CN103001561A - Motor rotor angle predicting device and motor rotor angle predicting method - Google Patents
Motor rotor angle predicting device and motor rotor angle predicting method Download PDFInfo
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- CN103001561A CN103001561A CN2011102731313A CN201110273131A CN103001561A CN 103001561 A CN103001561 A CN 103001561A CN 2011102731313 A CN2011102731313 A CN 2011102731313A CN 201110273131 A CN201110273131 A CN 201110273131A CN 103001561 A CN103001561 A CN 103001561A
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Abstract
The invention discloses a motor rotor angle predicting device which comprises a plurality of Hall sensors and a micro-control unit. The Hall sensors are electrically connected with the micro-control unit and evenly distributed on the periphery of a motor rotor. A counting device is disposed in the micro-control unit. The motor rotor angle predicting device can calculate current motor rotor angles in real time, provides an excellent motor rotor angle solution for motor control algorithm, is suitable for state detection of a motor controller and a motor, improves efficiency of the motor controller, and guarantees stability of the motor. In addition, the motor rotor angle predicting device is low in cost, highly practical and precision-adjustable.
Description
Technical field
The present invention relates to a kind of device for predicting angle of rotor of motor and Forecasting Methodology thereof.
Background technology
The method of traditional prediction angle of rotor of motor realizes by coding disk, modal disc type optical encoder belongs to the absolute value angular encoder, it is to utilize digitally coded mode to represent the addendum modification of lighting from former, that is engrave the yardstick mark at ruler, after secondary chi stops to move, survey the position of ordering scale with reading symbol, thereby realize the detection to angle of rotor of motor.Although prior art has the coordinate figure of reading, counting can not produce accumulated error, needn't consider the response time of detector and circuit during rotation, reliability is high, can not be subject to the advantage of the impact interrupting disturbing, but, also exist certainty of measurement unadjustable, complicated, high in cost of production shortcoming be installed.
Summary of the invention
Technical problem to be solved by this invention provides a kind of device that can the real-time estimate angle of rotor of motor, and the method for using this device prediction angle of rotor of motor.
In order to solve the problems of the technologies described above, technical scheme provided by the present invention is: a kind of device for predicting angle of rotor of motor comprises Hall element and micro-control unit; Described Hall element is electrically connected with micro-control unit; Described Hall element is provided with a plurality of, and evenly be arranged on rotor around; Be provided with counting device in the described micro-control unit.
Described Hall element is provided with three.
A kind of angle of rotor of motor Forecasting Methodology adopts aforementioned motor rotor angle prediction unit, and Forecasting Methodology may further comprise the steps:
1. preset between the location of the represented rotor of the various combination mode of hall signal according to the installation site of motor Hall element;
2. 1. set up a two-dimensional array of depositing the angle of rotor of motor value between the rotor location of gained according to step; One of them dimension of described two-dimensional array determines that according to the kind of Hall element visible signal another dimension M of array determines according to the required precision of required angle;
Produce an interrupt signal notice micro-control unit when 3. hall signal changes, this moment, count value N60 of counting device record of micro-control unit cooperated interrupt signal, then counting device zero clearing when needs calculate current rotor angle, is read the value Nc of current counter;
4. micro-control unit is according to a coordinate figure x in two-dimensional array corresponding to the current angle value of the definite rotor that need detect of hall signal value;
5. micro-control unit is according to the count value Nc of current counting device, the count value N60 of record and the dimension M of two-dimensional array calculate another coordinate figure y that needs in two-dimensional array corresponding to the current angle value of the rotor that detects when interrupting recently;
6. in two-dimensional array, search the current angle information of rotor according to coordinate figure x and y.
The concrete grammar that described step is set the various combination mode of hall signal in 1. is: three Hall elements are divided into six intervals, the compound mode of each interval corresponding hall signal with the circle 2 at whole rotor place.
The described step 5. middle formula that calculates coordinate figure y is: y=Nc * M/N60 when rotor is rotated counterclockwise, y=M-Nc * M/N60 when rotor turns clockwise.
After having adopted technique scheme, the present invention has positive effect:
(1) the present invention can calculate current angle of rotor of motor in real time, the angle of rotor of motor solution of an excellence is provided for the Electric Machine Control algorithm, being applicable to electric machine controller and motor status detects, improve the efficient of electric machine controller and the stability of assurance motor rotation, have the advantage that cost is low, real-time and precision is adjustable.
(2) computational speed of micro-control unit of the present invention is fast, therefore so that the present invention is applicable to the motor of High Rotation Speed.
Description of drawings
Content of the present invention is easier to be expressly understood in order to make, and the below is according to specific embodiment and by reference to the accompanying drawings, and the present invention is further detailed explanation, wherein
Fig. 1 is the schematic diagram that three Hall elements of the present invention are divided into the circle at rotor place in six intervals.
Label in the accompanying drawing is:
The circle 2 at Hall element 1, rotor place.
Embodiment
(embodiment 1)
Present embodiment comprises Hall element 1 and micro-control unit.
Hall element 1 is electrically connected with micro-control unit; Described Hall element 1 is provided with three, and evenly be arranged on rotor around; Be provided with counting device in the described micro-control unit.
Adopt the method for this device for predicting angle of rotor of motor prediction angle of rotor of motor may further comprise the steps:
1. preset between the location of the represented rotor of the various combination mode of hall signal according to the installation site of motor Hall element 1, be specially: three Hall elements 1 are divided into six intervals with the circle 2 at whole rotor place, the compound mode of each interval corresponding hall signal.
2. 1. set up a two-dimensional array of depositing the angle of rotor of motor value between the rotor location of gained according to step; One of them dimension of described two-dimensional array determines that according to the kind of Hall element 1 visible signal another dimension M of array determines according to the required precision of required angle.
Produce an interrupt signal notice micro-control unit when 3. hall signal changes, this moment, count value N60 of counting device record of micro-control unit cooperated interrupt signal, then counting device zero clearing when needs calculate current rotor angle, is read the value Nc of current counter.
4. micro-control unit is according to a coordinate figure x in two-dimensional array corresponding to the current angle value of the definite rotor that need detect of hall signal value.
5. micro-control unit is according to the count value Nc of current counting device, the count value N60 of record and the dimension M of two-dimensional array calculate another coordinate figure y that needs in two-dimensional array corresponding to the current angle value of the rotor that detects when interrupting recently; The formula of coordinates computed value y is: y=Nc * M/N60 when rotor is rotated counterclockwise, y=M-Nc * M/N60 when rotor turns clockwise.
6. in two-dimensional array, search the current angle information of rotor according to coordinate figure x and y.
Whole hall signal is comprised of three binary code, each signal deciding code relevant position be 0 or 1, as shown in Figure 1, the circle 2 at rotor place is divided into six intervals, and wherein 001 represents-30 °-30 ° interval, the interval that 011 expression is 30 °-90 °, the interval that 010 expression is 90 °-150 °, the interval that 110 expressions are 150 ° to 210 °, the interval that 100 expressions are 210 ° to 270 °, the interval that 101 expressions are 270 ° to 360 °.
Position according to Hall element among Fig. 11 can know, when rotor 30,90,150,210,270, in the time of 330 degree, hall signal can produce an interrupt signal notice micro-control unit, so the line number of two-dimensional array can be defined as six, the interval of the first behavior 001 expression, the interval of the second behavior 010 expression, the third line is the interval of 011 expression, fourth line is the interval of 100 expressions, fifth line is the interval of 101 expressions, the interval of the 6th behavior 110 expressions.The required precision of supposing required angle is 10, and then the columns of two-dimensional array is 10, i.e. M=10.
The two-dimensional array form of setting up is as follows: (unit in the form be °)
| -30 | -24 | -18 | -12 | -6 | 0 | 6 | 12 | 18 | 24 |
| 90 | 96 | 102 | 108 | 114 | 120 | 126 | 132 | 138 | 144 |
| 30 | 36 | 42 | 48 | 54 | 60 | 66 | 72 | 78 | 84 |
| 210 | 216 | 222 | 228 | 234 | 240 | 246 | 252 | 258 | 264 |
| 270 | 276 | 282 | 288 | 294 | 300 | 306 | 312 | 318 | 324 |
| 150 | 156 | 162 | 168 | 174 | 180 | 186 | 192 | 198 | 204 |
Suppose to interrupt recently constantly to be the rotor counter that turned over counterclockwise moment of 90 ° and at this moment zero clearing, be 010 this moment between the rotor location, and count value is 120, if need to be to calculate current angle at 100 o'clock at calculated value, x=2 so, M=10, Nc=100, N60=120.Therefore can get Y=100*10/120=8.3333 according to formula, round numbers partly is 8, and searching the numerical value that the second row the 8th row obtain current rotor angle from two-dimensional array is 132 °.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. a device for predicting angle of rotor of motor is characterized in that: comprise Hall element (1) and micro-control unit; Described Hall element (1) is electrically connected with micro-control unit; Described Hall element (1) is provided with a plurality of, and evenly be arranged on rotor around; Be provided with counting device in the described micro-control unit.
2. a kind of device for predicting angle of rotor of motor according to claim 1, it is characterized in that: described Hall element (1) is provided with three.
3. angle of rotor of motor Forecasting Methodology is characterized in that: adopt aforementioned motor rotor angle prediction unit, Forecasting Methodology may further comprise the steps:
1. preset between the location of the represented rotor of the various combination mode of hall signal according to the installation site of motor Hall element (1);
2. 1. set up a two-dimensional array of depositing the angle of rotor of motor value between the rotor location of gained according to step; One of them dimension of described two-dimensional array determines that according to the kind of Hall element (1) visible signal another dimension M of array determines according to the required precision of required angle;
Produce an interrupt signal notice micro-control unit when 3. hall signal changes, this moment, count value N60 of counting device record of micro-control unit cooperated interrupt signal, then counting device zero clearing when needs calculate current rotor angle, is read the value Nc of current counter;
4. micro-control unit is according to a coordinate figure x in two-dimensional array corresponding to the current angle value of the definite rotor that need detect of hall signal value;
5. micro-control unit is according to the count value Nc of current counting device, the count value N60 of record and the dimension M of two-dimensional array calculate another coordinate figure y that needs in two-dimensional array corresponding to the current angle value of the rotor that detects when interrupting recently;
6. in two-dimensional array, search the current angle information of rotor according to coordinate figure x and y.
4. a kind of device for predicting angle of rotor of motor according to claim 3 and Forecasting Methodology thereof, it is characterized in that: the described step 1. middle concrete grammar of setting the various combination mode of hall signal is: three Hall elements (1) are divided into six intervals with the circle (2) at whole rotor place, the compound mode of each interval corresponding hall signal.
5. a kind of device for predicting angle of rotor of motor according to claim 3 and Forecasting Methodology thereof, it is characterized in that: the described step 5. middle formula that calculates coordinate figure y is: y=Nc * M/N60 when rotor is rotated counterclockwise, y=M-Nc * M/N60 when rotor turns clockwise.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110273131.3A CN103001561B (en) | 2011-09-14 | 2011-09-14 | Motor rotor angle predicting device and motor rotor angle predicting method |
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| CN201110273131.3A CN103001561B (en) | 2011-09-14 | 2011-09-14 | Motor rotor angle predicting device and motor rotor angle predicting method |
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| CN103001561A true CN103001561A (en) | 2013-03-27 |
| CN103001561B CN103001561B (en) | 2015-02-11 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103606328A (en) * | 2013-11-28 | 2014-02-26 | 上海新时达电气股份有限公司 | Self-studying method for relationship between motor hall signal and rotor position of brushless direct current |
| CN105720880A (en) * | 2015-12-01 | 2016-06-29 | 清华大学 | Motor corner real-time estimation method and apparatus |
| CN107834914A (en) * | 2017-11-24 | 2018-03-23 | 安徽维新能源技术有限公司 | Brushless electric motor rotor angle computation method based on Hall |
| CN108599635A (en) * | 2018-04-16 | 2018-09-28 | 东南大学 | A kind of brshless DC motor angle measurement speed measuring device and method |
| CN111257750A (en) * | 2019-11-14 | 2020-06-09 | 杭州广安汽车电器有限公司 | Automatic testing device for controller and positioning method thereof |
| CN114123936A (en) * | 2022-01-29 | 2022-03-01 | 天津德科智控股份有限公司 | Method for detecting motor rotor angle signal fault for EPS (electric power steering) |
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| CN102594231A (en) * | 2012-02-16 | 2012-07-18 | 吉林大学 | Brushless motor rotor position signal decoding module for automobile electric power steering system |
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| US20060164030A1 (en) * | 2005-01-24 | 2006-07-27 | Denso Corporation | Motor actuator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103606328A (en) * | 2013-11-28 | 2014-02-26 | 上海新时达电气股份有限公司 | Self-studying method for relationship between motor hall signal and rotor position of brushless direct current |
| CN105720880A (en) * | 2015-12-01 | 2016-06-29 | 清华大学 | Motor corner real-time estimation method and apparatus |
| CN105720880B (en) * | 2015-12-01 | 2017-07-21 | 清华大学 | A kind of motor corner real-time estimation method and device |
| CN107834914A (en) * | 2017-11-24 | 2018-03-23 | 安徽维新能源技术有限公司 | Brushless electric motor rotor angle computation method based on Hall |
| CN107834914B (en) * | 2017-11-24 | 2020-10-16 | 安徽一维新能源技术有限公司 | Brushless motor rotor angle calculation method based on Hall |
| CN108599635A (en) * | 2018-04-16 | 2018-09-28 | 东南大学 | A kind of brshless DC motor angle measurement speed measuring device and method |
| WO2019200659A1 (en) * | 2018-04-16 | 2019-10-24 | 东南大学 | Brushless dc motor angle measurement and speed measurement apparatus and method |
| CN111257750A (en) * | 2019-11-14 | 2020-06-09 | 杭州广安汽车电器有限公司 | Automatic testing device for controller and positioning method thereof |
| CN114123936A (en) * | 2022-01-29 | 2022-03-01 | 天津德科智控股份有限公司 | Method for detecting motor rotor angle signal fault for EPS (electric power steering) |
| CN114123936B (en) * | 2022-01-29 | 2022-06-07 | 天津德科智控股份有限公司 | Method for detecting motor rotor angle signal fault for EPS (electric power steering) |
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| CN103001561B (en) | 2015-02-11 |
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