CN100448156C - Brake control method of DC electromotor with brush without Hall subassembly, and system - Google Patents
Brake control method of DC electromotor with brush without Hall subassembly, and system Download PDFInfo
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- CN100448156C CN100448156C CNB2005100730429A CN200510073042A CN100448156C CN 100448156 C CN100448156 C CN 100448156C CN B2005100730429 A CNB2005100730429 A CN B2005100730429A CN 200510073042 A CN200510073042 A CN 200510073042A CN 100448156 C CN100448156 C CN 100448156C
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Abstract
The present invention provides a brake control method of a DC motor with a brush without a Hall subassembly, and a system. When the system is started, a motor is braked in advance. A static armature current value is detected and recorded when the motor is static. When the motor needs to be braked, reverse control voltage is outputted, and an armature current value is detected. When the armature current value which is detected is equal to the static armature current value, the brake control operation of the DC motor with a brush is finished. Under any state, the present invention can lead the DC motor with a brush to be completely braked and stopped in short time. Simultaneously, the present invention can be applied to different DC motors with a brush, and the same effect can be obtained.
Description
Technical field
The present invention relates to brake method and the system of DC electromotor with brush (Direct Current Brushed Motor), especially relate to brake control method of DC electromotor with brush and the system thereof of a kind of no Hall subassembly (Hall Sensor).
Background technology
In general DC Brushless Motor (Brushless Motor) control system, majority is equipped with Hall subassembly, therefore can directly obtain rotating speed FG (Frequency Generator) signal, or utilize the three-phase control signal to generate tach signal via external chip.And when tach signal is zero, represent that promptly motor finishes brake and enter halted state.
In addition, many DC electromotor with brush also comprise Hall subassembly, to have excellent control performances and to be easy to obtain feedback (Feedback) signal.But in the cheap gradually consumption market of price, this kind motor can't satisfy the cost demand, therefore needs a kind of structure not have the DC motor of Hall subassembly more easily.
Yet, use the motor of no Hall subassembly to have multiple non-existent in the past problem to need to be resolved hurrily, one of them is brake (stopping) problem of motor.
The method of general electronic machine-processed car has two kinds: first kind provides electric current for stopping immediately to motor, motor is run out of steam and progresses into halted state.But this kind mode required time is longer, can't reach the purpose that stops fully fast, can't satisfy user demand in many occasions.Second kind for providing motor reverse current (Reverse Current) to make it that bigger deceleration (Deceleration) be arranged, to finish brake rapidly.But in the dc motor system of no tach signal feedback, the method is difficult for learning accurately whether motor is complete actionless state, the phenomenon that brake or brake excessively cause counter-rotating might not take place to stop in advance especially in load (Load) not simultaneously.
Please refer to Fig. 1, be the circuit block diagram of the brushless direct current motor system that has Hall subassembly in the prior art.The DC Brushless Motor system 100 that has Hall subassembly in the prior art can directly detect and feed back motor speed.Processing unit (Processing Unit) 101 drives DC Brushless Motor 103 via motor driver (Driver) 102, produce tach signals via motor driver 102 again after motor 103 rotates, provide to give processing unit 101 and carry out rotating speed control and brake control.But the shortcoming of this system is that price is higher, and circuit complexity is higher.
No. 584836 patent in China Taiwan Province proposes a kind of armature supply (Armature Current) that detects no Hall subassembly DC motor, the control device and method of coming calculating motor coefficient and rotating speed utilized.The method needs to perform mathematical calculations to obtain the motor coefficient according to different motor respectively, and program portability is lower.In addition, the method uses a differential amplifier circuit (Differential Amplifiercircuit) to calculate armature supply, but can't guarantee use the coupling between resistance and solve the noise jamming problem, so the armature supply that calculates also has error.Therefore, utilize this that armature supply substitution formula of error is arranged, the motor coefficient that it is derived and the accuracy of rotating speed are lower.And this patent is to be used for calculating motor coefficient and rotating speed, does not disclose the control of how braking.
Summary of the invention
At above-mentioned defective, the technical problem that the present invention solves is to provide a kind of brake control method that does not have the DC electromotor with brush of Hall subassembly.
For reaching above-mentioned purpose, the brake control method of DC electromotor with brush of the present invention's no Hall subassembly comprises:
1) after the DC electromotor with brush that will not have a Hall subassembly braked in advance, the armature current value that detects this DC electromotor with brush was as the stationary armature current value; And
2) when receiving braking commands, carry out the brake of this motor, and detect the armature current value of this motor simultaneously, equal described stationary armature current value up to it.
Wherein said step 1) comprises:
11) detect the armature current value of this DC electromotor with brush;
12), produce periodically variable brake control signal, and when this brake control signal is in low level state, detect the armature current value of this motor according to the armature current value of above-mentioned detection; And
13) if continuous measurement reaches the armature current value of pre-determined number when all identical, then stop to produce described brake control signal, and measured armature current value is recorded as described stationary armature current value.
Preferably, the low level state of the brake control signal of described step 12) is a no-voltage condition.
Preferably, the low level state of the brake control signal of described step 12) is that voltage is 0.
Preferably, described step 12) also comprises the variation according to the gap amount of the armature current value that records at every turn, changes the voltage of brake control signal.
The brake control method of DC electromotor with brush of described no Hall subassembly, described step 2) comprising:
21) brake control signal of generation one-period property variation;
22) between the low period of described brake control signal, detect the armature current value of described motor, be recorded as the detection armature current value; And
23) the detection armature current value of more described motor and described stationary armature current value if described detection armature current value equals described stationary armature current value, then stop to produce described brake control signal.
Preferably, described step 21) also comprises: according to the variation of the gap amount of the armature current value that records, the voltage of the brake control signal of change at every turn.
The present invention provides a kind of DC electromotor with brush brake control system that does not have Hall subassembly simultaneously, comprising:
Processing unit according to braking commands, produces periodically variable brake control signal;
Motor driver receives described periodically variable brake control signal, produces motor drive signal;
DC electromotor with brush receives the driving of this motor drive signal;
Current sensing means detects the armature current value of this DC electromotor with brush between the low period of this brake control signal, and exports detected armature current value to described processing unit;
Wherein, when described processing unit equals described stationary armature current value at described armature current value, then stop to produce described brake control signal.
Preferably, described processing unit produces the described brake control signal of fixed voltage value or adjusts the magnitude of voltage of described brake control signal according to the measured armature current value of described current sensing means after receiving described braking commands.
Preferably, described processing unit is a central processing unit.
With respect to prior art, the invention has the beneficial effects as follows:
At first, method provided by the invention is judged whether stall of motor by detecting armature current value, can control brake the fully at short notice purpose of stall of DC motor accurately and fast.Secondly, method provided by the invention can be applicable on the different DC electromotor with brush and obtains identical effect, can avoid component erroi value, the circuit skew of motor, the influence that individual difference caused of motor.This be because, this method is all carried out the stationary armature current detecting at each motor, and obtains the stationary armature current value of this motor.This value is used for brake, can avoids the accuracy of the differentia influence brake between the motor.
Description of drawings
Fig. 1 is for having the circuit block diagram of the brushless direct current motor system of Hall subassembly in the prior art;
Fig. 2 is the brake control method of DC electromotor with brush flow chart of no Hall subassembly in the embodiment of the invention;
Fig. 3 is the flow chart of the brake process in advance among Fig. 2;
The output waveform of the brake control signal when Fig. 4 detects current system for pulse wave;
Fig. 5 is the flow chart of the execution brake process among Fig. 2;
Fig. 6 is the DC electromotor with brush brake control system circuit block diagram of no Hall subassembly in the embodiment of the invention.
The element numbers explanation:
100 have the brushless direct current motor system of Hall subassembly
101 processing units
102 motor drivers
103 DC Brushless Motor
The DC electromotor with brush brake control system of 600 no Hall subassemblies
603 DC electromotor with brush
604 current sensing meanss
Embodiment
Principle of the present invention is: by detecting the armature current value of DC electromotor with brush, rotate the electric current that the back electromotive force (Back Electromotive Force) that causes produces to learn whether to have because of motor.
The present invention brakes motor earlier when system start-up in advance, the stationary armature current value when detection and record motor are static.
When needs brake motor, utilize reverse current rapidly with motor deceleration, and continue to detect armature current value, this armature current value and stationary armature current value are compared.When this armature current value equates with the stationary armature current value, represent that promptly motor is an inactive state, stop to provide reverse current and finish brake.
Because current value is identical, represent promptly that motor rotates and the back electromotive force that produces is also identical, so electrical motors to and the identical rotating speed of brake in advance (original inactive state), promptly rotating speed is zero, has also just finished the action that the DC electromotor with brush brake is controlled.
Please refer to Fig. 2, do not have the flow chart of the brake control method of DC electromotor with brush of Hall subassembly for the present invention.This method comprises the steps:
Step S202, after the DC electromotor with brush of no Hall subassembly braked in advance, the armature current value that detects motor was as the stationary armature current value.This step only needs to carry out when system start-up once to get final product.
Step S204 checks whether receive braking commands, if jump to step S206; If not, then repeat this step.
Step S206 carries out the brake of motor, and detects the armature current value of motor simultaneously, equals the described stationary armature current value of step S202 up to the armature current value of motor.
Fig. 3 is the flow chart of the brake process in advance among Fig. 2.Followingly the step of brake process in advance is described according to this figure.
Step S302, the armature current value of detection motor.
Step S304, the armature current value that is detected according to step S302 produces the periodicity brake control signal with reverse voltage, so that this DC electromotor with brush carries out speed-down action.
Step S306 detects armature supply.When brake control signal is low-voltage, detect armature current value.This detects current system for pulsewidth, in explanation after a while.Described brake control signal is that low-voltage is meant that the voltage of brake control signal is 0 or no-voltage state.
Whether step S308 checks that armature current value measured in the continuous pulse width period of preset times N (N is a positive integer) is all identical.If then jump to step S310.If not, then get back to step S306.
Step S310 stops to produce brake control signal, simultaneously measured armature current value is recorded as the stationary armature current value.
The present invention is to utilize pulsewidth to detect the armature current value that electric current detects motor in the moderating process of braking in advance.Below describe pulsewidth in detail and detect current system.
Fig. 4 is the output waveform that described pulsewidth detects the brake control signal of current system.As shown in the drawing, this brake control signal is the periodicity pulse width signal.In each pulse width period, at a part of time output control voltage, as first, second control voltage (being reverse voltage or high voltage) among Fig. 4, all the other times are not then exported control voltage (be that brake control signal is a low-voltage, described brake signal is that low-voltage comprises that no-voltage condition or voltage are 0).When not exporting control voltage, the electric current of motor is promptly produced by the back electromotive force of motor fully, and can carry out current detecting this moment.Since the inferior detection current value of k (k is a positive integer), if armature current value measured in the continuous pulse width period of preset times N is all identical, represent that promptly this DC motor does not have the variation on the rotating speed in the sufficiently long time, so the rotating speed of decidable motor is 0.In detecting the electric current process, can change control voltage according to the gap amount of the armature current value that records at every turn.For example, when each current detection value gap amount is big, can provide bigger Motor Control voltage (as the first control voltage).And each current detection value gap quantitative change hour can provide less Motor Control voltage (as the second control voltage).
Fig. 5 is a flow chart of carrying out brake process among Fig. 2.
Step S502, the periodicity brake control signal of generation tool reverse voltage.
Step S504 is to detect the armature current value of motor at 0 o'clock at the voltage of brake control signal.
Step S506 judges whether measured armature current value equals the stationary armature current value.If then jump to step S508; If not, then get back to step S504.
Step S508, motor remains static, stops to produce brake control signal.
Because each pulsewidth at brake control signal detects in the electric current, part pulsewidth has voltage in the time, and voltage is 0 in all the other times, in the hope of detected armature current value is stationary armature current value under the former complete inactive state, rotates the back electromotive force that is produced and the summation of the current value that forms with DC motor.When detected armature current value is identical with stationary armature current value under the former complete inactive state, represent that promptly the back electromotive force that motor produces is zero, motor is an inactive state.
No matter it should be noted that at brake process in advance or carry out brake process, give motor if continue supply control voltage, and do not detect armature supply, might cause the counter-rotating of motor.Because the speed that the present invention has utilized circuit is far faster than the characteristic of electrical machinery reaction speed, and at brake process in advance or carry out in the brake process and monitor the armature supply of motor nearly, so can accurately control all brake process.
Fig. 6 is the circuit block diagram that the present invention does not have the DC electromotor with brush brake control system of Hall subassembly.This system 600 comprises processing unit 101, motor driver 102, DC electromotor with brush 603 and current sensing means 604.Processing unit 101 is the periodicity brake control signal that produces the tool reverse voltage according to braking commands.Generation motor driven signal drove DC electromotor with brush 603 after motor driver 102 received this brake control signal.Current sensing means 604 detects the armature current value of motor in the low level (being that no-voltage condition or voltage are 0) of each pulse width period in the time, and exports measured armature current value to processing unit 101.
In addition, processing unit 101 also can be adjusted the magnitude of voltage of brake control signal according to current sensing means 604 measured armature current values after receiving in advance braking commands or braking commands.For example, when each current detection value gap amount is big, can provide voltage higher brake control signal.And each current detection value gap quantitative change hour can provide voltage lower brake control signal.
Wherein, processing unit 101 can be implemented with general central processing unit, and current sensing means 604 can utilize resistance and operational amplification circuit to implement.
The present invention can be applicable on the different DC electromotor with brush and identical effect is arranged, and can avoid component erroi value, the circuit skew on the circuit, the influence that individual difference caused of motor.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1, a kind of brake control method of DC electromotor with brush that does not have Hall subassembly is characterized by, and comprises step:
1) after the DC electromotor with brush that will not have a Hall subassembly braked in advance, the armature current value that detects this DC electromotor with brush was as the stationary armature current value; And
2) when receiving braking commands, carry out the brake of this motor, and detect the armature current value of this motor simultaneously, equal described stationary armature current value up to it.
2, the brake control method of DC electromotor with brush of no Hall subassembly according to claim 1 is characterized by, and wherein said step 1) comprises:
11) detect the armature current value of this DC electromotor with brush;
12) according to the armature current value of above-mentioned detection, produce periodically variable brake control signal, and when this brake control signal is in low level state and make the armature supply of motor be produced by the back electromotive force of motor fully, detect the armature current value of this motor; And
13) if continuous measurement reaches the armature current value of pre-determined number when all identical, then stop to produce described brake control signal, and measured armature current value is recorded as described stationary armature current value.
3, the brake control method of DC electromotor with brush of no Hall subassembly according to claim 2 is characterized by, and the low level state of the brake control signal of described step 12) is a no-voltage condition.
4, the brake control method of DC electromotor with brush of no Hall subassembly according to claim 2 is characterized by, and the low level state of the brake control signal of described step 12) is that voltage is 0.
5, the brake control method of DC electromotor with brush of no Hall subassembly according to claim 2 is characterized by, and described step 12) also comprises: according to the variation of the gap amount of the armature current value that records at every turn, change the voltage of brake control signal.
6, the brake control method of DC electromotor with brush of no Hall subassembly according to claim 1 is characterized by, described step 2) comprising:
21) brake control signal of generation one-period property variation;
22) at the low level state of described brake control signal and when making the armature supply of motor produce by the back electromotive force of motor fully, detect the armature current value of described motor, be recorded as the detection armature current value; And
23) the detection armature current value of more described motor and described stationary armature current value if described detection armature current value equals described stationary armature current value, then stop to produce described brake control signal.
7, the brake control method of DC electromotor with brush of no Hall subassembly according to claim 6 is characterized by, described step 21) also comprise: according to the variation of the gap amount of the armature current value that records at every turn, change the voltage of brake control signal.
8, a kind of DC electromotor with brush brake control system that does not have Hall subassembly comprises:
Processing unit according to braking commands, produces periodically variable brake control signal;
Motor driver receives described periodically variable brake control signal, produces motor drive signal;
DC electromotor with brush receives the driving of this motor drive signal;
It is characterized by, further comprise:
Current sensing means detects the armature current value of this DC electromotor with brush between the low period of this brake control signal, and exports detected armature current value to described processing unit;
Wherein, when described processing unit equals described stationary armature current value at described armature current value, then stop to produce described brake control signal.
9, the DC electromotor with brush brake control system of no Hall subassembly according to claim 8, it is characterized by, described processing unit is adjusted the magnitude of voltage of described brake control signal according to the measured armature current value of described current sensing means after receiving described braking commands.
10, the DC electromotor with brush brake control system of no Hall subassembly according to claim 8 is characterized by, and described processing unit is a central processing unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100730429A CN100448156C (en) | 2005-05-30 | 2005-05-30 | Brake control method of DC electromotor with brush without Hall subassembly, and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100730429A CN100448156C (en) | 2005-05-30 | 2005-05-30 | Brake control method of DC electromotor with brush without Hall subassembly, and system |
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| Publication Number | Publication Date |
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| CN1872598A CN1872598A (en) | 2006-12-06 |
| CN100448156C true CN100448156C (en) | 2008-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100730429A Expired - Fee Related CN100448156C (en) | 2005-05-30 | 2005-05-30 | Brake control method of DC electromotor with brush without Hall subassembly, and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101753078B (en) * | 2009-12-30 | 2012-01-04 | 凌阳科技股份有限公司 | Device for controlling motor rotational speed and method thereof |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110868108B (en) * | 2019-11-27 | 2021-08-10 | 瑞声科技(新加坡)有限公司 | Motor braking signal generation method and device and motor braking method |
| CN113696736B (en) * | 2021-08-06 | 2023-07-28 | 上汽通用五菱汽车股份有限公司 | Vehicle rotation failure protection method and device and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5451832A (en) * | 1993-07-01 | 1995-09-19 | Sgs-Thomson Microelectronics, Inc. | Method and circuitry for drag braking a polyphase DC motor |
| CN1042081C (en) * | 1994-05-31 | 1999-02-10 | 三星电子株式会社 | system for controlling a brushless DC motor |
| JPH11136981A (en) * | 1997-10-31 | 1999-05-21 | Toshiba Tec Corp | Dc motor controller |
| CN1048124C (en) * | 1994-12-28 | 2000-01-05 | 雅马哈发动机株式会社 | Controller for dc. motor |
| TW584836B (en) * | 2002-06-26 | 2004-04-21 | Mediatek Inc | Control apparatus and method of optical-disc rotation speed |
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2005
- 2005-05-30 CN CNB2005100730429A patent/CN100448156C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5451832A (en) * | 1993-07-01 | 1995-09-19 | Sgs-Thomson Microelectronics, Inc. | Method and circuitry for drag braking a polyphase DC motor |
| CN1042081C (en) * | 1994-05-31 | 1999-02-10 | 三星电子株式会社 | system for controlling a brushless DC motor |
| CN1048124C (en) * | 1994-12-28 | 2000-01-05 | 雅马哈发动机株式会社 | Controller for dc. motor |
| JPH11136981A (en) * | 1997-10-31 | 1999-05-21 | Toshiba Tec Corp | Dc motor controller |
| TW584836B (en) * | 2002-06-26 | 2004-04-21 | Mediatek Inc | Control apparatus and method of optical-disc rotation speed |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101753078B (en) * | 2009-12-30 | 2012-01-04 | 凌阳科技股份有限公司 | Device for controlling motor rotational speed and method thereof |
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| CN1872598A (en) | 2006-12-06 |
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