CN109905059A - A kind of no sensor method for controlling direct current brushless motor and device - Google Patents
A kind of no sensor method for controlling direct current brushless motor and device Download PDFInfo
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- CN109905059A CN109905059A CN201910064718.XA CN201910064718A CN109905059A CN 109905059 A CN109905059 A CN 109905059A CN 201910064718 A CN201910064718 A CN 201910064718A CN 109905059 A CN109905059 A CN 109905059A
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Abstract
The present invention provides a kind of no sensor method for controlling direct current brushless motor and devices, this method comprises: no sensor DC brushless motor is connected with the output of the three-phase of driving circuit by way of star-like connection；It is every to pass through a preset time interval, the first voltage value of the three-phase output of driving circuit is acquired, and acquire the second voltage value at the midpoint of star-like connection；The current level signal for corresponding to current time interval is determined according to the first voltage value and second voltage value；Whether the number that judgement corresponds to the time interval of current level signal is greater than with reference to quantity；If the number for corresponding to the time interval of current level signal, which is greater than, refers to quantity, determine that the level signal being flipped next time is that actual position changes signal；After obtaining actual position change signal, the switching signal of driving circuit is overturn.This programme can be improved the accuracy controlled no sensor DC brushless motor.
Description
Technical field
The present invention relates to electrical engineering technical field, in particular to a kind of no sensor method for controlling direct current brushless motor and
Device.
Background technique
With the rapid development of power electronic devices and control theory, non-brush permanent-magnet DC motor is with its high efficiency, good
Speed regulation and property easy to maintain and be used widely.Non-brush permanent-magnet DC motor is needed according to rotor-position to machine winding
Electric current implements commutation control, and traditional non-brush permanent-magnet DC motor determines the position of rotor using position sensor, and without biography
Sensor DC brushless motor then needs to detect the position of rotor according to stator current in winding or stator voltage.
According to stator current in winding or stator voltage detection DC brushless motor rotor-position when, due to direct current without
Device for power switching is used in the driving circuit of brush motor, DC brushless motor can generate when working in three-phase windings end voltage
Biggish due to voltage spikes interference, causes line back-emf signal to generate due to voltage spikes interference, detects mistake so as to cause rotor-position.
Currently, the control in order to avoid due to voltage spikes interference effect to no sensor DC brushless motor, usually in circuit
Middle addition filter circuit is eliminated the due to voltage spikes that device for power switching generates by filter circuit and is interfered.
For the method controlled at present no sensor DC brushless motor, although filter circuit is added in circuit
Due to voltage spikes interference can be eliminated, but filter circuit can generate delay to normal position signal, and rotor-position is caused to detect
Precision it is lower, and then cause the accuracy controlled no sensor DC brushless motor poor.
Summary of the invention
The embodiment of the invention provides a kind of no sensor method for controlling direct current brushless motor and devices, can be improved to nothing
The accuracy that sensor DC brushless motor is controlled.
In a first aspect, the embodiment of the invention provides a kind of no sensor method for controlling direct current brushless motor, comprising:
No sensor DC brushless motor is connected with the output of the three-phase of driving circuit by way of star-like connection；
It is every to pass through a preset time interval, the first voltage value of the three-phase output of the driving circuit is acquired, and adopt
Collect the second voltage value at the midpoint of the star-like connection；
According to the first voltage value and the second voltage value, determine that the current level for corresponding to current time interval is believed
Number；
Whether the number that judgement corresponds to the time interval of the current level signal is greater than with reference to quantity, wherein
It is described that the upper level before being the current level signal is overturn according to the no sensor DC brushless motor with reference to quantity
The signal corresponding level overturning period determines；
If the number for corresponding to the time interval of the current level signal refers to quantity greater than described, under determining
The level signal being once flipped is that actual position changes signal；
After obtaining the actual position change signal, the switching signal of the driving circuit is overturn.
Optionally, the driving circuit includes: control chip, the first metal-oxide-semiconductor, the second metal-oxide-semiconductor, third metal-oxide-semiconductor, the 4th
Metal-oxide-semiconductor, the 5th metal-oxide-semiconductor and the 6th metal-oxide-semiconductor；
DC power supply phase of the drain electrode of first metal-oxide-semiconductor, the third metal-oxide-semiconductor and the 5th metal-oxide-semiconductor with outside
Connection；
The source grounding of second metal-oxide-semiconductor, the 4th metal-oxide-semiconductor and the 6th metal-oxide-semiconductor；
The source electrode of first metal-oxide-semiconductor is connected with the drain electrode of second metal-oxide-semiconductor, the source electrode of the third metal-oxide-semiconductor with
The drain electrode of 4th metal-oxide-semiconductor is connected, and the source electrode of the 5th metal-oxide-semiconductor is connected to the drain of the sixth mos tube；
The source electrode of first metal-oxide-semiconductor is connected with the U phase winding voltage input terminal of the no sensor DC brushless motor
It connecing, the source electrode of the third metal-oxide-semiconductor is connected with the V phase voltage input terminal of the no sensor DC brushless motor, and described
The source electrode of five metal-oxide-semiconductors is connected with the W phase voltage input terminal of the no sensor DC brushless motor；
The grid of first metal-oxide-semiconductor and second metal-oxide-semiconductor respectively with it is described control chip on two phased tubulations of U
Foot is connected, the grid of the third metal-oxide-semiconductor and the 4th metal-oxide-semiconductor respectively with it is described control chip on two V phase controls
Pin is connected, and the grid of the 5th metal-oxide-semiconductor and the 6th metal-oxide-semiconductor is phased with two W on the control chip respectively
Tubulation foot is connected；
The control chip is used for first metal-oxide-semiconductor, second metal-oxide-semiconductor, the third metal-oxide-semiconductor, the described 4th
Metal-oxide-semiconductor, the 5th metal-oxide-semiconductor and the 6th metal-oxide-semiconductor send switching signal.
Optionally, described determined according to the first voltage value and the second voltage value corresponds to current time interval
Current level signal, comprising:
The U phase voltage value that the first voltage value includes is compared with the second voltage value, obtains U phase level；
The V phase voltage value that the first voltage value includes is compared with the second voltage value, obtains V phase level；
The W phase voltage value that the first voltage value includes is compared with the second voltage value, obtains W phase level；
The U phase level, the V phase level and the W phase level of acquisition are determined as the current level signal.
Optionally, whether the number for the time interval that the judgement corresponds to the current level signal is greater than reference
Quantity, comprising:
S1: after determining the current level signal, to counter plus 1；
S2: it obtains the corresponding level of a upper level signal before overturning is the current level signal and overturns the period；
S3: overturning the period according to the corresponding level of the upper level signal, calculated by following formula correspond to it is described
The described of current level signal refers to quantity；
Wherein, the TnCharacterization is described to refer to quantity corresponding to the described of the current level signal；The tn-1Characterization institute
State a level signal corresponding level overturning period；The TkCharacterize the duration of the time interval；The σ characterization is according to institute
State the strong and weak and determining coefficient of the interference of due to voltage spikes produced by driving circuit, and 0 < σ < 1；
S4: judge whether the counter is greater than corresponding to the described with reference to quantity of the current level signal.
Optionally, after the switching signal to the driving circuit is overturn, further comprise:
By the counter O reset, to restart to count next level signal warp after the current level signal overturning
The number for the time interval gone through.
Optionally, the switching signal to the driving circuit is overturn, comprising:
According to the overturning rule of level signal in the no sensor DC brushless motor operation process, determine relative to institute
State next level signal of current level signal；
The switching signal of the driving circuit is overturn according to next level signal, so that the driving circuit
Input the rotor-position phase of the alternating current and the no sensor DC brushless motor of the no sensor DC brushless motor
Match.
Second aspect, the embodiment of the invention also provides a kind of no sensor control device for direct-current brushless motor, comprising: adopts
Collect unit, processing unit, judging unit, predicting unit and control unit；
The acquisition unit passes through a preset time interval for every, and acquisition is by way of star-like connection and nothing
The first voltage value of the three-phase output for the driving circuit that sensor DC brushless motor is connected, and acquire the star-like connection
The second voltage value at midpoint；
The processing unit, for according to the collected the first voltage value of the acquisition unit and the second voltage
Value determines the current level signal for corresponding to current time interval；
The judging unit corresponds to described in the current level signal that the processing unit is determined for judging
Whether the number of time interval is greater than with reference to quantity, wherein the reference quantity is according to the no sensor DC brushless motor
The a upper level signal corresponding level overturning period before overturning is the current level signal determines；
The predicting unit is believed for the judging result according to the judging unit if corresponding to the current level
Number the time interval number be greater than it is described refer to quantity, determine that the level signal that is flipped next time is actual position
Change signal；
Described control unit, for determining that the level signal being flipped is actual position in the predicting unit next time
After changing signal and obtaining the actual position change signal, the switching signal of the driving circuit is overturn.
Optionally, the processing unit includes: first comparator, the second comparator, third comparator and integrates subelement；
The first comparator, U phase voltage value for including by the first voltage value and the second voltage value into
Row compares, and obtains U phase level；
Second comparator, V phase voltage value for including by the first voltage value and the second voltage value into
Row compares, and obtains V phase level；
The third comparator, W phase voltage value for including by the first voltage value and the second voltage value into
Row compares, and obtains W phase level；
Described to integrate subelement, the U phase level, second comparator for obtaining the first comparator obtain
The W phase level that the V phase level and the third comparator obtained obtains is determined as the current level signal.
Optionally, the judging unit, for performing the following operations:
S1: after determining the current level signal, to counter plus 1；
S2: it obtains the corresponding level of a upper level signal before overturning is the current level signal and overturns the period；
S3: overturning the period according to the corresponding level of the upper level signal, calculated by following formula correspond to it is described
The described of current level signal refers to quantity；
Wherein, the TnCharacterization is described to refer to quantity corresponding to the described of the current level signal；The tn-1Characterization institute
State a level signal corresponding level overturning period；The TkCharacterize the duration of the time interval；The σ characterization is according to institute
State the strong and weak and determining coefficient of the interference of due to voltage spikes produced by driving circuit, and 0 < σ < 1；
S4: judge whether the counter is greater than corresponding to the described with reference to quantity of the current level signal.
Optionally,
The judging unit is further used for after the switching signal to the driving circuit is overturn, will
The counter O reset, with restart to count next level signal experience after the current level signal overturning it is described when
Between the number that is spaced.
No sensor method for controlling direct current brushless motor and device provided in an embodiment of the present invention, pass through the side of star-like connection
No sensor DC brushless motor is connected by formula with the output of the three-phase of driving circuit, when every process one is preset later
Between interval acquire driving circuit three-phase output the first voltage value and star-like connection midpoint second voltage value, Jin Ergen
According to the first voltage value is collected and second voltage value can obtain current level signal corresponding to current time interval, sentence later
Whether the number of the disconnected time interval corresponding with current level signal passed through is greater than with reference to quantity, and refer to quantity according to
No sensor DC brushless motor overturning is to determine in the level overturning period of the upper level signal after current level signal,
If it is judged that the number for the time interval corresponding with current level signal passed through is greater than with reference to quantity, it is determined that
The level signal being flipped next time is that actual position changes signal, and then the level being flipped that hereafter will be obtained for the first time
Signal changes signal as actual position, and turns over after obtaining actual position change signal to the switching signal of driving circuit
Turn.It can be seen that for the level signal of each of no sensor DC brushless motor operational process reaction rotor-position,
The flip-flop transition of current level signal is predicted according to the duration of a upper level signal, with this come filter out in level signal by
The interference of due to voltage spikes caused by power device, due to not believed using filter circuit without will lead to detection actual position change
Number generate delay, so as to improve the accuracy controlled no sensor DC brushless motor.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart of no sensor method for controlling direct current brushless motor provided by one embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of driving circuit provided by one embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of star-like connection provided by one embodiment of the present invention；
Fig. 4 is a kind of counter provided by one embodiment of the present invention and the flow chart with reference to quantity comparative approach；
Fig. 5 is equipment where a kind of no sensor control device for direct-current brushless motor provided by one embodiment of the present invention
Schematic diagram；
Fig. 6 is a kind of schematic diagram of no sensor control device for direct-current brushless motor provided by one embodiment of the present invention；
Fig. 7 is another signal without sensor control device for direct-current brushless motor provided by one embodiment of the present invention
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, this method can the embodiment of the invention provides a kind of no sensor method for controlling direct current brushless motor
With the following steps are included:
Step 101: being exported the three-phase of no sensor DC brushless motor and driving circuit by way of star-like connection
It is connected；
Step 102: it is every to pass through a preset time interval, the first voltage value of the three-phase output of driving circuit is acquired,
And acquire the second voltage value at the midpoint of star-like connection；
Step 103: according to the first voltage value and second voltage value, determining that the current level for corresponding to current time interval is believed
Number；
Step 104: whether the number that judgement corresponds to the time interval of current level signal is greater than with reference to quantity, wherein
It is overturn with reference to quantity according to no sensor DC brushless motor as the corresponding electricity of a upper level signal after current level signal
The flat overturning period determines；
Step 105: if the number for corresponding to the time interval of current level signal, which is greater than, refers to quantity, determining next time
The level signal being flipped is that actual position changes signal；
Step 106: after obtaining actual position change signal, the switching signal of driving circuit being overturn.
No sensor method for controlling direct current brushless motor provided in an embodiment of the present invention, by nothing by way of star-like connection
Sensor DC brushless motor is connected with the output of the three-phase of driving circuit, every later to pass through a preset time interval
The first voltage value of the three-phase output an of driving circuit and the second voltage value at star-like connection midpoint are acquired, and then according to acquisition
The current level signal corresponding to current time interval can be obtained to the first voltage value and second voltage value, judgement is passed through later
Whether the number for the time interval corresponding with current level signal crossed is greater than with reference to quantity, and refers to quantity according to no sensing
The overturning of device DC brushless motor is to determine in the level overturning period of the upper level signal after current level signal, if sentenced
Disconnected result is greater than for the number for the time interval corresponding with current level signal passed through refers to quantity, it is determined that next time
The level signal being flipped is that actual position changes signal, and then hereafter makees the level signal being flipped obtained for the first time
Signal is changed for actual position, and the switching signal of driving circuit is overturn after obtaining actual position change signal.By
This as it can be seen that for each of no sensor DC brushless motor operational process reaction rotor-position level signal, according to
The duration of a upper level signal predicts the flip-flop transition of current level signal, is filtered out in level signal with this by power
The interference of due to voltage spikes caused by device, due to not produced using filter circuit without will lead to detection actual position change signal
Raw delay, so as to improve the accuracy controlled no sensor DC brushless motor.
In embodiments of the present invention, the rotor of no sensor DC brushless motor rotates one week, no sensor brush DC
The winding coil of motor can undergo multiple electric periods, and each electric period includes 6 level overturning periods, and 6 level turn over
The turn-week phase corresponds to 6 different level signals that U, V, W three-phase level are composed.In no sensor direct current brushless motor speed
In uniform situation, 6 varying level signal durations are equal, i.e., each level overturning period is equal to the 1/ of the electric period
6.Since the embodiment of the present invention predicts the end time in each level overturning period by the number of statistical time compartment, then
The duration of time interval is needed to be less than the duration in level overturning period, in order to guarantee that the accuracy of prediction needs further exist for each
The level overturning period includes multiple time intervals, and what time interval should be smaller than the level overturning period thus is more, such as between the time
Every being equal to the 1/1000 of the electric period, then time interval is equal to the 3/500 of level overturning period.
Optionally, on the basis of no sensor method for controlling direct current brushless motor shown in Fig. 1, step 101 passes through star
No sensor DC brushless motor is connected by the mode of connection with the output of the three-phase of driving circuit, as shown in Fig. 2, driving circuit
It may include: control chip, the first metal-oxide-semiconductor Q1, the second metal-oxide-semiconductor Q2, third metal-oxide-semiconductor Q3, the 4th metal-oxide-semiconductor Q4, the 5th metal-oxide-semiconductor Q5
With the 6th metal-oxide-semiconductor Q6；
The drain electrode of first metal-oxide-semiconductor Q1, third metal-oxide-semiconductor Q3 and the 5th metal-oxide-semiconductor Q5 are connected with external DC power supply V_bus
It connects；
The source grounding of second metal-oxide-semiconductor Q2, the 4th metal-oxide-semiconductor Q4 and the 6th metal-oxide-semiconductor Q6；
The source electrode of first metal-oxide-semiconductor Q1 is connected with the drain electrode of the second metal-oxide-semiconductor Q2, the source electrode and the 4th MOS of third metal-oxide-semiconductor Q3
The drain electrode of pipe Q4 is connected, and the source electrode of the 5th metal-oxide-semiconductor Q5 is connected with the drain electrode of the 6th metal-oxide-semiconductor Q6；
The source electrode of first metal-oxide-semiconductor Q1 is connected with the U phase winding voltage input terminal U of no sensor DC brushless motor, the
The source electrode of three metal-oxide-semiconductor Q3 is connected with the V phase voltage input terminal V of no sensor DC brushless motor, the source electrode of the 5th metal-oxide-semiconductor Q5
It is connected with the W phase voltage input terminal W of no sensor DC brushless motor；
The grid of first metal-oxide-semiconductor Q1 and the second metal-oxide-semiconductor Q2 respectively with control chip on two U phase control pin U_up and
U_down is connected, the grid of third metal-oxide-semiconductor Q3 and the 4th metal-oxide-semiconductor Q4 respectively with control chip on two V phase control pins
V_up is connected with V_down, and the grid of the 5th metal-oxide-semiconductor Q5 and the 6th metal-oxide-semiconductor Q6 are phased with two W on control chip respectively
Tubulation foot W_up is connected with W_down；
Chip is controlled to be used for the first metal-oxide-semiconductor Q1, the second metal-oxide-semiconductor Q2, third metal-oxide-semiconductor Q3, the 4th metal-oxide-semiconductor Q4, the 5th MOS
Pipe Q5 and the 6th metal-oxide-semiconductor Q6 sends switching signal.
In embodiments of the present invention, control chip is connected with the grid of each metal-oxide-semiconductor respectively, is acquiring reflection without biography
It, can be to the control chip in driving circuit in sensor DC brushless motor after the actual position change signal of rotor actual position
Corresponding instruction is sent, so that control chip can change the switching signal for being output to the grid of each metal-oxide-semiconductor, so that
Driving circuit inputs voltage corresponding with rotor actual position to no sensor DC brushless motor, and realization accurately controls no biography
The operating of sensor DC brushless motor.
In embodiments of the present invention, driving circuit three-phase output U, V, W in a manner of star-like connection with no sensor direct current
The three-phase voltage input terminal of brushless motor is connected, specific as shown in Figure 3.Wherein, U phase winding voltage input terminal U and the first MOS
The source electrode of pipe Q1 is connected, and V phase voltage input terminal V is connected with the source electrode of third metal-oxide-semiconductor Q3, W phase voltage input terminal W and the 5th
The source electrode of metal-oxide-semiconductor Q5 is connected.In addition, U phase winding voltage input terminal U, V phase voltage input terminal V and W phase voltage input terminal W
Common point O is the midpoint of star-like connection.
Optionally, on the basis of no sensor method for controlling direct current brushless motor shown in Fig. 1, step 103 is according to first
Voltage value and second voltage value determine the current level signal for corresponding to current time interval, since the first voltage value includes to drive
The U phase voltage value of U phase output terminal, the W phase voltage value of the V phase voltage value of V phase output terminal and W phase output terminal on dynamic circuit, thus
It can be carried out respectively with second voltage value by the U phase voltage value, V phase voltage value and W phase voltage value for including by the first voltage value
Compare to determine current level signal.
Specifically, after current time interval collects the first voltage value and second voltage value, include by the first voltage value
U phase voltage value be compared with second voltage value and obtain U phase level, the V phase voltage value for including by the first voltage value and the
Two voltage values are compared and obtain V phase level, and the W phase voltage value that the first voltage value includes is compared with second voltage value
And W phase level is obtained, when the sequence of levels of U phase level, V phase level and W phase level combinations being determined as corresponding to current later
Between the current level signal that is spaced.
In embodiments of the present invention, the three-phase output of driving circuit is respectively that U phase exports, V phase is exported and exported with W phase, root
It is different according to potential of the three-phase output phase for star-like connection midpoint, and the electricity of the voltage value of each phase output and star-like connection midpoint
Pressure value relatively after can obtain high level or low level, but since three level for corresponding to the output of driving circuit three-phase can not
Be high level or be simultaneously low level simultaneously, therefore level signal obtained includes 6 kinds of different forms, be corresponding in turn in
U, the level of V, W phase is that height-is low-low, Gao-height-is low, high-low-high, low-low-high and low-high-low and low-high-height.
Optionally, on the basis of no sensor method for controlling direct current brushless motor shown in Fig. 1, step 104 judgement is corresponded to
Whether it is greater than in the number of the time interval of current level signal with reference to quantity, specifically judges that current level signal is lasting
Whether the number of time interval is greater than with reference to quantity, and current level signal is the ginseng from the overturning of a upper level signal
Examining data is the determination according to the number at upper level signal duration interval.As shown in figure 4, deterministic process has
Body can be accomplished in that
Step 401: after determining current level signal, to counter plus 1.
Specifically, the counter Tc that initial value is zero is preset, is worked as from level signal by the overturning of a upper level signal
Front signal starts, and adds 1 to counter Tc after each time interval gets level signal.
For example, the level signal (U phase-V phase-W phase) without sensor DC brushless motor recycles overturning in the following order:
High-low-low, Gao-height-is low, high-low-high, low-low-high, low-high-low, low-high-high.Current level signal is that Gao-height-is low,
When then level signal is just that Gao-height-is low from high-low-low overturning, the counter Tc corresponding to current level signal is equal to zero,
Overturning just adds 1 to counter Tc by a time interval to be every after current level signal, until level signal is by Gao-height-
It is low to overturn to reset counter Tc after high-low-high.
Step 402: obtaining the corresponding level of a upper level signal before level signal overturning is current level signal and turn over
The turn-week phase.
Specifically, since the upper level signal relative to current level signal has been reversed over, or more one
The number of level signal time interval experienced be it is determining, getting upper level signal time interval experienced
After number, the product of acquired time interval number and time interval duration is calculated, the electricity for corresponding to a upper level signal is obtained
The flat overturning period.
For example, preset time interval is 2 × 10-6s.Current level signal is that Gao-height-is low, relative to current electricity
To be high-low-low, be that Gao-height-is low by high-low-low overturning according to level signal counts a upper level signal for ordinary mail number before
The value of device Tc determines that the number of the time interval of level signal experience is 166, then calculates of acquired time interval
Several products 166 × 2 × 10 with time interval duration-6Equal to 3.32 × 10-4, i.e., turn corresponding to the level of a upper level signal
Turn-week is enclosed equal to 3.32 × 10-4s。
Step 403: the period being overturn according to the corresponding level of the upper level signal got, passes through the calculating pair of following formula
It should be in the reference quantity of current level signal.
Specifically, get be directed to level corresponding to a upper level signal for current level signal overturning the period
Afterwards, the level overturning period that will acquire substitutes into following formula and calculates the reference quantity for corresponding to current level signal；
Wherein, TnCharacterization corresponds to the reference quantity of current level signal；tn-1Characterize the corresponding level of a upper level signal
Overturn the period；TkCharacterize the duration of time interval；σ characterization due to voltage spikes according to produced by driving circuit interferes strong and weak and determining
Coefficient, and 0 < σ < 1.
For example, the power of the interference of the due to voltage spikes according to produced by driving circuit determines that factor sigma value is 0.9, in step 402
Get the level overturning period t corresponding to a upper level signaln-1=3.32 × 10-4S, the duration T of time intervalk=2 ×
10-6S calculates the available reference quantity T corresponding to current level signal by above-mentioned formulan=149.4.
Step 404: judging whether counter is greater than the reference quantity corresponding to current level signal.
Specifically, every to pass through one after being calculated by above-mentioned formula corresponding to the reference quantity of current level signal
Counter Tc is compared by time interval with the reference quantity for corresponding to current level signal.
If counter Tc, which is less than, refers to quantity Tn, illustrate current level signal duration and correspond to a upper electricity
The level overturning period difference of ordinary mail number is more, and actual position change signal is also not in not make actual position change letter
Number prediction.At this point, this will not be turned over even if the level signal that next time interval is got is overturn
The level signal turned changes signal as actual position.
If counter Tc, which is greater than, refers to quantity Tn, illustrate current level signal duration and corresponding to upper
The level overturning period of one level signal is close, and actual position change signal will occur.At this point, determination is turned over next time
The level signal turned is that actual position changes signal.
No sensor DC brushless motor operation during, if revolving speed uniformly if two neighboring level signal held
The continuous time it is isometric, even if revolving speed is uneven but since each level signal duration is shorter, adjacent two
The difference of a level signal duration is also smaller, therefore can predict to work as according to upper level signal duration
The time that preceding level signal is flipped, the determination in addition combined with the intensity that the due to voltage spikes according to produced by driving circuit interferes
Coefficient, guarantee can accurately predict the time that level signal is flipped, it can more accurately determine
Reflect rotor-position actual position change signal, and then can according to determine actual position change signal it is more accurately right
No sensor DC brushless motor is controlled.
Optionally, judgement counter shown in Fig. 4 is being got really with reference on the basis of quantity size relation method
Signal is changed in position, and after overturning to the switching signal of driving circuit, and counter O reset is worked as with restarting to count
The number at next level signal elapsed time interval after preceding level signal is flipped.
After getting actual position change signal for current level signal, the switching signal of driving circuit is turned over
Turning, the level signal determined accordingly based upon the first voltage value and second voltage value resurveyed is also changed,
For example the level signal determined before this is that Gao-height-is low, the level letter that the switching signal of driving circuit is determined after being flipped
It number should be high-low-high, need to count the number of high-low-high level signal time interval experienced at this time, it is next to predict
Secondary actual position changes signal, to need to carry out counter after the switching signal to driving circuit is overturn clear
Zero.
After being overturn each time to the switching signal of driving circuit, counter is zeroed out to count down again
The number at one level signal elapsed time interval, it is accurate pre- to be carried out for the actual position of next level signal change signal
It surveys, is identified so as to the actual position change signal continuously to no sensor DC brushless motor, to continue
It is closer to the progress of no sensor DC brushless motor accurately to control.
Optionally, on the basis of no sensor method for controlling direct current brushless motor shown in Fig. 1, step 106 pair driving electricity
The switching signal on road is overturn, and specifically, can be believed first according to level in no sensor DC brushless motor operation process
Number overturning rule, determine next level signal of corresponding current level signal, later can be according to determined next
Level signal overturns the switching signal of the driving circuit, and meaning driving circuit input is without sensor DC brushless motor
The rotor-position of alternating current and no sensor DC brushless motor match.
For example, low-low according to height-without level signal in sensor DC brushless motor operation process, Gao-height-is low, high-
Low-high, low-low-high, low-high-low, low-high-high sequence recycles overturning, if current level signal is that Gao-height-is low,
After getting the actual position change signal for current level signal, need according to level signal high-low-high to driving electricity
The switching signal on road is overturn.For example, as shown in Fig. 2, controlling chip in driving circuit when level signal is that Gao-height-is low
(the packet of switching signal 1 of switching signal 1 is sent to the grid of 6 metal-oxide-semiconductors according to level signal Gao-low control model of height-is corresponded to
Include the switch subsignal for corresponding respectively to each metal-oxide-semiconductor), after level signal overturning is high-low-high, in driving circuit
Control chip sends switching signal 2 to the grid of 6 metal-oxide-semiconductors according to the control model for corresponding to level signal high-low-high and (opens
OFF signal 2 also includes the switch subsignal for corresponding respectively to each metal-oxide-semiconductor).
According to the overturning rule of level signal in no sensor DC brushless motor operation process to the switch of driving circuit
Signal is overturn, and guarantees that driving circuit is transferred to the electric energy and no sensor brush DC electricity of no sensor DC brushless motor
The rotor-position of machine matches, and further ensures the accuracy controlled no sensor DC brushless motor.
As shown in Figure 5, Figure 6, the embodiment of the invention provides a kind of no sensor control device for direct-current brushless motor.Device
Embodiment can also be realized by software realization by way of hardware or software and hardware combining.For hardware view,
As shown in figure 5, for a kind of hardware of equipment where no sensor control device for direct-current brushless motor provided in an embodiment of the present invention
Structure chart, other than processor shown in fig. 5, memory, network interface and nonvolatile memory, device in embodiment
The equipment at place can also include usually other hardware, such as be responsible for the forwarding chip of processing message.Taking software implementation as an example,
As shown in fig. 6, being will be right in nonvolatile memory by the CPU of equipment where it as the device on a logical meaning
The computer program instructions answered are read into memory what operation was formed.No sensor DC brushless motor control provided in this embodiment
Device processed, comprising: acquisition unit 601, processing unit 602, judging unit 603, predicting unit 604 and control unit 605；
Acquisition unit 601, for it is every pass through a preset time interval, acquisition by way of star-like connection with no biography
The first voltage value of the three-phase output for the driving circuit that sensor DC brushless motor is connected, and acquire the midpoint of star-like connection
Second voltage value；
Processing unit 602 is used for according to the collected the first voltage value of acquisition unit 601 and second voltage value, and determining pair
It should be in the current level signal of current time interval；
Judging unit 603, the time interval of the current level signal for judging to determine corresponding to processing unit 602
Whether number is greater than with reference to quantity, wherein being overturn with reference to quantity according to no sensor DC brushless motor is current level signal
The corresponding level overturning period of a upper level signal before determines；
Predicting unit 604, for the judging result according to judging unit 603, if correspond to current level signal when
Between the number that is spaced be greater than and determine that the level signal being flipped next time is that actual position changes signal with reference to quantity；
Control unit 605, for determining the level signal being flipped for actual position change in predicting unit 604 next time
More signal and obtain actual position change signal after, the switching signal of driving circuit is overturn.
Optionally, on the basis of no sensor control device for direct-current brushless motor shown in Fig. 6, as shown in fig. 7, processing is single
Member 602 includes: first comparator 6021, the second comparator 6022, third comparator 6023 and integrates subelement 6024；
First comparator 6021, the U phase voltage value for including by the first voltage value are compared with second voltage value, obtain
Obtain U phase level；
Second comparator 6022, the V phase voltage value for including by the first voltage value are compared with second voltage value, obtain
Obtain V phase level；
Third comparator 6023, the W phase voltage value for including by the first voltage value are compared with second voltage value, obtain
Obtain W phase level；
Subelement 6024 is integrated, the U phase level, the second comparator 6022 for obtaining first comparator 6021 obtain
The W phase level that V phase level and third comparator 6023 obtain is determined as current level signal.
Optionally, on the basis of no sensor control device for direct-current brushless motor shown in Fig. 6, judging unit 603 is used for
It performs the following operations:
S1: after determining current level signal, to counter plus 1；
S2: it obtains the corresponding level of a upper level signal before overturning is current level signal and overturns the period；
S3: the period is overturn according to the corresponding level of a upper level signal, is calculated by following formula and corresponds to current level
The reference quantity of signal；
Wherein, TnCharacterization corresponds to the reference quantity of current level signal；tn-1Characterize the corresponding level of a upper level signal
Overturn the period；TkCharacterize the duration of time interval；σ characterization due to voltage spikes according to produced by driving circuit interferes strong and weak and determining
Coefficient, and 0 < σ < 1；
S4: judge whether counter is greater than the reference quantity corresponding to current level signal.
Optionally, on the basis of above-described embodiment provides no sensor control device for direct-current brushless motor,
Judging unit 603 is further used for after the switching signal to driving circuit is overturn, by counter O reset,
To restart to count the number of the time interval of next level signal experience after current level signal is overturn.
Optionally, on the basis of above-mentioned each embodiment provides no sensor control device for direct-current brushless motor,
Control unit 605 is used for the overturning rule according to level signal in no sensor DC brushless motor operation process,
Determine next level signal relative to current level signal, and according to next level signal to the switching signal of driving circuit into
Row overturning, so that turn of driving circuit the input alternating current without sensor DC brushless motor and no sensor DC brushless motor
Sub- position matches.
It should be noted that the contents such as information exchange, implementation procedure between each unit in above-mentioned apparatus, due to this
Inventive method embodiment is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, no longer superfluous herein
It states.
The embodiment of the invention also provides a kind of readable mediums, including execute instruction, when the processor of storage control is held
When being executed instruction described in row, the storage control execute that above-mentioned each embodiment provides without sensor DC brushless motor control
Method processed.
The embodiment of the invention also provides a kind of storage controls, comprising: processor, memory and bus；
The memory is executed instruction for storing, and the processor is connect with the memory by the bus, when
When the storage control is run, the processor executes the described of memory storage and executes instruction, so that the storage
Controller execute that above-mentioned each embodiment provides without sensor method for controlling direct current brushless motor.
It should be noted that each embodiment offer of the present invention can lead to without sensor control device for direct-current brushless motor
The processing chip realization for being stored with corresponding computer program is crossed, can also be realized by corresponding logic circuit.
In conclusion each embodiment of the present invention provide without sensor method for controlling direct current brushless motor and device, until
It has the following beneficial effects: less
It 1, in embodiments of the present invention, will be without sensor DC brushless motor and driving circuit by way of star-like connection
Three-phase output be connected, the three-phase output that a driving circuit is acquired by a preset time interval every later
The second voltage value of the first voltage value and star-like connection midpoint, and then can be with according to the first voltage value and second voltage value is collected
Obtain correspond to current time interval current level signal, later judgement passed through it is corresponding with current level signal when
Between the number that is spaced whether be greater than with reference to quantity, and referring to quantity according to the overturning of no sensor DC brushless motor is current level
The level overturning period of a upper level signal after signal determines, if it is judged that believing for what is passed through with current level
The number of number corresponding time interval, which is greater than, refers to quantity, it is determined that the level signal being flipped next time is actual position
Signal is changed, and then hereafter changes signal for the level signal being flipped obtained for the first time as actual position, and obtaining
The switching signal of driving circuit is overturn after actual position change signal.It can be seen that for no sensor brush DC
Each of motor operation course reacts the level signal of rotor-position, is predicted according to the duration of a upper level signal
The flip-flop transition of current level signal is interfered with this to filter out the due to voltage spikes as caused by power device in level signal, by
In not using filter circuit to generate delay without will lead to detection actual position change signal, so as to improve to no sensing
The accuracy that device DC brushless motor is controlled.
2, chip in embodiments of the present invention, is controlled in driving circuit to be connected with the grid of each metal-oxide-semiconductor respectively, is being obtained
It obtains after reflecting the actual position change signal of rotor actual position in no sensor DC brushless motor, it can be to driving circuit
In control chip send corresponding instruction so that control chip can change the switch for being output to the grid of each metal-oxide-semiconductor
Signal, so that driving circuit inputs voltage corresponding with rotor actual position to no sensor DC brushless motor, it is real
Now accurately control no sensor DC brushless motor operating.
3, in embodiments of the present invention, no sensor DC brushless motor run during, if revolving speed uniformly if
Two neighboring level signal duration it is isometric, even if revolving speed is uneven but since each level signal is held
The continuous time is shorter, and the difference of two neighboring level signal duration is also smaller, therefore can be according to a upper level signal
Duration predicts the time that current level signal is flipped, in addition combined with the point of the voltage according to produced by driving circuit
Peak interference intensity and determination coefficient, guarantee the time that level signal is flipped can accurately be predicted,
It can more accurately determine the actual position change signal of reflection rotor-position, and then can be according to determining actual position
Change signal more accurately controls no sensor DC brushless motor.
4, in embodiments of the present invention, after being overturn each time to the switching signal of driving circuit, to counter
It is zeroed out to count the number at next level signal elapsed time interval again, to be directed to the true position of next level signal
It sets change signal and carries out Accurate Prediction, so as to the actual position change continuously to no sensor DC brushless motor
Signal is identified, is accurately controlled with persistently closer to the progress of no sensor DC brushless motor.
5, it in embodiments of the present invention, is advised according to the overturning of level signal in no sensor DC brushless motor operation process
Rule overturns the switching signal of driving circuit, guarantee driving circuit be transferred to the electric energy of no sensor DC brushless motor with
The rotor-position of no sensor DC brushless motor matches, and further ensures and controls to no sensor DC brushless motor
The accuracy of system.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements,
It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
In the various media that can store program code such as disk.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of no sensor method for controlling direct current brushless motor, which is characterized in that will be without sensing by way of star-like connection
Device DC brushless motor is connected with the output of the three-phase of driving circuit, further includes:
It is every to pass through a preset time interval, the first voltage value of the three-phase output of the driving circuit is acquired, and acquire institute
State the second voltage value at the midpoint of star-like connection；
According to the first voltage value and the second voltage value, the current level signal for corresponding to current time interval is determined；
Whether the number that judgement corresponds to the time interval of the current level signal is greater than with reference to quantity, wherein described
A upper level signal before being the current level signal according to the no sensor DC brushless motor overturning with reference to quantity
The corresponding level overturning period determines；
If the number for corresponding to the time interval of the current level signal refers to quantity greater than described, determine next time
The level signal being flipped is that actual position changes signal；
After obtaining the actual position change signal, the switching signal of the driving circuit is overturn.
2. the method according to claim 1, wherein the driving circuit include: control chip, the first metal-oxide-semiconductor,
Second metal-oxide-semiconductor, third metal-oxide-semiconductor, the 4th metal-oxide-semiconductor, the 5th metal-oxide-semiconductor and the 6th metal-oxide-semiconductor；
The drain electrode of first metal-oxide-semiconductor, the third metal-oxide-semiconductor and the 5th metal-oxide-semiconductor is connected with external DC power supply；
The source grounding of second metal-oxide-semiconductor, the 4th metal-oxide-semiconductor and the 6th metal-oxide-semiconductor；
The source electrode of first metal-oxide-semiconductor is connected with the drain electrode of second metal-oxide-semiconductor, the source electrode of the third metal-oxide-semiconductor with it is described
The drain electrode of 4th metal-oxide-semiconductor is connected, and the source electrode of the 5th metal-oxide-semiconductor is connected to the drain of the sixth mos tube；
The source electrode of first metal-oxide-semiconductor is connected with the U phase winding voltage input terminal of the no sensor DC brushless motor, institute
The source electrode for stating third metal-oxide-semiconductor is connected with the V phase voltage input terminal of the no sensor DC brushless motor, the 5th MOS
The source electrode of pipe is connected with the W phase voltage input terminal of the no sensor DC brushless motor；
The grid of first metal-oxide-semiconductor and second metal-oxide-semiconductor respectively with it is described control chip on two U phase control pin phases
Connection, the grid of the third metal-oxide-semiconductor and the 4th metal-oxide-semiconductor respectively with two V phase control pins on the control chip
Be connected, the grid of the 5th metal-oxide-semiconductor and the 6th metal-oxide-semiconductor respectively with it is described control chip on two phased tubulations of W
Foot is connected；
The control chip is used for first metal-oxide-semiconductor, second metal-oxide-semiconductor, the third metal-oxide-semiconductor, the 4th MOS
Pipe, the 5th metal-oxide-semiconductor and the 6th metal-oxide-semiconductor send switching signal.
3. the method according to claim 1, wherein described according to the first voltage value and the second voltage
Value determines the current level signal for corresponding to current time interval, comprising:
The U phase voltage value that the first voltage value includes is compared with the second voltage value, obtains U phase level；
The V phase voltage value that the first voltage value includes is compared with the second voltage value, obtains V phase level；
The W phase voltage value that the first voltage value includes is compared with the second voltage value, obtains W phase level；
The U phase level, the V phase level and the W phase level of acquisition are determined as the current level signal.
4. the method according to claim 1, wherein the judgement corresponds to the described of the current level signal
Whether the number of time interval is greater than with reference to quantity, comprising:
S1: after determining the current level signal, to counter plus 1；
S2: it obtains the corresponding level of a upper level signal before overturning is the current level signal and overturns the period；
S3: overturning the period according to the corresponding level of the upper level signal, calculated by following formula correspond to it is described current
The described of level signal refers to quantity；
Wherein, the TnCharacterization is described to refer to quantity corresponding to the described of the current level signal；The tn-1It characterizes on described
The corresponding level of one level signal overturns the period；The TkCharacterize the duration of the time interval；The σ characterization is according to the drive
The coefficient that due to voltage spikes interference produced by dynamic circuit is strong and weak and determines, and 0 < σ < 1；
S4: judge whether the counter is greater than corresponding to the described with reference to quantity of the current level signal.
5. according to the method described in claim 4, it is characterized in that, being turned in the switching signal to the driving circuit
After turning, further comprise:
By the counter O reset, to restart to count next level signal experience after the current level signal is overturn
The number of the time interval.
6. according to claim 1 to any method in 5, which is characterized in that the switch to the driving circuit is believed
It number is overturn, comprising:
According to the overturning rule of level signal in the no sensor DC brushless motor operation process, determination is worked as relative to described
Next level signal of preceding level signal；
The switching signal of the driving circuit is overturn according to next level signal, so that the driving circuit inputs
The alternating current of the no sensor DC brushless motor and the rotor-position of the no sensor DC brushless motor match.
7. a kind of no sensor control device for direct-current brushless motor characterized by comprising acquisition unit, processing unit, judgement
Unit, predicting unit and control unit；
The acquisition unit, for it is every pass through a preset time interval, acquisition by way of star-like connection with no sensing
The first voltage value of the three-phase output for the driving circuit that device DC brushless motor is connected, and acquire the midpoint of the star-like connection
Second voltage value；
The processing unit is used for according to the collected the first voltage value of the acquisition unit and the second voltage value,
Determine the current level signal for corresponding to current time interval；
The judging unit, the time for judging to correspond to the current level signal that the processing unit is determined
Whether the number at interval is greater than with reference to quantity, wherein described to be overturn with reference to quantity according to the no sensor DC brushless motor
It is determining that the period is overturn for the corresponding level of a upper level signal before the current level signal；
The predicting unit, for the judging result according to the judging unit, if corresponding to the current level signal
The number of the time interval refers to quantity greater than described, determines that the level signal being flipped next time is actual position change
Signal；
Described control unit, for determining the level signal being flipped for actual position change in the predicting unit next time
Signal and after obtaining actual position change signal, overturns the switching signal of the driving circuit.
8. device according to claim 7, which is characterized in that the processing unit includes: first comparator, second compares
Device, third comparator and integrate subelement；
The first comparator, the U phase voltage value for including by the first voltage value compare with the second voltage value
Compared with acquisition U phase level；
Second comparator, the V phase voltage value for including by the first voltage value compare with the second voltage value
Compared with acquisition V phase level；
The third comparator, the W phase voltage value for including by the first voltage value compare with the second voltage value
Compared with acquisition W phase level；
It is described to integrate subelement, what the U phase level, second comparator for obtaining the first comparator obtained
The W phase level that the V phase level and the third comparator obtain is determined as the current level signal.
9. device according to claim 7, which is characterized in that
The judging unit, for performing the following operations:
S1: after determining the current level signal, to counter plus 1；
S2: it obtains the corresponding level of a upper level signal before overturning is the current level signal and overturns the period；
S3: overturning the period according to the corresponding level of the upper level signal, calculated by following formula correspond to it is described current
The described of level signal refers to quantity；
Wherein, the TnCharacterization is described to refer to quantity corresponding to the described of the current level signal；The tn-1It characterizes on described
The corresponding level of one level signal overturns the period；The TkCharacterize the duration of the time interval；The σ characterization is according to the drive
The coefficient that due to voltage spikes interference produced by dynamic circuit is strong and weak and determines, and 0 < σ < 1；
S4: judge whether the counter is greater than corresponding to the described with reference to quantity of the current level signal.
10. device according to claim 9, which is characterized in that
The judging unit is further used for after the switching signal to the driving circuit is overturn, will be described
Counter O reset, to restart to count after the current level signal is overturn between the time of next level signal experience
Every number.
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| CN114755442A (en) * | 2022-04-18 | 2022-07-15 | 广州汽车集团股份有限公司 | Rotating speed obtaining method and system |
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