Abstract：Due to the non-sinusoidal waveforms of main magnetic field distribution and back-EMF, there are large torque ripples in brushless DC motor under the driving with square wave current. Therefore, a torque control strategy to reduce torque ripple based on the rotor permanent magnet field orientation is proposed in this paper. Firstly, by analyzing the equivalent model for BLDCM rotor permanent magnet field orientation under d-q synchronous rotating coordinate system, it is shown that the armature reaction of d-axis and electromagnetic torque are determined by the current of d-axis and q-axis, respectively. Secondly, based on the principle that the d-axis armature reaction and the electromagnetic torque are unchanged after conversion, the transformation method between the three-phase current and the d- and q-axis currents is presented. Finally, the three-phase currents from the required d-axis and q-axis currents are obtained. These currents are regulated in closed loop form to realize the instantaneous constant torque control without magnetization and demagnetization. The test results obtained from Matlab simulation and DSP experiment show the feasibility and effectiveness of the proposed method.
李珍国, 孙启航, 王鹏磊, 邵淑敏, 贾清泉. 基于转子永磁体磁场定向的无刷直流电机转矩脉动抑制[J]. 电工技术学报, 2020, 35(14): 2987-2996.
Li Zhenguo, Sun Qihang, Wang Penglei, Shao Shumin, Jia Qingquan. Torque Ripple Reduction of Brushless DC Motor Based on Rotor Permanent Magnet Field Orientation. Transactions of China Electrotechnical Society, 2020, 35(14): 2987-2996.
[1] Liu Yue, Hu Jianhui, Dong Shili.A torque ripple reduction method of small inductance brushless DC motor based on three-level DC converter[C]//2019 14th IEEE Conference on Industrial Electronics and Applications, Xi’an, China, 2019: 1669-1674. [2] Sun Lihui, Yu Jun.Design of vector control system for brushless DC motor based on hall sensor[C]//2018 International Symposium on Communication Engin- eering & Computer Science, Hohhot, China, 2018: 416-422. [3] 施晓青, 王晓琳, 徐同兴, 等. 高速无刷直流电机自寻优换相校正策略[J]. 电工技术学报, 2019, 34(19): 3997-4005. Shi Xiaoqing, Wang Xiaolin, Xu Tongxing, et al.Self-optimization commutation correction strategy for high-speed brushless DC motor[J]. Transactions of China Electrotechnical Society, 2019, 34(19): 3997-4005. [4] Zhu Chong, Zeng Zhiyong, Zhao Rongxiang.Com- prehensive analysis and reduction of torque ripples in three-phase four-switch inverter-fed PMSM drives using space vector pulse-width modulation[J]. IEEE Transactions on Power Electronics, 2017, 32(7): 5411-5424. [5] 姚绪梁, 鲁光旭, 王景芳, 等. 基于最优电流矢量的无刷直流电机换相转矩脉动抑制方法[J]. 中国电机工程学报, 2019, 39(14): 4272-4280, 4301. Yao Xuliang, Lu Guangxu, Wang Jingfang, et al.Commutation torque ripple suppression method of brushless DC motor based on optimal current vector[J]. Proceedings of the CSEE, 2019, 39(14): 4272-4280, 4301. [6] 朱熀秋, 郝正杰, 潘伟, 等. 无轴承无刷直流电机的研究、应用及发展趋势[J]. 电工技术学报, 2019, 34(21): 4428-4440. Zhu Huangqiu, Hao Zhengjie, Pan Wei, et al.Research, application and development trends of bearingless brushless DC motor[J]. Transactions of China Elec- trotechnical Society, 2019, 34(21): 4428-4440. [7] 夏鲲, 朱琳玲, 曾彦能, 等. 基于准Z源网络的永磁无刷直流电机换相转矩脉动抑制方法[J]. 中国电机工程学报, 2015, 35(4): 971-978. Xia Kun, Zhu Linling, Zeng Yanneng, et al.Researches on the method of suppressing com- mutation torque ripple for brushless DC motors based on a quasi-Z-source net[J]. Proceedings of the CSEE, 2015, 35(4): 971-978. [8] 朱俊杰, 刘浩然, 蒋峰, 等. 无刷直流电机转矩脉动抑制系统的新型拓扑研究[J]. 电工技术学报, 2018, 33(17): 4060-4068. Zhu Junjie, Liu Haoran, Jiang Feng, et al.A new topology research on torque ripple suppression system of brushless motor[J]. Transactions of China Electrotechnical Society, 2018, 33(17): 4060-4068. [9] Viswanathan V, Seenithangom J.Commutation torque ripple reduction in the BLDC motor using modified SEPIC and three-level NPC inverter[J]. IEEE Transa- ctions on Power Electronics, 2018, 33(1): 535-546. [10] 李珍国, 王江浩, 高雪飞, 等. 一种合成电流控制的无刷直流电机转矩脉动抑制系统[J]. 中国电机工程学报, 2015, 35(21): 5592-5599. Li Zhenguo, Wang Jianghao, Gao Xuefei, et al.Torque ripple reduction systems for brushless DC motors with resultant current control[J]. Proceedings of the CSEE, 2015, 35(21): 5592-5599. [11] 李珍国, 周生海, 王江浩, 等. 无刷直流电动机双闭环调速系统的转矩脉动抑制研究[J]. 电工技术学报, 2015, 30(15): 156-163. Li Zhenguo, Zhou Shenghai, Wang Jianghao, et al.The research on the brushless DC motor double-loop speed control system for torque ripple reduction[J]. Transactions of China Electrotechnical Society, 2015, 30(15): 156-163. [12] 王大方, 朱洪彪, 金毅, 等. 抑制BLDCM换相转矩脉动的超前换相控制策略[J]. 电机与控制学报, 2018, 22(10): 77-86. Wang Dafang, Zhu Hongbiao, Jin Yi, et al.Advance commutation control method to suppress com- mutation torque ripple of brushless DC motors[J]. Electric Machines and Control, 2018, 22(10): 77-86. [13] Li Zhenguo, Gao Xuefei, Wang Jianghao, et al.Phase back EMF space vector oriented control of brushless DC motor for torque ripple minimization[C]//2016 IEEE 8th International Power Electronics and Motion Control Conference, Hefei, China, 2016: 2564-2570. [14] 张兰红, 唐慧雨, 何坚强. 基于霍尔位置信号的无刷直流电机直接转矩控制[J]. 电机与控制学报, 2018, 22(9): 56-63. Zhang Lanhong, Tang Huiyu, He Jianqiang.Direct torque control of brushless DC motor based on hall position signals[J]. Electric Machines and Control, 2018, 22(9): 56-63. [15] 杨建飞, 曹伟, 李德才, 等. 两相导通无刷直流电机直接转矩控制零电压矢量特性分析[J]. 电工技术学报, 2019, 34(23): 4948-4956. Yang Jianfei, Cao Wei, Li Decai, et al.Analysis on zero voltage vector in two-phase conduction direct torque control of brushless DC motor[J]. Transa- ctions of China Electrotechnical Society, 2019, 34(23): 4948-4956. [16] 李珍国, 章松发, 周生海, 等. 考虑转矩脉动最小化的无刷直流电机直接转矩控制系统[J]. 电工技术学报, 2014, 29(1): 139-146. Li Zhenguo, Zhang Songfa, Zhou Shenghai, et al.Direct torque control of brushless DC motor conside- ring torque ripple minimization[J]. Transactions of China Electrotechnical Society, 2014, 29(1): 139-146. [17] Liu Yong, Zhu Ziqiang, Howe D.Commutation- torque-ripple minimization in direct-torque-controlled PM brushless DC drives[J]. IEEE Transactions on Industry Applications, 2007, 43(4): 1012-1021. [18] Li Zhenguo, Wang Lu, Zhang Songfa, et al.Torque ripple reduction in direct torque controlled brushless DC motor[C]//2011 International Conference on Electrical Machines and Systems, Beijing, China, 2011: 1749-1752. [19] 边春元, 段鹏飞, 肖鸿权, 等. 一种用于无刷直流电机回馈制动的PWM调制方式[J]. 中国电机工程学报, 2019, 39(17): 5247-5256, 5305. Bian Chunyuan, Duan Pengfei, Xiao Hongquan, et al.A PWM scheme for regenerative braking of brushless DC motor[J]. Proceedings of the CSEE, 2019, 39(17): 5247-5256, 5305. [20] 王培侠, 姜卫东, 王金平, 等. 基于电流滞环控制的无刷直流电机多状态换相转矩脉动抑制方法[J]. 电工技术学报, 2018, 33(22): 5261-5272. Wang Peixia, Jiang Weidong, Wang Jinping, et al.A current hysteresis control method for brushless DC motor in multi-state with commutation torque ripple reduction[J]. Transactions of China Electrotechnical Society, 2018, 33(22): 5261-5272.
2020, Vol. 35 
