CN103078574B - Active brake control method and system of direct-current brushless motor - Google Patents
Active brake control method and system of direct-current brushless motor Download PDFInfo
- Publication number
- CN103078574B CN103078574B CN201110327336.5A CN201110327336A CN103078574B CN 103078574 B CN103078574 B CN 103078574B CN 201110327336 A CN201110327336 A CN 201110327336A CN 103078574 B CN103078574 B CN 103078574B
- Authority
- CN
- China
- Prior art keywords
- brushless motor
- duty ratio
- braking
- current
- pwm duty
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses an active brake control method and system of a direct-current brushless motor. The direct-current brushless motor is driven by a three-phase six-bridge driver under the control of a controller, and after receiving a brake command, by means of judging whether the driving direction of the direct-current brushless motor is opposite to a load tension direction or not and whether the driving force of the direct-current brushless motor is balanced with load tension or not, the controller changes the driving direction of the direct-current brushless motor and regulates the PWM (Pulse Width Modulation) duty cycle output to the driver in real time until the braking of the direct-current brushless motor is realized. The invention further discloses an active brake control system of the direct-current brushless motor through structuring. By means of implementing the technical scheme disclosed by the invention, active braking can be performed along with load variation adaptively, so that not only is the defect that a passive braking manner is limited in braking force due to the fact that a motor winding is not electrified overcome, but also the defect that the traditional active braking manner has increased fault rates of the driver and the direct-current brushless motor due to overlarge braking current is overcome.
Description
Technical field
The present invention relates to automatic control technology field, particularly relate to a kind of Active braking control method and system of DC brushless motor.
Background technology
Along with the extensive use of DC brushless motor in electric actuator.DC brushless motor, because having braking characteristic flexibly, instead of the mechanical self-latching function of conventional electric actuator gradually.
And the braking of DC brushless motor can be divided into Active braking and passive braking two kinds.Passive braking is then by allowing the upper brachium pontis of three-phase drive bridge (lower brachium pontis) all open, same brachium pontis at present (upper brachium pontis) all turns off, make A, B, C three-phase windings short circuit of DC brushless motor, thus make DC brushless motor self produce a dynamic braking.The two-phase that traditional Active braking normally allows DC brushless motor fix or three-phase windings lead to a fixing electric current, thus produce a braking moment.
There is following shortcoming in these two kinds of modes of braking:
1. passive braking is because of not energising in DC brushless motor winding, and the braking force produced after three-phase windings short circuit is limited, and after the pulling force of load is excessive, DC brushless motor will be pulled by load, causes and brakes unsuccessfully;
2. traditional Active braking is ensure enough braking force, and the stalling current that driver passes through is excessive, causes braking power consumption excessive;
3. traditional Active braking fixes a pair drive axle conducting because adopting, and easily causes the bridge wall aged deterioration of long-term energising, thus causes driver malfunction;
4. traditional Active braking is because adopting two fixing phase DC brushless motor winding energisings, and electrical current is comparatively large, easily causes DC brushless motor to generate heat and damages, thus cause DC brushless motor fault.
Summary of the invention
The technical problem to be solved in the present invention is, the driver that stalling current during above-mentioned passive braking for prior art during braking force limited or conventional active braking is excessive and cause and the defect that DC brushless motor failure rate increases, provide a kind of Active braking control method that can overcome the DC brushless motor of above-mentioned defect.
The technical solution adopted for the present invention to solve the technical problems is: the Active braking control method constructing a kind of DC brushless motor, described DC brushless motor is driven under the control of the controller by the driver of three-phase six bridge, after receiving brake command, controller is by judging that whether the driving direction of DC brushless motor is contrary with load direction of pull, and the actuating force of DC brushless motor whether with load tension balanced, the driving direction of real-time change DC brushless motor and adjustment export the size of the PWM duty ratio of driver to, until DC brushless motor realizes braking.
In the Active braking control method of DC brushless motor of the present invention, after receiving brake command, carry out following steps:
S1. the PWM duty ratio exporting to driver is reset;
S2. judge whether the rotor of DC brushless motor stops, and if so, then carries out step S9; If not, then step S3 is carried out;
S3. the current Hall state value of DC brushless motor is read;
S4. judge that whether the actual motion direction of the rotor of DC brushless motor is consistent with braking direction according to described current Hall state value, if so, then carry out step S6; If not, then step S5 is carried out;
S5. current PWM duty ratio is increased by the first preset value, then carry out step S2;
S6. judge whether current PWM duty ratio is zero, if so, then carries out step S8; If not, then step S7 is carried out;
S7. current PWM duty ratio is reduced by the second preset value, then carry out step S2;
S8. by the negate of current brake direction, then step S2 is carried out;
S9. DC brushless motor braking.
In the Active braking control method of DC brushless motor of the present invention, in described step S4, judge that whether the actual motion direction of the rotor of DC brushless motor is consistent with braking direction according to the driving commutation table of described current Hall state value, last Hall state value and default DC brushless motor.
The present invention also constructs a kind of Active braking control system of DC brushless motor, comprise the driver of controller and three-phase six bridge, after receiving brake command, controller is by judging that whether the driving direction of DC brushless motor is contrary with load direction of pull, and the actuating force of DC brushless motor whether with load tension balanced, the driving direction of real-time change DC brushless motor and adjustment export the size of the PWM duty ratio of driver to, until DC brushless motor realizes braking.
In the Active braking control system of DC brushless motor of the present invention, described controller comprises:
Duty ratio resets unit, for the PWM duty ratio exporting to driver being reset;
Rotor stops judging unit, for judging whether the rotor of DC brushless motor stops;
Hall state reading unit, for when the rotor of DC brushless motor is without stopping, reading the current Hall state value of DC brushless motor;
According to described current Hall state value, walking direction unit, for judging that whether the actual motion direction of the rotor of DC brushless motor is consistent with braking direction;
Duty ratio increases unit, for the actual motion direction of the rotor at DC brushless motor and braking direction inconsistent time, current PWM duty ratio is increased by the first preset value;
Duty ratio judging unit, when the actual motion direction for the rotor at DC brushless motor is consistent with braking direction, judges whether current PWM duty ratio is zero;
Duty ratio reduces unit, for when current PWM duty ratio is non-vanishing, current PWM duty ratio is reduced by the second preset value;
Braking direction negate unit, for when current PWM duty ratio is zero, by the negate of current brake direction.
Implement technical scheme of the present invention, whether contrary with load pulling force by judging the driving direction of DC brushless motor, the driving moment judging DC brushless motor whether with load tension balanced, thus change the driving direction of DC brushless motor and the size of PWM duty ratio in good time, until DC brushless motor realizes band carry braking, therefore, load variations can be followed adaptively and carry out Active braking, both the defect that passive mode of braking causes braking force limited because motor winding is not energized had been overcome, overcome again driver that conventional active mode of braking causes because stalling current is excessive and the defect that DC brushless motor failure rate increases.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the flow chart of the Active braking control method preferred embodiment of DC brushless motor of the present invention;
Fig. 2 is the circuit diagram of an embodiment of the driver of the Active braking control system of DC brushless motor of the present invention;
Fig. 3 is the logic diagram of an embodiment of the controller of the Active braking control system of DC brushless motor of the present invention.
Embodiment
In the flow chart of the Active braking control method embodiment one of DC brushless motor of the present invention, this DC brushless motor is driven under the control of the controller by the driver of three-phase six bridge, after receiving brake command, controller is by judging that whether the driving direction of DC brushless motor is contrary with load direction of pull, and the actuating force of DC brushless motor whether with load tension balanced, the driving direction of real-time change DC brushless motor and adjustment export the size of the PWM duty ratio of driver to, until DC brushless motor realizes braking.
In the flow chart of the Active braking control method preferred embodiment of the DC brushless motor of the present invention shown in Fig. 1, the Active braking control method of this DC brushless motor is: after receiving brake command, carries out following steps:
S1. the PWM duty ratio exporting to driver is reset;
S2. judge whether the rotor of DC brushless motor stops, and if so, then carries out step S9; If not, then step S3 is carried out;
S3. the current Hall state value of DC brushless motor is read;
S4. judge that whether the actual motion direction of the rotor of DC brushless motor is consistent with braking direction according to described current Hall state value, if so, then carry out step S6; If not, then step S5 is carried out;
S5. current PWM duty ratio is increased by the first preset value, then carry out step S2;
S6. judge whether current PWM duty ratio is zero, if so, then carries out step S8; If not, then step S7 is carried out;
S7. current PWM duty ratio is reduced by the second preset value, then carry out step S2;
S8. by the negate of current brake direction, then step S2 is carried out;
S9. DC brushless motor braking.
Preferably, in described step S4, judge that whether the actual motion direction of the rotor of DC brushless motor is consistent with braking direction according to the driving commutation table of described current Hall state value, last Hall state value and default DC brushless motor.The driving commutation table of DC brushless motor is as shown in table 1.
Table 1
In the Active braking control system of DC brushless motor of the present invention, this Active braking control system comprises the driver of controller and three-phase six bridge, after receiving brake command, controller is by judging that whether the driving direction of DC brushless motor is contrary with load direction of pull, and the actuating force of DC brushless motor whether with load tension balanced, the driving direction of real-time change DC brushless motor and adjustment export the size of the PWM duty ratio of driver to, until DC brushless motor realizes braking.
In another embodiment of the Active braking control system of DC brushless motor, composition graphs 2 and Fig. 3, first driver is described, driver adopts two or two conduction modes, namely each commutation state corresponding, only has two pipes one on the other of different brachium pontis, as, switching tube AH and switching tube BL conducting, the two-phase (as A, B phase) for three-phase direct-current brushless motor connect winding energising.Wherein, the PWM that switching tube AH adopts controller to export, the full conducting of switching tube BL, the lower brachium pontis (i.e. switching tube AL) that Simultaneous Switching pipe AH is corresponding exports the PWM with switching tube AH complementation.The following describes controller, controller comprises: duty ratio resets unit 11, rotor stops judging unit 12, Hall state reading unit 13, walking direction unit 14, duty ratio to increase unit 15, duty ratio judging unit 16, duty ratio minimizing unit 17 and braking direction negate unit 18.Wherein, duty ratio resets unit 11 for the PWM duty ratio exporting to driver being reset; Rotor stops judging unit 12 for judging whether the rotor of DC brushless motor stops; Hall state reading unit 13, for when the rotor of DC brushless motor is without stopping, reading the current Hall state value of DC brushless motor; According to described current Hall state value, walking direction unit 14 is for judging that whether the actual motion direction of the rotor of DC brushless motor is consistent with braking direction; Duty ratio increase unit 15 for the actual motion direction of the rotor at DC brushless motor and braking direction inconsistent time, current PWM duty ratio is increased by the first preset value; When duty ratio judging unit 16 is consistent with braking direction for the actual motion direction of the rotor at DC brushless motor, judge whether current PWM duty ratio is zero; Duty ratio reduces unit 17 for when current PWM duty ratio is non-vanishing, and current PWM duty ratio is reduced by the second preset value; Braking direction negate unit 18 for when current PWM duty ratio is zero, by the negate of current brake direction.
Illustrate this DC brushless motor how to realize Active braking with a concrete example below, after receiving brake command, immediately the PID adjuster of speed ring and electric current loop is stopped, in order to avoid PID exports the PWM duty ratio upgraded, then current PWM duty ratio being reset.Suppose before receiving brake command, driver drives DC brushless motor rotates backward, then corresponding braking oppositely should be forward, and this moment the read Hall state value of hypothesis is 101, associative list 1, then corresponding upper brachium pontis switching tube AH and lower brachium pontis switching tube BL conducting, switching tube AH is by PWM, switching tube AL is by complementary PWM, because the PWM duty ratio of now switching tube AH is zero, so switching tube AH closes, switching tube AL standard-sized sheet, composition graphs 2, the A of DC brushless motor, B phase winding is by switching tube AL, BL short circuit, be in passive on-position.If current DC brushless motor be in zero load or with load less, then the moment of passive braking is enough to make DC brushless motor be in on-position.If DC brushless motor with load comparatively large, the braking moment that passive braking produces is not enough to allow be with load stop, then DC brushless motor will be hauled rotation by load.Brushless DC motor is once rotate, the change of Hall pin can be produced immediately interrupt, current Hall state value is read in interrupt routine, if now read current Hall state value is 001, associative list 1, then illustrate that actual rotation direction and the braking direction of DC brushless motor are inconsistent, also be, the DC brushless motor traffic direction of driver braking is contrary with the direction of pull of load, just driving moment is too little, because PWM duty ratio is set to zero before, at this moment only PWM duty ratio need be increased by the first preset value, such as, increase by 1%, the added value of duty ratio can be arranged according to the size of the stopping power of DC brushless motor and load.If now read current Hall state value is 100, associative list 1, then illustrate that the actual rotation direction of DC brushless motor is consistent with braking direction, there is this situation, there are two kinds of possibilities: the DC brushless motor traffic direction (i.e. braking direction) that (1) driver is specified is consistent with the direction of load pulling force, now can judge whether current PWM duty ratio is zero, if be zero, then can judge that the DC brushless motor traffic direction that driver is specified is consistent with load direction of pull, in order to realize braking, need the DC brushless motor traffic direction negate of being specified by driver, the DC brushless motor traffic direction that driver is specified is contrary with load direction of pull.(2) the driver DC brushless motor traffic direction of specifying is contrary with load direction of pull, this illustrates that current PWM duty ratio is enough to allow DC brushless motor that load is driven, now PWM duty ratio should be reduced the second preset value, such as, reduce 1%, the decreasing value of duty ratio can be arranged according to the size of the stopping power of DC brushless motor and load.Above two kinds of situations are by judging that whether current PWM duty ratio is zero to determine, if PWM duty ratio is zero, being then the first situation, if PWM duty ratio is non-vanishing, is then the second situation.By said process, if DC brushless motor has stopped getting off, then represent and braked successfully; If DC brushless motor does not stop, Hall then can be caused again to convert interrupt, then continue in interrupt control routine, read current Hall state value, and then judge that whether the driving direction of DC brushless motor is contrary with the pulling force of load, the driving moment judging DC brushless motor whether with the tension balanced of load, thus change the driving direction of DC brushless motor and the size of PWM duty ratio, until DC brushless motor realizes band carry braking in good time.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within right of the present invention.
Claims (3)
1. the Active braking control method of a DC brushless motor, described DC brushless motor is driven under the control of the controller by the driver of three-phase six bridge, it is characterized in that, after receiving brake command, controller is by judging that whether the driving direction of DC brushless motor is contrary with load direction of pull, and the actuating force of DC brushless motor whether with load tension balanced, the driving direction of real-time change DC brushless motor and adjustment export the size of the PWM duty ratio of driver to, until DC brushless motor realizes braking;
After receiving brake command, carry out following steps:
S1. the PWM duty ratio exporting to driver is reset;
S2. judge whether the rotor of DC brushless motor stops, and if so, then carries out step S9; If not, then step S3 is carried out;
S3. the current Hall state value of DC brushless motor is read;
S4. judge that whether the actual motion direction of the rotor of DC brushless motor is consistent with braking direction according to described current Hall state value, if so, then carry out step S6; If not, then step S5 is carried out;
S5. current PWM duty ratio is increased by the first preset value, then carry out step S2;
S6. judge whether current PWM duty ratio is zero, if so, then carries out step S8; If not, then step S7 is carried out;
S7. current PWM duty ratio is reduced by the second preset value, then carry out step S2;
S8. by the negate of current brake direction, then step S2 is carried out;
S9. DC brushless motor braking.
2. the Active braking control method of DC brushless motor according to claim 1, it is characterized in that, in described step S4, judge that whether the actual motion direction of the rotor of DC brushless motor is consistent with braking direction according to the driving commutation table of described current Hall state value, last Hall state value and default DC brushless motor.
3. the Active braking control system of a DC brushless motor, it is characterized in that, comprise the driver of controller and three-phase six bridge, after receiving brake command, controller is by judging that whether the driving direction of DC brushless motor is contrary with load direction of pull, and the actuating force of DC brushless motor whether with load tension balanced, change the size that the driving direction of DC brushless motor and adjustment export the PWM duty ratio of driver in real time, until DC brushless motor realizes braking;
Described controller comprises:
Duty ratio resets unit, for the PWM duty ratio exporting to driver being reset;
Rotor stops judging unit, for judging whether the rotor of DC brushless motor stops;
Hall state reading unit, for when the rotor of DC brushless motor is without stopping, reading the current Hall state value of DC brushless motor;
According to described current Hall state value, walking direction unit, for judging that whether the actual motion direction of the rotor of DC brushless motor is consistent with braking direction;
Duty ratio increases unit, for the actual motion direction of the rotor at DC brushless motor and braking direction inconsistent time, current PWM duty ratio is increased by the first preset value;
Duty ratio judging unit, when the actual motion direction for the rotor at DC brushless motor is consistent with braking direction, judges whether current PWM duty ratio is zero;
Duty ratio reduces unit, for when current PWM duty ratio is non-vanishing, current PWM duty ratio is reduced by the second preset value;
Braking direction negate unit, for when current PWM duty ratio is zero, by the negate of current brake direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110327336.5A CN103078574B (en) | 2011-10-25 | 2011-10-25 | Active brake control method and system of direct-current brushless motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110327336.5A CN103078574B (en) | 2011-10-25 | 2011-10-25 | Active brake control method and system of direct-current brushless motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103078574A CN103078574A (en) | 2013-05-01 |
| CN103078574B true CN103078574B (en) | 2015-04-15 |
Family
ID=48155000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110327336.5A Expired - Fee Related CN103078574B (en) | 2011-10-25 | 2011-10-25 | Active brake control method and system of direct-current brushless motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103078574B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103490683B (en) * | 2013-09-09 | 2017-12-01 | 南京康尼电子科技有限公司 | Three phase electric machine rotation direction control device |
| CN103982452B (en) * | 2014-05-23 | 2016-03-02 | 华为技术有限公司 | Method for starting fan, device and communications equipment |
| CN104796047A (en) * | 2015-04-10 | 2015-07-22 | 哈尔滨工业大学深圳研究生院 | FPGA (field programmable gate array)-based brushless direct-current motor commutation control method |
| CN109150063A (en) * | 2017-06-27 | 2019-01-04 | 创科（澳门离岸商业服务）有限公司 | Electric tool with energy recovery function |
| US10944341B2 (en) * | 2018-05-15 | 2021-03-09 | Stmicroelectronics Asia Pacific Pte Ltd | Energy recovery from a spindle motor using a sequence of a braking phase, an active step-up phase and an active braking phase in response to external power supply failure |
| CN110649840B (en) * | 2019-08-12 | 2022-03-08 | 成都爱控电子科技有限公司 | Brushless motor resistance moment adjusting method |
| CN115589177B (en) * | 2022-11-22 | 2023-03-03 | 深圳市锦锐科技股份有限公司 | Intelligent braking control method of brushless direct current motor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0730341A2 (en) * | 1995-02-16 | 1996-09-04 | Sony Corporation | Motor driving apparatus |
| CN1460047A (en) * | 2001-04-06 | 2003-12-03 | 罗伯特·博施有限公司 | Manual machine tool |
| CN1665123A (en) * | 2005-03-11 | 2005-09-07 | 上海安乃达驱动技术有限公司 | Brushless motor controller energy feedback for electric bicycle and deceleration method thereof |
| CN101729009A (en) * | 2008-10-21 | 2010-06-09 | 深圳万讯自控股份有限公司 | Control system of direct current motor |
-
2011
- 2011-10-25 CN CN201110327336.5A patent/CN103078574B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0730341A2 (en) * | 1995-02-16 | 1996-09-04 | Sony Corporation | Motor driving apparatus |
| CN1460047A (en) * | 2001-04-06 | 2003-12-03 | 罗伯特·博施有限公司 | Manual machine tool |
| CN1665123A (en) * | 2005-03-11 | 2005-09-07 | 上海安乃达驱动技术有限公司 | Brushless motor controller energy feedback for electric bicycle and deceleration method thereof |
| CN101729009A (en) * | 2008-10-21 | 2010-06-09 | 深圳万讯自控股份有限公司 | Control system of direct current motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103078574A (en) | 2013-05-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103078574B (en) | Active brake control method and system of direct-current brushless motor | |
| CN101694979B (en) | Electromagnetic torque pulsation suppression device of magnetic suspension reaction fly-wheel motor | |
| CN105007019B (en) | DC-to-AC converter | |
| US20170244346A1 (en) | Method of smoothly starting a hall-less motor | |
| CN105322838A (en) | Three-level motor power converter achieving quick demagnetization | |
| CN105762766A (en) | Synchronous motor star sealing control system and method | |
| CN102437801A (en) | PWM (Pulse-Width Modulation), S-PAM (Spectrum-Pulse Amplitude Modulation) and PHASE linkage control motor driving method, device and system | |
| JP2008259348A (en) | Motor control device | |
| JP2006321397A5 (en) | ||
| JP2015139350A (en) | Motor regeneration control device and motor regeneration control method | |
| WO2011143863A1 (en) | Stepping speed-regulating control device for dc motor | |
| CN111976968B (en) | Control circuit and control method for electric turning mechanism of front wheel of airplane | |
| CN103117696B (en) | For the controller that the series machine of series excitation electric motor car commutates | |
| US10562399B2 (en) | Motor control device of vehicle | |
| JP2008199737A (en) | Motor controller, and drive force controller of vehicle | |
| CN107742996B (en) | Electric rotation driving system of full-rotation rudder propeller and control method | |
| CN102751921B (en) | Method for controlling winding current waveforms of switched reluctance motor | |
| CN103998280B (en) | For the continuous variable dynamic brake of locomotive | |
| CN206595875U (en) | A kind of single-phase permanent type switched reluctance machines | |
| CN102710195B (en) | Backward slipping preventing motor drive controller for electric vehicle and control method | |
| KR20190034580A (en) | Electric Actuators for Vehicle Transmission Systems | |
| TWI225263B (en) | Tension apparatus of winding machine and control device for hysteresis brake | |
| TWI324436B (en) | ||
| CN106972725A (en) | A kind of single-phase permanent type switched reluctance machines and its control method | |
| CN112706735B (en) | Electromechanical brake, control method thereof and electromechanical brake system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 Termination date: 20211025 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |