efficiency.

Detailed description of the invention

Fig. 1 is the DC brushless motor modeling and computing device structure schematic diagram that the preferred embodiment of the present invention provides.

Fig. 2 is the emulated computation method flow chart for the DC brushless motor that the preferred embodiment of the present invention provides.

Specific embodiment

In order to which the purpose of the present invention, technical solution and advantage is more clearly understood, below in conjunction with attached drawing, to according to this DC brushless motor simulation method, device and the application provided in the embodiment of invention is further described.

Inventor proposes a kind of leading to for DC brushless motor by the performance characteristics of each model DC brushless motor of research The DC brushless motor of different model can be effectively simulated by inputting corresponding parameter with simulation model.

Fig. 1 is the DC brushless motor modeling and computing device structure schematic diagram, such as Fig. 1 that the preferred embodiment of the present invention provides Shown, which includes the parameter input module that modeling is connect with the modeling with computing module 1 with computing module 1 and respectively 2, interface module 4, output module 5 and observation and logging modle 3.

Wherein, parameter input module 2 is used to input the associated motor specifications parameter load parameter for calculating, for example, electric Machine magnetoelectricity conversion constant, loading moment and induced electromotive force constant；Electric machine controller 6 (such as MCU) through above-mentioned interface module 4 with Modeling is connected with computing module 1, and provides the phase voltage for calculating；Observation is with logging modle 3 for observing and recording modeling With the calculating process of computing module 1；Modeling is modeled and is calculated using received relevant parameter with computing module 1, and will meter The revolving speed and electrical angle for calculating acquisition, which are converted to, indicates that the hall signal of mechanical angle is transmitted to electric machine controller 6 through output module 5 (such as MCU), above-mentioned output module 5 are also used to modeling and the transformed device 7 of current signal that computing module 1 obtains being transmitted to electricity Machine controller 6 (such as MCU), to complete the analogue simulation to DC brushless motor.

In one embodiment of the invention, above-mentioned DC brushless motor can be modeled and is inputted with the parameter in computing device Module 2 and observation are connect with logging modle 3 with host computer 8, are set through parameter input module 2 as simulation pair using host computer 8 The associated motor parameter of elephant, then observed and observe what modeling obtained in calculating process with computing module 1 in real time with logging modle 3 The parameters such as each calculated result, such as phase current, electric moment or angular acceleration are conducive to real-time control motor drive controller 6 The parameter adjustment of (such as MCU).

In one embodiment of the invention, a kind of above-mentioned modeling of utilization is also provided and computing device establishes brush DC electricity The method of machine simulation model, specifically includes the following steps:

S10 establishes DC brushless motor model

Theoretically, for the DC brushless motor of various models, related ginseng can be utilized according to motor working principle For number founding mathematical models to carry out analogue simulation, but in the actual use process of motor, there are many more work with motor Functional relation between the relevant parameter of state is can not be specific using conventional means.

Based on the above situation, inventor passes through many experiments, proposes and a kind of utilizes machine learning building motor model Method, this method are by acquiring the environmental parameter of motor working environment (for example, temperature, dust, humidity, wind-force, electromagnetism ring Border, service life of motor etc.) and the actual working state parameter (for example, revolving speed, voltage etc.) of motor in the present context, make For sample database, to extract corresponding feature using machine learning algorithm, the simulation model of the model motor is established, and by the mould Type storage is into above-mentioned modeling and computing module 1, then executes calculating.

The simulation calculation of S20 DC brushless motor

Fig. 2 is the emulated computation method flow chart for the DC brushless motor that the preferred embodiment of the present invention provides, such as Fig. 2 institute Show, by taking the DC brushless motor of three-phase star-like connection as an example, the calculation method specifically includes the following steps:

The calculating of S201 electric moment

Using above-mentioned modeling and computing module 1, according to from the received rating of electric machine parameter of parameter input module 2 (for example, sense Motional electromotive force constant, torque constant, stator resistance and inductance and number of pole-pairs etc.) and load parameter (for example, damping constant, equivalent Rotary inertia and loading moment etc.), and from the received three-phase phase voltage of interface module 4, calculate the electric moment that motor generates.

The three-phase voltage of known DC brushless motor is respectively a, b, c, and above-mentioned three-phase phase voltage is subtracted each other two-by-two, can be obtained To line voltage expression formula are as follows:

Wherein, v is corresponding phase voltage, and i is phase current, and e is corresponding induced potential, and R and L respectively indicate motor stator electricity Resistance and stator phase winding inductance (including self-induction and mutual inductance).

In DC brushless motor, the magnetic field interaction that electric current and rotor in stator winding generate can produce electric power Square, expression formula are as follows:

Wherein, T_eFor electric moment, w is angular speed

Separately have, the equation of motion of electric moment and loading moment can be expressed as:

Wherein, T_LFor loading moment, J is equivalent moment of inertia, k_fFor damping constant, (i.e. directly proportional to angular speed w is equivalent Damping).

The calculating of step S202 angular acceleration

Assuming that the angular speed of current motor model is w_m, and assume to correspond to new simulated object according to above-mentioned input It is F (θ) that associated motor parameter, which calculates the angular acceleration for needing to apply, can get the expression formula of induced electromotive force are as follows:

Wherein, k_eFor the induced electromotive force constant for calculating induced electromotive force according to angular speed and phase current, θ_eFor electric angle Degree.

The formula (1) in above-mentioned steps S10 can be converted as a result, are as follows:

Wherein, k_tFor the torque constant for calculating torque according to phase current and electrical angle.

Then, in conjunction with the formula (2) and above-mentioned (3) available angular acceleration F (θ in step S10_e) are as follows:

Step S203 updates electrical angle and rotary speed data

Angular acceleration F (the θ obtained according to above-mentioned formula (4)_e), it further completes to electrical angle and current angular velocity (i.e. Motor speed) update, so that the mechanical angle newly obtained, which is converted to hall signal, is output to corresponding electricity through output module 5 Machine controller (such as MCU), to complete the simulation calculation according to the relevant parameter of input to DC brushless motor.

In one embodiment of the invention, above-mentioned Emulation of Electrical Machinery analogy method can use FPGA (Field- Programmable Gate Array), i.e., field programmable gate array is realized, FPGA is a kind of semi-custom circuit, can be with The combination for realizing a variety of logic circuits, because occupying little space, development efficiency it is high, it is highly reliable, be usually used in the customization of various systems Melt hair.

In one embodiment of the invention, when carrying out Emulation of Electrical Machinery simulation using the above method, when the type of simulation object Number (such as 42BL9030 or 110BL20020) is to timing, corresponding rating of electric machine parameter, i.e., included in above-mentioned formula Induced electromotive force constant k_e, torque constant k_t, motor magnetoelectricity conversion constant R and L etc. can utilize the following table 1 institute according to conventional principles Show specification to determine, details are not described herein again.

Motor model	Rated speed	The number of phases	Number of magnetic poles	Voltage rating	Nominal torque	Peak point current	Output power	Peak torque	Rotary inertia
										42BL9030	3000	3	8	24	0.3	10	90	0.9	120
110BL20020	2000	3	8	310	6	30	1200	15	4500

1 motor model of table and the specifications parameter table of comparisons

In order to enable the emulation to work drive motor is more accurate, adjustment load parameter, i.e. damping constant k can use_f, etc. Imitate rotary inertia J, loading moment T_LTo complete the simulation of the motor working condition influenced by varying environment.For example, in order to simulate Contrary wind environment, can the suitably modified damping constant k directly proportional to angular speed_f；For the excessive situation of simulation load, Ke Yixiu Change equivalent moment of inertia J；In order to simulate the terrain environment of climbing, loading moment T can be modified_L。

According to another aspect of the present invention, a kind of electric machine controller optimization system is also provided, which includes above-mentioned straight Flow brushless motor modeling and computing device, the electric machine controller connecting with the modeling with computing device, and and electric machine controller The test device and optimization device of connection.

Wherein, test device (such as power analyzer) can be used for acquiring the electricity under electric machine controller control in real time Operating parameter of machine model, such as electric current, voltage, frequency, phase etc.；And simulation model of motor is analyzed according to above-mentioned operating parameter Operating index, such as rise time, overshoot, regulating time, time to peak and steady-state error etc.；Above-mentioned analysis is tied simultaneously Fruit is transmitted to optimization device；Optimization device executes optimization to the control algolithm of electric machine controller based on the analysis results, so that The operating index of simulation model of motor reaches best.

Although to brush DC electricity provided by the invention in the above-described embodiments, using three-phase direct-current brushless motor The simulation method of machine is illustrated, but it will be recognized by one of ordinary skill in the art that above-mentioned Emulation of Electrical Machinery analogy method and Device can also carry out analog simulation to other types of DC brushless motor.

Compared with the existing technology, in embodiments of the present invention provided by DC brushless motor analogue simulation device and side Method can be realized the analogue simulation of the DC brushless motor to various models, and universality is good, is widely used；It can be used for electricity The test and optimization of machine driver, have saved testing cost, have improved testing efficiency.

Although the present invention has been described by means of preferred embodiments, the present invention is not limited to described here Embodiment, without departing from the present invention further include made various changes and variation.