CN104467572B - Driving method and device - Google Patents
Driving method and device Download PDFInfo
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- CN104467572B CN104467572B CN201410717945.5A CN201410717945A CN104467572B CN 104467572 B CN104467572 B CN 104467572B CN 201410717945 A CN201410717945 A CN 201410717945A CN 104467572 B CN104467572 B CN 104467572B
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- advance angle
- speed
- motor
- voltage advance
- actual speed
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Abstract
The present invention is suitable for brshless DC motor field, provides driving method and device.The driving method includes：Detect the actual speed of rotor；Based on the actual speed, virtual voltage advance angle is calculated with ad hoc algorithm, the ad hoc algorithm is the algorithm established between the actual speed and the virtual voltage advance angle；Drive signal is generated based on the virtual voltage advance angle, the three-phase electricity exported to motor is controlled with the drive signal.Relative to the prior art, the running efficiency of motor can be improved under with the three-phase electric drive and ensures the reliable of motor.
Description
Technical field
The driving method and dress controlled the invention belongs to brshless DC motor field more particularly to using sine wave
It puts.
Background technology
Motor (English：Electric machinery are commonly called as " motor "), refer to realize electric energy according to the law of electromagnetic induction
Conversion or a kind of calutron transmitted.Its main function is to generate driving torque, as the dynamic of electrical appliance or various machineries
Power source.
To ensure the high-efficiency operation of motor, need the angle of flow (i.e. the voltage advance angle of motor) for adjusting motor inverse to adjust
Become the phase difference (namely adjusting phase difference of electric current and counter electromotive force) of three-phase voltage that device export to motor and back-emf, lead
The size of current flow angle is closely related by the rotating speed analyzed with motor.But at present, usually applied according to driving motor
Electric current or torque command determine the advance angle, because the electric current or the torque do not have correlation with the phase difference, so as to root
The phase difference is adjusted according to the advance angle determined based on the electric current or the torque, it is impossible to which guarantee causes motor high-efficiency operation and can
By operation.Phase angle is determined using rotary speed instruction in addition, also having, since actual motion and speed command have differences,
It cannot be guaranteed that so that motor high-efficiency operation and reliability service.
Invention content
The purpose of the present invention is to provide driving method and device, because the actual phase difference of electric current and counter electromotive force with
The actual speed of rotor is related, and determines advance angle according to the actual speed of rotor, is passed through according to the advance angle
Control loop exports three-phase voltage to motor, can improve the running efficiency of motor and ensure the reliable of motor.
In a first aspect, the present invention provides driving method, the driving method includes：
Detect the actual speed of rotor；
Based on the actual speed, virtual voltage advance angle is calculated with ad hoc algorithm, the ad hoc algorithm is described
The algorithm established between actual speed and the virtual voltage advance angle；
Drive signal is generated based on the virtual voltage advance angle, the three-phase exported to motor is controlled with the drive signal
Voltage.
Second aspect, the present invention provide a kind of motor driver, the motor driver include rotation speed detection unit,
Control unit and driving unit；
The rotation speed detection unit is used for：Detect the actual speed of rotor；
Described control unit is used for：Virtual voltage advance angle, base are calculated based on the actual speed and with ad hoc algorithm
Drive signal is generated in the virtual voltage advance angle；
The driving unit is used for：The three-phase voltage exported to motor is controlled with the drive signal；
Wherein, the ad hoc algorithm is the algorithm established between the actual speed and the virtual voltage advance angle.
Beneficial effects of the present invention：The actual speed of detection electronics rotor in real time, and according to actual speed with ad hoc algorithm
Determine virtual voltage advance angle；Based on the generation of virtual voltage advance angle control drive signal, with the drive signal control of generation
The voltage of the three-phase electricity exported to motor is made, running efficiency and the guarantee of motor can be improved under the three-phase electric drive of the voltage
Motor it is reliable.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow chart of driving method provided in an embodiment of the present invention；
Fig. 2 is the composition structure chart of motor driver provided in an embodiment of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Driving method provided in an embodiment of the present invention is suitable for motor driver provided in an embodiment of the present invention.It should
Motor driver can be integrated on motor, can also be used as specific installation autonomous working.
Fig. 1 shows the flow of driving method provided in an embodiment of the present invention, for ease of description, illustrate only with
The relevant part of the embodiment of the present invention.
Driving method provided in an embodiment of the present invention, referring to Fig. 1, the driving method includes step A11, step
Rapid A12 and step A13.
Step A11 detects the actual speed of rotor；
Specifically, motor driver is equipped with rotation speed detection unit, when the rotor rotation of motor, the Rotating speed measring list
Member detects the position of rotor, and then can calculate unit in the location of different time according to rotor in real time using Hall effect
The velocity of rotation of time internal rotor；Certainly, the velocity of rotation (i.e. actual speed) of current motor rotor can also be calculated.
It should be noted that above-mentioned rotation speed detection unit is using the position of Hall effect detection rotor, but it is only to lift
Example；The embodiment of the present invention realizes rotation speed detection unit using which electronic device or sensor, does not limit；In addition, this
Inventive embodiments also do not limit rotating speed of the rotation speed detection unit based on which kind of technology detection rotor.
For example, rotation speed detection unit is realized using position detecting element；During rotor rotates, the position
Put the position that detecting element detects rotor in real time；Correspondingly in detection process, which can export square-wave signal,
And then square wave number of the square-wave signal within the unit interval can be counted, and calculate and turn according to the square wave number in the unit interval
The actual speed of son.
For example, rotation speed detection unit includes position detecting element and frequency-voltage conversion circuit；In the process of rotor rotation
In, position detecting element is in the position of detection detection rotor and exports square-wave signal, and frequency-voltage conversion circuit is according to the square-wave signal
Frequency conversion go out voltage signal；And then the actual speed of rotor can be determined according to the voltage signal.
Based on the actual speed, virtual voltage advance angle, the ad hoc algorithm are calculated with ad hoc algorithm by step A12
It is the algorithm established between the actual speed and the virtual voltage advance angle；
It should be noted that include the mapping of the actual speed and the virtual voltage advance angle in the ad hoc algorithm
Relationship；Certainly, the ad hoc algorithm also may include reflecting for other parameter and the actual speed and the virtual voltage advance angle
Penetrate relationship.The embodiment of the present invention does not limit the concrete mathematical model of the ad hoc algorithm；Preferably, the ad hoc algorithm is only
With the virtual voltage advance angle and the actual speed the two unknown quantitys, and the ad hoc algorithm only include it is other really
Fixed parameter.
As a kind of preferred ad hoc algorithm, the ad hoc algorithm is based on the actual speed, the practical electricity
The algorithm that advance angle, rated speed and reference voltage advance angle is pressed to establish.The volume that the rated speed determines when being Motor Production Test
Determine rotating speed.The reference voltage advance angle is the advance angle calculated based on the rated speed.
Step A13 is generated drive signal based on the virtual voltage advance angle, is controlled with the drive signal defeated to motor
The three-phase voltage gone out.
It should be noted that the control unit of motor driver is to driving unit output drive signal, by the drive signal
The three-phase voltage that the driving unit is controlled to be exported to motor, including the three-phase voltage that the driving unit is controlled to be exported to motor
Sequential.
In embodiments of the present invention, the virtual voltage advance angle that control unit is calculated according to step A12, control are driven
The generation of dynamic signal；It is exported with the drive signal of generation to driving unit, driving unit is controlled according to the drive signal to electricity
The three-phase voltage of machine output.
As an embodiment of driving unit, the driving unit is realized using inverter.Control unit is according to
Virtual voltage advance angle generates drive signal, with the drive signal control switch in inverter (switch including upper bridge arm and under
The switch of bridge arm) on or off, realize by control the on or off of the switch with control whether to motor output three
Mutually a certain item electricity in electricity and a certain item when exported to motor in three-phase electricity are electric, and then realize the sequential to the three-phase electricity
Control.
In embodiments of the present invention, control unit uses the circuit with data-handling capacity to form, which has electronics
Device is formed.For example, the control unit can be microcontroller, arm processor and programmable logic device.
As one embodiment of control unit, control unit includes function generating circuit, and control unit controls the function
Circuit occurs, corresponding drive signal is generated according to the virtual voltage advance angle that step A12 is calculated.
It should be noted that if control actual speed NnWith rated speed NrRotation, with rated speed NrCorresponding benchmark
Voltage advance angle arIt is calculated by formula (1).
Formula (1) is specially：
In formula (1), the wrFor with the rated speed NrCorresponding, rotor angular speed, the LqIt is described specified turn
Fast NrCorresponding quadrature axis inductance, the IrFor the rated speed NrCorresponding quadrature axis current, it is describedFor total interlinkage flux,
The R is the phase resistance of motor.
As an embodiment, the angular speed wrIt is calculated by formula (2).Formula (2) is specially：
In formula (2), the π is pi, and the P is the number of magnetic pole pairs of motor.
As one embodiment of the embodiment of the present invention, by the virtual voltage advance angle anIt is arranged to shift to an earlier date with reference voltage
Angle arWith proportionate relationship, to reduce difficulty in computation and improve the arithmetic speed of processing；And usually in the actual speed NnCompared with
The virtual voltage advance angle a is calculated using the ad hoc algorithm that present embodiment provides when bign, present embodiment provide it is ad hoc
Algorithm is referring to formula (3), and formula (3) is specially：
In formula (3), anFor the virtual voltage advance angle, the NnFor the actual speed, the NrFor motor
Rated speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
As one embodiment of the embodiment of the present invention, generation drive signal is controlled and with described by virtual voltage advance angle
During drive signal controls the sequential of the three-phase electricity exported to motor, be most preferably achieved in that control direct-axis current close to
Zero；To meet the best realization method, optional ad hoc algorithm at least there are two types of, including formula (4) and formula (5)；
The first, the ad hoc algorithm is specially：
In formula (4), anFor the virtual voltage advance angle, the NnFor the actual speed, the NrFor motor
Rated speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
Second, the ad hoc algorithm is specially：
In formula (5), anFor the virtual voltage advance angle, the NnFor the actual speed, the NrFor motor
Rated speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
As one embodiment of the embodiment of the present invention, when the electronics device that the internal circuit of the motor driver of design includes
When part is more or the internal circuit of motor driver is more complicated, the optional ad hoc algorithm is specially：
In formula (6), anFor the virtual voltage advance angle, the NnFor the actual speed, the NrFor motor
Rated speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
Fig. 2 shows the structure of motor driver provided in an embodiment of the present invention, for ease of description, illustrate only with
The relevant part of the embodiment of the present invention.
Motor driver provided in an embodiment of the present invention, referring to Fig. 2, the motor driver includes Rotating speed measring list
Member 11, control unit 12 and driving unit 13；
The rotation speed detection unit 11 is used for：Detect the actual speed of rotor；
Described control unit 12 is used for：Virtual voltage advance angle is calculated based on the actual speed and with ad hoc algorithm,
Drive signal is generated based on the virtual voltage advance angle；
The driving unit 13 is used for：The three-phase voltage exported to motor is controlled with the drive signal；
Wherein, the ad hoc algorithm is the algorithm established between the actual speed and the virtual voltage advance angle.
It should be noted that described control unit 12 includes advance angle computing unit, the advance angle computing unit is used for：
Virtual voltage advance angle is calculated based on the actual speed and with ad hoc algorithm.
As one embodiment of the embodiment of the present invention, the ad hoc algorithm is specially：
Wherein, anFor the virtual voltage advance angle, the NnFor the actual speed, the NrVolume for motor
Determine rotating speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
As the another embodiment of the embodiment of the present invention, the ad hoc algorithm is specially：
Wherein, anFor the virtual voltage advance angle, the NnFor the actual speed, the NrVolume for motor
Determine rotating speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
As the another embodiment of the embodiment of the present invention, the ad hoc algorithm is specially：
Wherein, anFor the virtual voltage advance angle, the NnFor the actual speed, the NrVolume for motor
Determine rotating speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
As the another embodiment of the embodiment of the present invention, the ad hoc algorithm is specially：
Wherein, anFor the virtual voltage advance angle, the NnFor the actual speed, the NrVolume for motor
Determine rotating speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
The embodiment of the present invention also provides a kind of motor, and the motor includes above-mentioned motor driver.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Several equivalent substitute or obvious modifications are made under the premise of not departing from present inventive concept, and performance or use is identical, all should
It is considered as belonging to present invention scope of patent protection determined by the appended claims.
Claims (4)
1. a kind of driving method, which is characterized in that the driving method includes：
Detect the actual speed of rotor；
Based on the actual speed, virtual voltage advance angle is calculated with ad hoc algorithm, the ad hoc algorithm is in the reality
The algorithm established between rotating speed, rated speed, reference voltage advance angle and the virtual voltage advance angle；
Control direct-axis current levels off to 0, generates drive signal based on the virtual voltage advance angle, is controlled with the drive signal
The three-phase voltage exported to motor；
The ad hoc algorithm is specially：OrIn
It is any；
Wherein, anFor the virtual voltage advance angle, the NnFor the actual speed, the NrSpecified turn for motor
Speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
2. driving method as described in claim 1, which is characterized in that
The ad hoc algorithm is specially：
Wherein, anFor the virtual voltage advance angle, the NnFor the actual speed, the NrSpecified turn for motor
Speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
3. a kind of motor driver, which is characterized in that the motor driver include rotation speed detection unit, control unit and
Driving unit；
The rotation speed detection unit is used for：Detect the actual speed of rotor；
Described control unit is used for：Based on the actual speed, rated speed and reference voltage advance angle and in terms of ad hoc algorithm
Virtual voltage advance angle is calculated, control direct-axis current levels off to 0, and drive signal is generated based on the virtual voltage advance angle；
The driving unit is used for：The three-phase voltage exported to motor is controlled with the drive signal；
Wherein, the ad hoc algorithm is the algorithm established between the actual speed and the virtual voltage advance angle；
The ad hoc algorithm is specially：Or
Any one of；
Wherein, anFor the virtual voltage advance angle, the NnFor the actual speed, the NrSpecified turn for motor
Speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
4. motor driver as claimed in claim 3, which is characterized in that
The ad hoc algorithm is specially：
Wherein, anFor the virtual voltage advance angle, the NnFor the actual speed, the NrSpecified turn for motor
Speed, arFor with the rated speed NrCorresponding reference voltage advance angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410717945.5A CN104467572B (en) | 2014-12-01 | 2014-12-01 | Driving method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410717945.5A CN104467572B (en) | 2014-12-01 | 2014-12-01 | Driving method and device |
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| Publication Number | Publication Date |
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| CN104467572A CN104467572A (en) | 2015-03-25 |
| CN104467572B true CN104467572B (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410717945.5A Active CN104467572B (en) | 2014-12-01 | 2014-12-01 | Driving method and device |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106160602A (en) * | 2016-07-14 | 2016-11-23 | 深圳市高科润电子有限公司 | The constant-power control method of single-phase DC brushless motor |
| CN108448981B (en) * | 2018-03-30 | 2020-09-15 | 歌尔股份有限公司 | Motor control method and device |
| CN109088578B (en) * | 2018-08-20 | 2020-06-30 | 珠海格力电器股份有限公司 | Motor control method and system and air conditioner |
| CN109067265A (en) * | 2018-08-20 | 2018-12-21 | 珠海格力电器股份有限公司 | Motor control method, control device and air-conditioning equipment |
| CN109315118A (en) * | 2018-11-12 | 2019-02-12 | 广西壮族自治区农业科学院 | One fertilizing method and intelligent monitor system for cultivating peanut fertilizer |
| CN112998813A (en) * | 2021-04-16 | 2021-06-22 | 深圳市人民医院 | Focus scraping device for dermatology department and control method |
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|---|---|---|---|---|
| US4276504A (en) * | 1978-02-03 | 1981-06-30 | Hitachi, Ltd. | Control device for commutatorless motor |
| CN1425218A (en) * | 1999-11-19 | 2003-06-18 | 松下电器产业株式会社 | Brushless motor controller, and disk device using the same |
| CN1938936A (en) * | 2004-02-05 | 2007-03-28 | 戴森技术有限公司 | Control of motor |
| CN101325392A (en) * | 2007-06-14 | 2008-12-17 | 台达电子工业股份有限公司 | Device and method for controlling brushless motor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004254441A (en) * | 2003-02-20 | 2004-09-09 | Matsushita Electric Ind Co Ltd | Motor controller |
-
2014
- 2014-12-01 CN CN201410717945.5A patent/CN104467572B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4276504A (en) * | 1978-02-03 | 1981-06-30 | Hitachi, Ltd. | Control device for commutatorless motor |
| CN1425218A (en) * | 1999-11-19 | 2003-06-18 | 松下电器产业株式会社 | Brushless motor controller, and disk device using the same |
| CN1938936A (en) * | 2004-02-05 | 2007-03-28 | 戴森技术有限公司 | Control of motor |
| CN101325392A (en) * | 2007-06-14 | 2008-12-17 | 台达电子工业股份有限公司 | Device and method for controlling brushless motor |
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| CN104467572A (en) | 2015-03-25 |
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