CN104821760A - Sensorless brushless DC motor starting method - Google Patents
Sensorless brushless DC motor starting method Download PDFInfo
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- CN104821760A CN104821760A CN201510262371.1A CN201510262371A CN104821760A CN 104821760 A CN104821760 A CN 104821760A CN 201510262371 A CN201510262371 A CN 201510262371A CN 104821760 A CN104821760 A CN 104821760A
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- rotor
- voltage
- detected
- starting method
- motor
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/181—Circuit arrangements for detecting position without separate position detecting elements using different methods depending on the speed
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a sensorless brushless DC motor starting method. The motor is formed by a stator and a permanent magnet rotor. The starting method comprises steps: pre-positioning is carried out; cyclic acceleration is carried out, voltage U for enabling the rotor to rotate acceleratively is applied to the stator, T2 time is continued, and position signals of the rotor are synchronously detected; when a position signal of a zero crossing point is detected during an operation process, commutation is carried out at once, and a closed-loop acceleration process is carried out; otherwise, voltage U is applied to the stator, T1 time is continued, position signals of the rotor are detected at the same time, when a position signal of a zero crossing point is detected, commutation is carried out at once, a closed-loop acceleration process is carried out, and if no position signal of the zero crossing point is detected, voltage U is increased, and the step is repeated; and closed-loop acceleration is carried out. According to the method provided by the invention, the problem of starting reliability of the sensorless brushless DC motor can be well solved, no starting curve needs to strictly designed, and the ability of adaptation to motor load fluctuation during the starting process can be improved.
Description
Technical field
The present invention relates to Motor Control Field, be specifically related to a kind of starting method of brush DC motor without position sensor.
Background technology
DC brushless motor because it is energy-conservation, noise is little, compact conformation, life-span be long etc., and feature is used widely in motor application field.Usually, DC brushless motor generally adopts position transducer to determine rotor-position, but the use of position transducer not only increases application cost, adds the complexity of motor production technology, and reduce system reliability and antijamming capability, therefore, position-sensor-free method for controlling direct current brushless motor has become a focus of research.
Current, common D-C brushless electric machine no-position sensor control mode has the methods such as back-emf zero passage method, fly-wheel diode method, back-emf triple-frequency harmonics method.Wherein, back-emf zero passage method be the most simply, the most ripe method for controlling position-less sensor.According to the operation logic of DC brushless motor, when magnetic flux remains unchanged, back-emf size and rotating speed proportional.Therefore, when speed is zero or speed is very low, back-EMF determination less than.In this case, adopt Based on Back-EMF Method cannot obtain effective rotor-position, be difficult to start, so, need to adopt other modes to carry out starter motor.
For ensureing that motor normally starts, it is a kind of common method that syllogic starts method.First traditional syllogic starting method completes the location of rotor-position under motor inactive state, then carries out open loop acceleration, finally switching operation with closed ring after the back-emf detected is reliable and stable according to the acceleration curve preset.In this process, the magnetic potential of rotor needs the magnetic potential lagging behind winding synthesis within the specific limits, to accelerate.When empty load of motor, lag angle is less, starts success rate high, but when motor load changes greatly, lag angle is comparatively large, easily produces step-out, thus cause the failure of electric motor starting in accelerator.Therefore, the reliability and the start-up course that how to improve electric motor starting are the technical barriers in this field to the adaptive capacity of load variations always.
Summary of the invention
For the problems referred to above existed in existing syllogic starting method, present invention achieves one " acceleration of location-secondary " starting method, the method can start motor more reliably, and has stronger adaptive capacity to the change of motor load.
Technical scheme of the present invention is achieved in that
A kind of D-C brushless electric machine no-position sensor electric motor starting method, described motor is made up of stator and permanent magnet rotor, it is characterized in that, starting method comprises:
Pre-determined bit step, apply to make described rotor fixed position continue T to the voltage U in precalculated position to described stator
1time;
Cyclical acceleration step, T is continued to the voltage U that described stator applies to make described rotor accelerate to rotate
2time the position signalling of synchronous detection rotor; When the position signalling of zero crossing being detected in running, commutating immediately, entering closed loop accelerator; Otherwise, voltage U is applied to described stator and continues T
1time the position signalling of simultaneously detection rotor, when the position signalling of zero crossing being detected, commutating immediately, entering closed loop accelerator, the position signalling of zero crossing do not detected, then increase voltage U and to lay equal stress on duplicate step;
Closed loop accelerating step, be switched to closed-loop control by opened loop control and make described rotor enter closed loop accelerator.
Voltage U size in described pre-determined bit step is the minimum equivalent voltage making rotor turns in load conditions.
Described T
1mainly determine according to the KV value of motor and the sensitivity of testing circuit, method is: with T
1, T
2, T
1, T
2, T
1, T
2for reversal interval run time, the size of back-emf should be able to be detected.
Described T
2size be T
11/12 ~ 1/6.
The increment increasing voltage U in described cyclical acceleration step regulates according to loading condition, is generally no more than 1%, and control interval is 1ms.The maximum of voltage U should ensure over-current phenomenon avoidance not to occur in addition.
The scope of the electric angle between described centre position and described expection position location is 30 °-60 °.
Electric angle between described centre position and described expection position location is 30 °.
The detection method of described rotor-position signal is nine electric-resistivity methods; Adopt the mode that comparator is multiplexing, to reduce the impact of difference on position signalling of comparator simultaneously; And the switch interference of PWM should be avoided in testing process, select to open or blocking interval carries out at PWM.
Described reliable rotor-position signal is generally produced by instantaneous back-emf, because now average lower the and instantaneous back-emf of back-emf may be higher.
Alive size is executed in wherein said increase, should ensure over-current phenomenon avoidance and step-out phenomenon do not occur in restart procedure.
According to technique scheme, first by the rotor fixed position of motor to desired location, then in this desired location by voltage T
2once acceleration, voltage T
1secondary acceleration twice accelerator, and carry out the detection of rotor-position simultaneously.If can't detect positional information in this process, so continue to increase voltage, repeat cyclical acceleration and testing process.Like this once electric machines test is to stable zero crossing, motor can enter closed loop accelerator.Therefore, as long as the load of motor changes within the specific limits, so find a magnitude of voltage surely the increase process of voltage is pertinent, make rotor reach corresponding rotating speed, and then stable back-emf detected, thus incision closed loop accelerator.
Other features and advantages of the present invention are described in detail in embodiment part subsequently.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is starting method control flow chart of the present invention.
Fig. 2 is start-up course position probing schematic diagram of the present invention;
The duty ratio that Fig. 3 starts in configuration and start-up course increases flow chart;
Fig. 4 rotor-position detection mode and commutation timer flow chart;
Fig. 5 overall control process flow diagram;
Fig. 6 back-emf zero passage method detection module block diagram.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
The start-up course of DC brushless motor refers to that rotor is by inactive state, finally reaches the motion process of predetermined speed through boost phase.Syllogic start-up course generally comprises pre-determined bit, acceleration and closed loop and switches three processes, and Fig. 1 is the flow chart of electric motor starting of the present invention.Concrete start-up course is see Fig. 2.
The timing definition of rotor fixed position is T1.Time needed for rotor fixed position to precalculated position is depended on many factors, comprises the gap in initial position of rotor and precalculated position, the alive size of institute etc.For the ease of controlling, can ensure that rotor navigates to position by setting a time threshold.Such as, when reaching T1 when applying voltage signal, can think that rotor has now forwarded locking turned position certainly to, at this moment can stop applying voltage, directly enter next step.
The timing definition accelerated from precalculated position is T2.The angle of T2 start time composite magnetic power and rotor magnetic potential is 60 ° of electrical degrees, and rotor starts to accelerate.In order to ensure that rotor is at T
2after end, when again commutating complete, maximum moment can be produced, in the T2 time, turn over 30 degree of the bests.The process of twice acceleration is that the detection of rotor-position provides advantage, although mean speed is lower, the transient speed of rotor is comparatively large in the accelerator of twice, therefore stable rotor-position signal can be detected, cut closed loop accelerator thus.
In addition, by rotor turns to before navigating to turned position, if the current residing position of rotor with differ about 180 ° between desired location, the time that rotor turns needs to precalculated position can be long, and due to the restriction of electric machine structure, rotor even may be caused cannot to turn to predetermined turned position (when being just in time 180 degree, rotor cannot rotate in theory) in this case, thus the startup of rotor cannot be realized.
T
2the existence of time avoids above-mentioned situation about can not locate, if T
1do not locate successfully in time, T
2the position of time internal rotor will change, T next time
1in time, can locate successfully.
In Fig. 3, (a) is the layoutprocedure first before starting.Configuration PWM duty ratio, configuring first time overtime break period of commutating is T1, opens rotor-position and detects interruption.(b) for increase PWM duty ratio in whole start-up course in principal function, to improve rotating speed.
In Fig. 4, (a) is zero passage detection interrupt function, and namely rotor-position detects and carries out in PWM interrupts.B () is timer interrupt service function.Commutation function is disconnected middle realization hereinto.
Fig. 5 is the switching flow figure of starting algorithm with closed loop accelerator.
In execution mode, T1 value 30ms, T2 value 3ms.It is 8% that PWM starts duty ratio.Start-up course maximum duty cycle is 20%.Operating voltage is 12V, and motor model is A2212, KV1400.
Traditional Based on Back-EMF Method needs to use three comparators usually, the difference of comparator can have an impact to the position signalling of rotor, in order to avoid this impact, present embodiment have employed the mode comparing multiplexer, as shown in Figure 6, this mode realizes mainly through the input pin of built-in comparator in software mode dynamic-configuration institute purpose processor, not only reduces the impact that comparator is inconsistent like this, and makes PCB layout also more consistent.
Pass through technique scheme, not only avoid the possibility that location is failed, simultaneously by secondary accelerator, position signalling just can be detected in the process of " acceleration of location-secondary ", thus carry out closed loop startup, this avoid the start up curve that design is complicated, make rotor startup process more reliable.
The foregoing is only the preferred embodiment of the present invention, protection scope of the present invention is not limited in above-mentioned execution mode, and every technical scheme belonging to the principle of the invention all belongs to protection scope of the present invention.For a person skilled in the art, some improvements and modifications of carrying out under the prerequisite not departing from principle of the present invention, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. a D-C brushless electric machine no-position sensor electric motor starting method, described motor is made up of stator and permanent magnet rotor, it is characterized in that, starting method comprises:
Pre-determined bit step, apply to make described rotor fixed position continue T to the voltage U in precalculated position to described stator
1time;
Cyclical acceleration step, T is continued to the voltage U that described stator applies to make described rotor accelerate to rotate
2time the position signalling of synchronous detection rotor; When the position signalling of zero crossing being detected in running, commutating immediately, entering closed loop accelerator; Otherwise, voltage U is applied to described stator and continues T
1time the position signalling of simultaneously detection rotor, when the position signalling of zero crossing being detected, commutating immediately, entering closed loop accelerator, the position signalling of zero crossing do not detected, then increase voltage U and to lay equal stress on duplicate step;
Closed loop accelerating step, be switched to closed-loop control by opened loop control and make described rotor enter closed loop accelerator.
2. starting method according to claim 1, is characterized in that: the voltage U size in described pre-determined bit step is the minimum equivalent voltage making rotor turns in load conditions.
3. starting method according to claim 1, is characterized in that: described T
1defining method be: with T
1, T
2, T
1, T
2, T
1, T
2for reversal interval run time, the size of back-emf should be able to be detected.
4. starting method according to claim 1, is characterized in that: described T
2size be about T
11/12 ~ 1/6.
5. starting method according to claim 1, is characterized in that: the increment increasing voltage U in described cyclical acceleration step regulates according to loading condition, is no more than 1%, and control interval is 1ms.
6. starting method according to claim 1, is characterized in that: the detection method of described rotor-position signal is nine electric-resistivity methods; Adopt the mode that comparator is multiplexing simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510262371.1A CN104821760A (en) | 2015-05-21 | 2015-05-21 | Sensorless brushless DC motor starting method |
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|---|---|---|---|
| CN201510262371.1A CN104821760A (en) | 2015-05-21 | 2015-05-21 | Sensorless brushless DC motor starting method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105344088A (en) * | 2015-10-20 | 2016-02-24 | 杭州奇芝科技有限公司 | Electronic speed regulator for electric skateboard and control method of electronic speed regulator |
| CN105720870A (en) * | 2016-04-11 | 2016-06-29 | 苏州正弦波机电科技有限公司 | Sensorless starting method for automobile air conditioner |
| CN105915130A (en) * | 2016-06-14 | 2016-08-31 | 浙江钱江摩托股份有限公司 | Control method and device of sensorless permanent magnet motor used for pump |
| CN105958877A (en) * | 2016-06-29 | 2016-09-21 | 苏州联芯威电子有限公司 | Back electromotive force zero crossing detection method for brushless DC motor without position sensor |
| CN109356874A (en) * | 2018-10-30 | 2019-02-19 | 深圳和而泰智能控制股份有限公司 | Method for starting fan, device and computer storage medium |
| CN110365261A (en) * | 2019-07-08 | 2019-10-22 | 江苏科技大学 | The smooth method for starting-controlling of brshless DC motor and control system |
| CN112398381A (en) * | 2019-08-16 | 2021-02-23 | 联合汽车电子有限公司 | Stopping method and control method of brushless direct current motor, motor controller and electric device |
| WO2021129212A1 (en) * | 2019-12-24 | 2021-07-01 | 追觅科技(上海)有限公司 | Motor starting method, motor brake control method, device and electrical equipment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105344088A (en) * | 2015-10-20 | 2016-02-24 | 杭州奇芝科技有限公司 | Electronic speed regulator for electric skateboard and control method of electronic speed regulator |
| CN105720870A (en) * | 2016-04-11 | 2016-06-29 | 苏州正弦波机电科技有限公司 | Sensorless starting method for automobile air conditioner |
| CN105915130A (en) * | 2016-06-14 | 2016-08-31 | 浙江钱江摩托股份有限公司 | Control method and device of sensorless permanent magnet motor used for pump |
| CN105958877A (en) * | 2016-06-29 | 2016-09-21 | 苏州联芯威电子有限公司 | Back electromotive force zero crossing detection method for brushless DC motor without position sensor |
| CN109356874A (en) * | 2018-10-30 | 2019-02-19 | 深圳和而泰智能控制股份有限公司 | Method for starting fan, device and computer storage medium |
| CN110365261A (en) * | 2019-07-08 | 2019-10-22 | 江苏科技大学 | The smooth method for starting-controlling of brshless DC motor and control system |
| CN112398381A (en) * | 2019-08-16 | 2021-02-23 | 联合汽车电子有限公司 | Stopping method and control method of brushless direct current motor, motor controller and electric device |
| WO2021129212A1 (en) * | 2019-12-24 | 2021-07-01 | 追觅科技(上海)有限公司 | Motor starting method, motor brake control method, device and electrical equipment |
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Application publication date: 20150805 |