CN103187911A - Brushless direct current motor counter electromotive force phase point detecting method - Google Patents
Brushless direct current motor counter electromotive force phase point detecting method Download PDFInfo
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- CN103187911A CN103187911A CN2013100439813A CN201310043981A CN103187911A CN 103187911 A CN103187911 A CN 103187911A CN 2013100439813 A CN2013100439813 A CN 2013100439813A CN 201310043981 A CN201310043981 A CN 201310043981A CN 103187911 A CN103187911 A CN 103187911A
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Abstract
The invention discloses a brushless direct current motor counter electromotive force phase point detecting method. The method comprises the following steps of: connecting three stator windings of a motor onto a control power supply to apply a voltage to the three stator windings of the motor to ensure that one winding is connected to the positive electrode of the control power supply after the reversing is carried out every time; connecting a second winding to the negative electrode of the control power supply; ensuring that a third winding is in a power-losing state; detecting voltages Va, Vb and Vc at the grounding ends of the three stator windings to ensure that the counter electromotive force E is equal to (Va+Vb+Vc)-3Vd<c/2>; judging a zero crossing point of the counter electromotive force of a brushless direct current motor according to the change of the positive electrode and the negative electrode of the counter electromotive force; and delaying an electric angle of 30 degrees from the zero crossing point of the counter electromotive force of the brushless direct current motor to obtain a phase change point. The brushless direct current motor counter electromotive force phase point detecting method has the advantages of low cost and high detection reliability, an external comparator is not needed, and the safety reliability of operation of the motor is improved.
Description
Technical field
The present invention relates to a kind of brushless direct-current machine counter electromotive commutation point detecting method.
Background technology
Brushless electric machine has overcome the shortcoming of complex structure, noise, spark and the maintenance difficult of brush motor, is used widely with advantage simple in structure, reliable, energy-efficient, that be easy to control.Brshless DC motor needs the position signalling of rotor when operation, with the change of current of power tube in the control inverter, thus the synchronous operation of realization stator field and rotor.According to the method for obtaining rotor-position signal, brushless electric machine can be divided into two kinds of position-sensor-free and position sensors, because position transducer is not only installed complexity, the hardware cost height, there are defectives such as precision is not enough transducer in itself, to the environmental condition sensitivity, make the reliability of whole system can not get guaranteeing.
Back electromotive force zero passage detection method is when the brushless DC motor steady operation, obtains the key position signal of p-m rotor by the zero crossing that detects shutoff phase back electromotive force, thereby controls the switching of winding current, to realize the running of motor.In the zero passage detection method of existing direct back electromotive force, be during diode continuousing flow, detect the voltage of not conducting phase, use comparator to obtain zero crossing.But this method is not suitable for the less motor of armature inductance, and time of afterflow is too short, needs external comparator, and cost is too high.
Summary of the invention
The present invention is the weak point that exists in the above-mentioned prior art for avoiding, and a kind of brushless direct-current machine counter electromotive commutation point detecting method is provided, fast and effeciently to detect the commutation point of brushless direct-current machine counter electromotive with lower cost.
The present invention be the technical solution problem by the following technical solutions.
Brushless direct-current machine counter electromotive commutation point detecting method comprises the steps:
Step 1: three stator winding of motor are connected on the control power supply apply voltage for three stator winding of motor, there is a winding to be connected to the positive pole of control power supply after feasible each commutation, second winding is connected to the negative pole of control power supply, and the 3rd is in power failure state; That is: electric current flows into from the winding that is connected to positive source, flows out from the winding that is connected to power cathode, and the 3rd winding is in power failure state, has only wherein in the three-phase of motor to be applied with voltage on the two-phase;
Step 2: detect the Va of terminal voltage over the ground, Vb and the Vc of three stator winding, back electromotive force E=(Va+Vb+Vc)-3Vdc/2; Wherein, Vdc is the busbar voltage of brushless DC motor, and E is the back electromotive force of brshless DC motor, and Va, Vb and Vc are respectively ABC three phase windings terminal voltage over the ground;
Step 3: by the positive and negative variation of back electromotive force E, judge the zero crossing of brushless direct-current machine counter electromotive;
Step 4: the zero passage from brushless direct-current machine counter electromotive is lighted, and 30 ° the electrical degree of delaying time can obtain the commutation point.
Compared with the prior art, beneficial effect of the present invention is embodied in:
Brushless direct-current machine counter electromotive commutation point detecting method of the present invention, can have by just to negative or by the negative zero crossing of judging counter electromotive force of motor to positive variation by back electromotive force E, obtain the commutation point according to zero crossing then, need not external comparator, cost is lower, the detecting reliability height has improved the security reliability of motor operation.
Description of drawings
Fig. 1 is the equivalent schematic that brshless DC motor of the present invention is connected with the control power supply.
Fig. 2 is the electric current variation diagram in the motor ABC three-phase in the brushless direct-current machine counter electromotive commutation point detecting method of the present invention.
Fig. 3 is the equivalent circuit diagram of motor three phase windings in the brushless direct-current machine counter electromotive commutation point detecting method of the present invention.
Fig. 4 is the back emf waveform figure of motor three phase windings in the brushless direct-current machine counter electromotive commutation point detecting method of the present invention.
Below pass through embodiment, and the invention will be further described by reference to the accompanying drawings.
Embodiment
Referring to Fig. 1～Fig. 4, brushless direct-current machine counter electromotive commutation point detecting method comprises following 4 steps:
Step 1: three stator winding of motor are connected on the control power supply apply voltage for three stator winding of motor, there is a winding to be connected to the positive pole of control power supply after feasible each commutation, second winding is connected to the negative pole of control power supply, and the 3rd is in power failure state; That is: electric current flows into from the winding that is connected to positive source, flows out from the winding that is connected to power cathode, and the 3rd winding is in power failure state, has only wherein in the three-phase of motor to be applied with voltage on the two-phase;
Step 2: detect the Va of terminal voltage over the ground, Vb and the Vc of three stator winding, back electromotive force E=(Va+Vb+Vc)-3Vdc/2; Wherein, Vdc is the busbar voltage of brushless DC motor, and E is the back electromotive force of brshless DC motor, and Va, Vb and Vc are respectively ABC three phase windings terminal voltage over the ground;
Step 3: by the positive and negative variation of back electromotive force E, judge the zero crossing of brushless direct-current machine counter electromotive;
Step 4: the zero passage from brushless direct-current machine counter electromotive is lighted, and 30 ° the electrical degree of delaying time can obtain the commutation point.
As shown in Figure 1, the structure of motor M equivalence for being constituted by three stator winding A, B and C three-phase.T1 and T2, T3 and T4, T5 and T6 are respectively as A switching tube, B switching tube, the C switching tube of the upper arm bridge of stator winding and the switching tube of underarm bridge mutually of the switching tube of the upper arm bridge of stator winding and underarm bridge mutually of the switching tube of the upper arm bridge of stator winding and underarm bridge mutually, T1～T6 controls its break-make by external control signal, so that a positive pole that is connected to the control power supply is arranged among A, B and the C, another is connected to the negative pole of control power supply, and the 3rd is in power failure state.On T1～T6, all be parallel with a fly-wheel diode separately.Fig. 2 is the variation schematic diagram of the electric current that flows through in the three-phase.
For brshless DC motor, each commutation has a winding to be connected to the positive pole (electric current enters winding) of control power supply, and second winding linked negative pole (electric current therefrom flows out), and the 3rd is in power failure state.Under the perfect condition, when torque peak appears at two magnetic field orthotropics, and the most weak when parallel in two magnetic fields.In order to keep motor to rotate, should constantly be shifted one's position by the magnetic field that stator winding produces, because rotor can be towards the direction rotation parallel with stator field.
Can be judged that by the switching sequence of powering up for three windings revolution is crossed 60 electrical degree phase currents and switched once, finishes one-period and need switch phase current 6 times, can be divided into six districts each cycle.
Have a winding to get positive electricity, second gets negative electricity, and the 3rd keeps open-circuit condition.Therefore, in the ideal case, commutation should take place when back electromotive force passes null value, but in fact because the winding characteristic has time-delay, this time-delay should be compensated by single-chip microcomputer.DC motor is whenever goed around needs commutation 6 times, has 6 zero crossings, two zero crossings of every phase so three phase winding revolutions one change.After the moment of the zero crossing of learning certain phase, its suitable time-delay just can be obtained needed commutation signal.Back electromotive force method detection rotor position method is to utilize this principle to realize position probing.
Therefore can adopt terminal voltage method to come the zero crossing of indirect detection motor back-emf.Because inverter each have only two to be conducted constantly, another is in off-state mutually, and this moment, the phase voltage of this disconnection phase winding was exactly back electromotive force.The brushless DC motor revolution moves a week, and the back electromotive force of each phase is with twice of zero passage.
Now as Fig. 3, suppose the conducting of AB phase winding, the C phase winding turn-offs; At this moment, Y-connection winding mid point voltage to earth is Vdc/2, and then conducting C phase back electromotive force is not
Ec=Vc-Vdc/2 formula (1);
In like manner:
Ea=Va – Vdc/2 formula (2)
Eb=Vb – Vdc/2 formula (3)
Because any time has only 2 phase winding conductings, be reference point with star winding mid point, establish electric current and flow out winding for just, flow into resistance for negative, then the size of current in conducting two phase windings equates and direction is opposite, circuit is zero to third phase because be turned off.Back electromotive force as can be seen the back electromotive force zero passage moment of not conducting phase, is switched on as shown in Figure 4.
The back electromotive force equal and opposite in direction of two phase windings and direction is opposite is added with formula (1), formula (2), formula (3) mutually: the Ea+Eb+Ec=E=(– (3Vdc/2) of Va+Vb+Vc);
Therefore, back electromotive force E=(– (3Vdc/2) of Va+Vb+Vc);
Wherein Vdc is the busbar voltage of brushless DC motor, Ea, and Eb, Ec are the back electromotive force of three phase windings, Va, Vb, Vc are three phase windings terminal voltages over the ground.
When back electromotive force E has by just to negative or during to positive counter-rotating, back electromotive force zero crossing at this moment is described by negative.As shown in Figure 4, light from zero passage, 30 ° the electrical degree of delaying time can obtain the commutation point.So relatively (Va+Vb+Vc) and the size of 3Vdc/2 can be judged the counter-rotating of back electromotive force, thereby detect back electromotive force zero-crossing by hardware circuit.Though detect back electromotive force zero-crossing, do not determine which is not conducting phase mutually in the three-phase, concrete which district in namely uncertain commutation to 6 district just detects zero crossing, with regard to commutation.
Claims (1)
1. brushless direct-current machine counter electromotive commutation point detecting method is characterized in that, comprises the steps:
Step 1: three stator winding of motor are connected on the control power supply apply voltage for three stator winding of motor, there is a winding to be connected to the positive pole of control power supply after feasible each commutation, second winding is connected to the negative pole of control power supply, and the 3rd is in power failure state;
Step 2: detect the Va of terminal voltage over the ground, Vb and the Vc of three stator winding, back electromotive force E=(Va+Vb+Vc)-3Vdc/2; Wherein, Vdc is the busbar voltage of brushless DC motor, and E is the back electromotive force of brshless DC motor, and Va, Vb and Vc are respectively ABC three phase windings terminal voltage over the ground;
Step 3: by the positive and negative variation of back electromotive force E, judge the zero crossing of brushless direct-current machine counter electromotive;
Step 4: the zero passage from brushless direct-current machine counter electromotive is lighted, and 30 ° the electrical degree of delaying time can obtain the commutation point.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104601057A (en) * | 2014-12-30 | 2015-05-06 | 航天科工海鹰集团有限公司 | Driving control method and system for brushless direct current motor |
| CN104779851A (en) * | 2015-03-20 | 2015-07-15 | 四川长虹电器股份有限公司 | Method for detecting counter electromotive force of motor |
| CN106374794A (en) * | 2016-11-09 | 2017-02-01 | 中国工程物理研究院机械制造工艺研究所 | BLDC motor phase detection method based on back electromotive force wave crests and wave troughs |
| CN106997025A (en) * | 2017-05-23 | 2017-08-01 | 核工业理化工程研究院 | The measurement apparatus of counter electromotive force of motor |
| CN107689755A (en) * | 2017-06-15 | 2018-02-13 | 金龙联合汽车工业（苏州）有限公司 | A kind of automobile using brushless electric machine and its control method |
| CN109921696A (en) * | 2019-02-25 | 2019-06-21 | 湖南长高思瑞自动化有限公司 | A kind of the zero crossing commutator and control method of permanent-magnet brushless DC electric machine |
| CN111049435A (en) * | 2019-12-27 | 2020-04-21 | 苏州成科自控设备有限公司 | Sensorless driving method and system for brushless direct current motor |
| US11757456B2 (en) | 2019-04-29 | 2023-09-12 | Weifang Goertek Microelectronics Co., Ltd. | Phase-locked loop circuit and digital operation system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104601057A (en) * | 2014-12-30 | 2015-05-06 | 航天科工海鹰集团有限公司 | Driving control method and system for brushless direct current motor |
| CN104779851A (en) * | 2015-03-20 | 2015-07-15 | 四川长虹电器股份有限公司 | Method for detecting counter electromotive force of motor |
| CN104779851B (en) * | 2015-03-20 | 2018-04-10 | 四川长虹电器股份有限公司 | Counter electromotive force of motor detection method |
| CN106374794A (en) * | 2016-11-09 | 2017-02-01 | 中国工程物理研究院机械制造工艺研究所 | BLDC motor phase detection method based on back electromotive force wave crests and wave troughs |
| CN106997025A (en) * | 2017-05-23 | 2017-08-01 | 核工业理化工程研究院 | The measurement apparatus of counter electromotive force of motor |
| CN106997025B (en) * | 2017-05-23 | 2024-02-02 | 核工业理化工程研究院 | Measuring device for counter electromotive force of motor |
| CN107689755A (en) * | 2017-06-15 | 2018-02-13 | 金龙联合汽车工业（苏州）有限公司 | A kind of automobile using brushless electric machine and its control method |
| CN109921696A (en) * | 2019-02-25 | 2019-06-21 | 湖南长高思瑞自动化有限公司 | A kind of the zero crossing commutator and control method of permanent-magnet brushless DC electric machine |
| US11757456B2 (en) | 2019-04-29 | 2023-09-12 | Weifang Goertek Microelectronics Co., Ltd. | Phase-locked loop circuit and digital operation system |
| CN111049435A (en) * | 2019-12-27 | 2020-04-21 | 苏州成科自控设备有限公司 | Sensorless driving method and system for brushless direct current motor |
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Application publication date: 20130703 |