CN105162369A - Phase-sequence automatic adaptation-based brushless motor control method and system - Google Patents
Phase-sequence automatic adaptation-based brushless motor control method and system Download PDFInfo
- Publication number
- CN105162369A CN105162369A CN201510536775.5A CN201510536775A CN105162369A CN 105162369 A CN105162369 A CN 105162369A CN 201510536775 A CN201510536775 A CN 201510536775A CN 105162369 A CN105162369 A CN 105162369A
- Authority
- CN
- China
- Prior art keywords
- electric machine
- brushless electric
- phase sequence
- state
- brushless
- 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.)
- Granted
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses phase-sequence automatic adaptation-based brushless motor control method and system. The method comprises the following steps: judging whether phase-sequence adaptation data of a brushless motor exist or not; carrying out phase-sequence automatic adaptation of the brushless motor; inputting a brushless motor control signal; judging whether a phase-sequence data mark state of the brushless motor is adapted or not, reading an output state of a hall sensor and outputting coil electrifying logic. The system comprises a control signal input device, a central processing device, a brushless motor drive device, a current detection device, a hall signal collection device and a data storage device. According to the phase-sequence automatic adaptation-based brushless motor control method and system, connection of the brushless motor and a driver is simply and conveniently finished in one time; a correct connection sequence is determined without exchanging the connection sequence for a plurality of times, so that the work efficiency of connection is improved; and meanwhile, the condition that the brushless motor or the driver can be damaged due to the wrong connection sequence is also avoided.
Description
Technical field
The invention belongs to brushless electric machine control technology field, particularly relate to a kind of control method based on brushless electric machine phase sequence automatic adaptation and system.
Background technology
Three power lines of direct current thoughts brushless electric machine and three holding wires of motor Hall element, all need to be linked in sequence with correct with brushless motor driver, and motor could normal work.And three power lines of brushless electric machine have at most six kinds of orders to be connected with driver; two kinds of connected mode motors are wherein only had normally to work, other two kinds of connected modes, motor cisco unity malfunction; if driver exports without overcurrent protection function, so motor or driver may be damaged because of overcurrent.And the definition to the phase sequence of three power lines or three holding wires of brushless electric machine does not on the market have industry standard, the motor that different manufacturers is produced, the phase sequence of the phase line that the wire of same color is corresponding is not necessarily identical, and the phase sequence of the phase line that the wire of the motor same color of same producer different batches is corresponding also may be different.Like this, great inconvenience is caused to terminal block.Particularly user uses the driver of a producer, but when using the motor of other producer instead, user determines that the order of connection matched with driver has certain workload from motor power-supply wire six kinds of built-up sequences on the one hand, on the other hand, if power line phase sequence wrong even may cause motor or drive corruption.
Summary of the invention
Goal of the invention of the present invention is: in order to reduce workload when user determines motor phase sequence when connecting thoughts brushless electric machine and driver, and avoid causing the problem such as motor or drive corruption because the motor order of connection and driver do not mate, the present invention proposes a kind of control method based on brushless electric machine phase sequence automatic adaptation and system.
Technical scheme of the present invention is: a kind of control method based on brushless electric machine phase sequence automatic adaptation, comprises the following steps:
A, judge whether brushless electric machine phase sequence adaptation data exists; If brushless electric machine phase sequence adaptation data does not exist, then carry out step B; If brushless electric machine phase sequence adaptation data exists, then carry out step C;
B, motor coil three power line to be energized and the Hall element output state recorded with a definite sequence simultaneously, when determining control electric machine rotation or rotate backward, the corresponding relation of Hall element output state and coil electricity state, realizes brushless electric machine phase sequence automatic adaptation;
C, input brushless electric machine rotate or rotate backward control signal;
D, judge that whether brushless electric machine phase sequence adaptation data flag state is adaptive; If brushless electric machine phase sequence adaptation data flag state is adaptive, then carry out step e; If brushless electric machine phase sequence adaptation data flag state is not for adaptive, then return step B;
E, read Hall element output state, the corresponding relation of Hall element output state and coil electricity state exports brushless electric machine coil electricity logic according to electric machine rotation or when rotating backward, and returns step C.
Further, described step B is energized and the Hall element output state recorded with a definite sequence to motor coil three power line simultaneously, the corresponding relation of Hall element output state and coil electricity state when determining control electric machine rotation or rotate backward, realize brushless electric machine phase sequence automatic adaptation, specifically comprise the following steps:
B1, determine to control coil electricity state and the corresponding relation in rotor magnetic line direction when brushless electric machine rotates or rotates backward;
B2, according to coil electricity state, brushless electric machine coil three power line to be energized with a definite sequence simultaneously, record Hall element output state;
B3, judge record Hall element state whether all not identical; If the Hall element state of record is all not identical, then often kind of coil electricity state lower rotor part magnetic line of force direction preserved with Hall element output state data as brushless electric machine phase sequence adaptation data is corresponding and is labeled as adaptation state, completing brushless electric machine phase sequence automatic adaptation; If the Hall element state of record is not all not identical, then operate end.
The invention also discloses a kind of brushless motor control system based on phase sequence automatic adaptation, comprising:
Control signal input unit, for inputting brushless electric machine control signal;
Central processing unit, for processing control signal and hall signal;
Hall signal harvester, for gathering brushless motor Hall sensor-output status data;
Brushless motor driven apparatus, realizes brushless electric machine driving for control signal being carried out power amplification;
Current sensing means, for detecting brushless electric machine electric current;
And data storage device, for storing corresponding relation and the Hall element output state data of Hall element output state and coil electricity state;
Described central processing unit is connected with control signal input unit, hall signal harvester, brushless motor driven apparatus and data storage device respectively; Described current sensing means is connected with central processing unit, brushless motor driven apparatus and brushless electric machine respectively; Described hall signal harvester is also connected with brushless electric machine.
Further, described central processing unit specifically comprises:
Brushless electric machine automatic adaptation processing unit, for processing brushless electric machine phase sequence adaptation data;
Brushless electric machine phase sequence logic control element, controls and phase sequence logic control for realizing brushless electric machine commutation logic;
Brushless electric machine motion state control unit, rotating for controlling brushless electric machine, rotating backward, speed regulate and stop operating;
Current limited Control unit, regulates and restriction output current for controlling brushless motor driven apparatus;
Described brushless electric machine motion state control unit is connected with control signal input unit, brushless electric machine phase sequence logic control element and brushless electric machine automatic adaptation processing unit respectively; Described brushless electric machine phase sequence logic control element is also connected with hall signal harvester, Current limited Control unit and brushless electric machine automatic adaptation processing unit; Described brushless electric machine automatic adaptation processing unit is also connected with hall signal harvester, Current limited Control unit and data storage device; Described Current limited Control unit is also connected with brushless motor driven apparatus and current sensing means.
The invention has the beneficial effects as follows: the control method based on brushless electric machine phase sequence automatic adaptation of the present invention and system, by phase sequence automatic adaptation, brushless electric machine is controlled, make user brushless electric machine three power supply phase line and three Hall phase lines can be connected to driver brushless electric machine with random order respectively to export and hall signal input port, easy achieves the disposable wiring completing brushless electric machine and driver, without the need to repeatedly exchanging the order of connection to determine the correct order of connection, improve the operating efficiency of wiring, it also avoid the generation of brushless electric machine because order of connection mistake may cause or drive corruption situation simultaneously.
Accompanying drawing explanation
Fig. 1 is the control method schematic flow sheet based on brushless electric machine phase sequence automatic adaptation of the present invention.
Fig. 2 is three-phase two pole inner-rotor brushless electric machine structure schematic diagram in the embodiment of the present invention.
Fig. 3 be brushless electric machine in the embodiment of the present invention (+U ,-W) be energized situation coil magnetic field analyze schematic diagram.
Fig. 4 is magnetic line of force Orientation schematic diagram when brushless electric motor rotor counterclockwise rotates in the embodiment of the present invention.
Fig. 5 is magnetic line of force Orientation schematic diagram when brushless electric motor rotor clockwise direction rotates in the embodiment of the present invention.
Fig. 6 is to brushless electric machine coil three power line energising rotor magnetic line Orientation schematic diagram in the embodiment of the present invention.
Fig. 7 is the Control system architecture schematic diagram based on brushless electric machine phase sequence automatic adaptation of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, for of the present invention based on the brushless motor control method schematic flow sheet of phase sequence automatic adaptation.Based on a control method for brushless electric machine phase sequence automatic adaptation, comprise the following steps:
A, judge whether brushless electric machine phase sequence adaptation data exists; If brushless electric machine phase sequence adaptation data does not exist, then carry out step B; If brushless electric machine phase sequence adaptation data exists, then carry out step C;
B, brushless electric machine coil three power line to be energized and the Hall element output state recorded with a definite sequence simultaneously, determine the corresponding relation controlling Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward, realize brushless electric machine phase sequence automatic adaptation;
C, input brushless electric machine rotate or rotate backward control signal;
D, judge that whether brushless electric machine phase sequence adaptation data flag state is adaptive; If brushless electric machine phase sequence adaptation data flag state is adaptive, then carry out step e; If brushless electric machine phase sequence adaptation data flag state is not for adaptive, then return step B;
E, reading Hall element output state, rotate according to brushless electric machine or when rotating backward, the corresponding relation of Hall element output state and coil electricity state exports brushless electric machine coil electricity logic, returns step C.
In step, when utilizing the brushless motor control method based on phase sequence automatic adaptation of the present invention to control brushless electric machine, need to judge whether brushless electric machine phase sequence adaptation data exists; If brushless electric machine phase sequence adaptation data does not exist, namely illustrate that this brushless electric machine does not carry out phase sequence automatic adaptation, then carry out step B and phase sequence automatic adaptation is carried out to this brushless electric machine; If brushless electric machine phase sequence adaptation data exists, namely illustrate that this brushless electric machine carries out phase sequence automatic adaptation, then carry out step C and brushless electric machine is controlled;
In stepb, brushless electric machine coil three power line is energized and the Hall element output state recorded with a definite sequence simultaneously, determine the corresponding relation controlling Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward, realize brushless electric machine phase sequence automatic adaptation, specifically comprise the following steps:
B1, determine to control coil electricity state and the corresponding relation in rotor magnetic line direction when brushless electric machine rotates or rotates backward;
B2, according to coil electricity state, brushless electric machine coil three power line to be energized with a definite sequence simultaneously, record Hall element output state;
B3, judge record Hall element state whether all not identical; If the Hall element state of record is all not identical, then often kind of coil electricity state lower rotor part magnetic line of force direction preserved with Hall element output state data as brushless electric machine phase sequence adaptation data is corresponding and is labeled as adaptation state, completing brushless electric machine phase sequence automatic adaptation; If the Hall element state of record is not all not identical, then operate end.
In step bl is determined., the present invention is described for three-phase two pole inner-rotor brushless motor, and setting brushless electric machine rotates as counterclockwise rotating, rotating backward as clockwise direction rotates; Three-phase stator winding has star connection, Y connection and triangular configuration mode, and the conduction mode between two of three-phase star connection, Y connection is the most frequently used.As shown in Figure 2, be three-phase two pole inner-rotor brushless electric machine structure schematic diagram.Indicate the bind mode of stator winding in Fig. 2, its rotor does not draw.The triple line of brushless electric machine is designated as U, V, W respectively, for be energized between two during brushless electric machine running, adding before U, V or W label+number to represent and be connected to positive source, add before label-a number expression is connected to power cathode.The situation that is so energized has (+U ， – W), (+U ,-V), (+W ,-V), (+W ,-U), (+V ,-U), (+V ,-W) six kinds.
As shown in Figure 3, for brushless electric machine (+U ,-W) be energized situation coil magnetic field analyze schematic diagram.With (+U,-W) situation that is energized is to coil magnetic field Orientation, brushless electric machine placement symmetrical relative to reference axis Y-axis, brushless electric machine three-winding angularly interval install and prick number equal, lead to positive electricity to U phase line, W phase line leads to negative electricity, according to right-hand screw rule, the magnetic direction that U phase coil produces points to 30 °, and the magnetic direction that W phase coil produces points to-30 °, and so the conjunction magnetic direction of U and W phase coil then points to 0 °.
As shown in Figure 4, be magnetic line of force Orientation schematic diagram when brushless electric motor rotor in the embodiment of the present invention counterclockwise rotates.When carrying out counter clockwise direction to brushless electric machine and rotating control, closing magnetic direction also will by counterclockwise rotating.And in order to make rotor torque maximum, so the magnetic line of force direction of rotor should be perpendicular with the conjunction magnetic field magnetic line direction of stator as far as possible, because rotor counterclockwise rotates, so rotor magnetic line should be 90 ° to the angle of the conjunction magnetic direction of coil.Suppose that the magnetic line of force direction of initial position of rotor is-90 °, so to make rotor counterclockwise maximum moment rotation, so tackle U to communicate positive electricity, W communicates negative electricity, i.e. (+U,-W) "on" position, closing magnetic direction is 0 °, and so the magnetic line of force of rotor is 0 °-(-90 °)=90 ° to the angle of the conjunction magnetic field magnetic line of coil.As shown in (a) in Fig. 4, for brushless electric machine (+U ,-W) is energized situation rotor magnetic line Orientation schematic diagram.
In like manner, when counterclockwise rotation makes rotor magnetic line direction for-30 ° to rotor, reply U communicates positive electricity, V communicates negative electricity, i.e. (+U,-V) "on" position, the conjunction magnetic direction of coil is 60 °, and the magnetic line of force of rotor is 60 °-(-30 °)=90 ° to the angle of the conjunction magnetic field magnetic line of coil.As shown in (b) in Fig. 4, for brushless electric machine (+U ,-V) is energized situation rotor magnetic line Orientation schematic diagram.
When rotor counterclockwise rotates, when rotor magnetic line direction is followed successively by 30 °, 90 °, 150 ° ,-150 °, the "on" position of coil should be (+W ,-V) respectively, (+W ,-U), (+V,-U), (+V ,-W).As shown in (c) in Fig. 4, for brushless electric machine (+W ,-V) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (d) in Fig. 4, for brushless electric machine (+W ,-U) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (e) in Fig. 4, for brushless electric machine (+V ,-U) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (f) in Fig. 4, for brushless electric machine (+V ,-W) is energized situation rotor magnetic line Orientation schematic diagram.
Because thoughts brushless electric machine determines commutation by hall position sensor feedback rotor-position, therefore the Hall element output state that rotor magnetic line direction is corresponding respectively-90 ° ,-30 °, 30 °, 90 °, 150 ° ,-150 ° time is labeled as H (-90 °), H (-30 °), H (30 °), H (90 °), H (150 °), H (-150 °) successively.As shown in table 1, the mapping table between the rotor magnetic line direction of counterclockwise rotating for brushless electric machine, coil electricity state, Hall element output state.
Mapping table between the rotor magnetic line direction that table 1 brushless electric machine counterclockwise rotates, coil electricity state, Hall element output state
| Rotor magnetic line direction | -90° | -30° | 30° | 90° | 150° | -150° |
| Coil electricity state | +U,–W | +U,-V | +W,-V | +W,-U | +V,-U | +V,-W |
| Hall element output state | H(-90°) | H(-30°) | H(30°) | H(90°) | H(150°) | H(-150°) |
As shown in Figure 5, be magnetic line of force Orientation schematic diagram when brushless electric motor rotor clockwise direction in the embodiment of the present invention rotates.When carrying out clockwise direction to brushless electric machine and rotating control, close magnetic direction and also will rotate in the direction of the clock.And in order to make rotor torque maximum, so the magnetic line of force direction of rotor should be perpendicular with the conjunction magnetic field magnetic line direction of stator as far as possible, because rotor clockwise direction is rotated, so the magnetic line of force of rotor should near-90 ° to the conjunction magnetic direction angulation of coil.Suppose that the magnetic line of force direction of initial position of rotor is near-90 °, so to make rotor counterclockwise maximum moment rotation, so tackle U to communicate negative electricity, W communicates positive electricity, i.e. (+W ,-U) "on" position, closing magnetic direction is 180 °, so the magnetic line of force of rotor is 180 °-(-90 °)=270 ° to the angle of the conjunction magnetic direction of coil, by angular transformation to (-180 °, 180 °] interval after be-90 °.As shown in (a) in Fig. 5, for brushless electric machine (+W ,-U) is energized situation rotor magnetic line Orientation schematic diagram.
In like manner, after rotor turns can be obtained the magnetic line of force successively-30 ° ,-90 ° ,-150 °, 150 °, 90 ° time the "on" position of coil should be respectively (+W ,-V), (+U,-V), (+U ,-W), (+V,-W), (+V ,-U).As shown in (b) in Fig. 5, for brushless electric machine (+W ,-V) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (c) in Fig. 5, for brushless electric machine (+U ,-V) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (d) in Fig. 5, for brushless electric machine (+U ,-W) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (e) in Fig. 5, for brushless electric machine (+V ,-W) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (f) in Fig. 5, for brushless electric machine (+V ,-U) is energized situation rotor magnetic line Orientation schematic diagram.
Because thoughts brushless electric machine determines commutation by hall position sensor feedback rotor-position, therefore the Hall element output state that rotor magnetic line direction is corresponding respectively-90 ° ,-150 °, 150 °, 90 °, 30 ° ,-30 ° time is labeled as H (-90 °), H (-150 °), H (150 °), H (90 °), H (30 °), H (-30 °) successively.As shown in table 2, the rotor magnetic line direction of rotating for brushless electric machine clockwise direction, coil electricity state, mapping table between Hall element output state.
Mapping table between the rotor magnetic line direction that table 2 brushless electric machine clockwise direction rotates, coil electricity state, Hall element output state
| Rotor magnetic line direction | -90° | -150° | 150° | 90° | 30° | -30° |
| Coil electricity state | +W，-U | +W,-V | +U,-V | +U,-W | +V,-W | +V,-U |
| Hall element output state | H(-90°) | H(-150°) | H(150°) | H(90°) | H(30°) | H(-30°) |
In step B2, as shown in Figure 6, in the embodiment of the present invention to brushless electric machine coil three power line energising rotor magnetic line Orientation schematic diagram.As shown in (a) in Fig. 6, for brushless electric machine (+U ,-V ,-W) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (b) in Fig. 6, for brushless electric machine (+W ,+U ,-V) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (c) in Fig. 6, for brushless electric machine (+W ,-U ,-V) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (d) in Fig. 6, for brushless electric machine (+W ,+V ,-U) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (e) in Fig. 6, for brushless electric machine (+V ,-W ,-U) is energized situation rotor magnetic line Orientation schematic diagram.As shown in (f) in Fig. 6, for brushless electric machine (+U ,+V ,-W) is energized situation rotor magnetic line Orientation schematic diagram.To brushless electric machine coil three power line according to (+U ,-V ,-W), (+W, + U ,-V), (+W,-U ,-V), (+W, + V ,-U), (+V,-W ,-U), (+U, + V ,-W) be sequentially energized simultaneously, make rotor magnetic line be positioned 30 °, 90 °, 150 ° ,-150 ° ,-90 ° ,-30 ° these six directions.Here be 1 second to the time of various coil electricity state, ensure that rotor rotates there being time enough under the effect of coil magnetic field, making rotor magnetic line direction and coil close magnetic direction consistent.Thus obtain and under recording often kind of coil electricity state brushless electric machine stop operating after corresponding Hall element output state H (30 °), the H (90 °) in rotor magnetic line direction, H (150 °), H (-150 °), H (-90 °) and H (-30 °).As shown in table 3, be rotor magnetic line direction, coil electricity state, Hall element output state mapping table.
Table 3 rotor magnetic line direction, coil electricity state, Hall element output state mapping table
| Rotor magnetic line direction | 30° | 90° | 150° | -150° | -90° | -30° |
| Coil electricity state | +U,-V,-W | +W,+U,-V | +W,-U,-V | +W,+V,-U | +V,-W,-U | +U,+V,-W |
| Hall element output state | H(30°) | H(90°) | H(150°) | H(-150°) | H(-90°) | H(-30°) |
In step B3, judge that whether the Hall element state recorded is all not identical; If the Hall element state of record is all not identical, then often kind of coil electricity state lower rotor part magnetic line of force direction is preserved with Hall element output state data as brushless electric machine phase sequence adaptation data is corresponding and is labeled as adaptation state, Hall element output state corresponding for table 3 rotor magnetic line of force direction is updated in the table 1 of step B1 and table 2 corresponding relation that can obtain controlling coil electricity state and Hall element output state when brushless electric machine rotates and rotates backward, namely completes brushless electric machine phase sequence automatic adaptation; If the Hall element state of record is not all not identical, then operate end.
When exchanging the order of connection of power supply triple line and driver of brushless electric machine, such as, U and the V of brushless electric machine phase line is exchanged, the title that former for brushless electric machine U and V phase line defines also is exchanged.Rotor magnetic line direction, coil electricity state, corresponding relation between Hall element output state that so table 1 brushless electric machine counterclockwise rotates also will change.As shown in table 4, be rotor magnetic line direction, coil electricity state, Hall element output state mapping table when after exchange U, V phase line, brushless electric machine counterclockwise rotates.
Rotor magnetic line direction, coil electricity state, Hall element output state mapping table when after table 4 exchanges U, V phase line, brushless electric machine counterclockwise rotates
| Rotor magnetic line direction | -90° | -30° | 30° | 90° | 150° | -150° |
| Coil electricity state | +V,–W | +V,-U | +W,-U | +W,-V | +U,-V | +U,-W |
| Hall element output state | H(-90°) | H(-30°) | H(30°) | H(90°) | H(150°) | H(-150°) |
In like manner, table 2 brushless electric machine clockwise direction rotates rotor magnetic line direction, coil electricity state, corresponding relation between Hall element output state also will change.As shown in table 5, be rotor magnetic line direction, coil electricity state, Hall element output state mapping table when after exchange U, V phase line, brushless electric machine counterclockwise rotates.
Rotor magnetic line direction, coil electricity state, Hall element output state mapping table when after table 5 exchanges U, V phase line, brushless electric machine counterclockwise rotates
| Rotor magnetic line direction | -90° | -150° | 150° | 90° | 30° | -30° |
| Coil electricity state | +W，-U | +W,-V | +U,-V | +U,-W | +V,-W | +V,-U |
| Hall element output state | H(-90°) | H(-150°) | H(150°) | H(90°) | H(30°) | H(-30°) |
In like manner, table 3 rotor magnetic line direction, coil electricity state, Hall element output state mapping table also will change.As shown in table 6, be rotor magnetic line direction, coil electricity state, Hall element output state mapping table
Table 6 rotor magnetic line direction, coil electricity state, Hall element output state mapping table
| Rotor magnetic line direction | -90° | -150° | 150° | 90° | 30° | -30° |
| Coil electricity state | +U,-W,-V | +W,+U,-V | +W,-V,-U | +W,+V,-U | +V,-U,-W | +V,+U,-W |
| Hall element output state | H(-90°) | H(-150°) | H(150°) | H(90°) | H(30°) | H(-30°) |
After have exchanged U and V phase line order, the Hall element output state H (-90 °) obtained when being respectively-90 ° ,-150 °, 150 °, 90 °, 30 ° and-30 ° of six directions according to rotor magnetic line, H (-150 °), H (150 °), H (90 °), H (30 °) and H (-30 °), be updated in table 4 and table 5 corresponding relation that can obtain Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward.
The present invention is after any exchange sequence of brushless electric machine phase line, the corresponding relation of Hall element output state and coil electricity state during by determining that brushless electric machine rotates or rotates backward, thus realize brushless electric machine rotation or counter-rotational commutation control according to the corresponding "on" position of Hall element output state control coil.
When exchanging the hall signal order of connection, because the corresponding relation in coil electricity state and rotor magnetic line direction is not affected, therefore the present invention is again successively according to (+U,-W,-V), (+W, + U,-V), (+W,-V,-U), (+W, + V,-U), (+V,-U,-W), (+V, + U,-W) sequentially brushless electric machine is energized, obtain rotor magnetic line and be respectively-90 °,-150 °, 150 °, 90 °, 30 ° and-30 ° of six directions time Hall element output state H (-90 °), H (-150 °), H (150 °), H (90 °), H (30 °) and H (-30 °), be updated in table 4 and table 5, the corresponding relation of Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward can be obtained equally, thus realize brushless electric machine rotation or counter-rotational commutation control according to the corresponding "on" position of Hall element output state control coil.
The present invention is by determining the corresponding relation controlling Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward, make the triple line how exchange sequence of no matter brushless electric machine power supply, and the triple line that exports of brushless motor Hall transducer how exchange sequence can realize brushless electric machine according to the corresponding "on" position of Hall element output state control coil and rotate and counter-rotational commutation control, decrease workload when user determines brushless electric machine phase sequence when connecting thoughts brushless electric machine and driver, avoid and do not cause brushless electric machine or drive corruption phenomenon because the brushless electric machine order of connection and driver do not mate.
Especially, for three-phase multipole brushless electric machine, according to above similar approach, the present invention also can determine that the corresponding relation controlling Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward is to realize brushless electric machine phase sequence automatic adaptation.
In step D, the flag state of the brushless electric machine phase sequence adaptation data preserved in determining step B3 is needed whether to be adaptive; If brushless electric machine phase sequence adaptation data flag state is adaptive, namely illustrates that brushless electric machine phase sequence adaptation data can be used, then carry out step e; If brushless electric machine phase sequence adaptation data flag state is not for adaptive, namely illustrates that brushless electric machine phase sequence adaptation data is unavailable, then return step B and re-start brushless electric machine phase sequence automatic adaptation or end operation.
In step e, read step flag state is the Hall element output state in adaptive brushless electric machine phase sequence adaptation data, according to control brushless electric machine rotate or when rotating backward the corresponding relation of Hall element output state and coil electricity state export brushless electric machine coil electricity logic, control brushless electric machine rotate or rotate backward, and return step C.
In order to be described in more detail the brushless motor control method based on phase sequence automatic adaptation of the present invention further, the invention also discloses a kind of brushless motor control system based on phase sequence automatic adaptation.As shown in Figure 6, for of the present invention based on the brushless motor control system structural representation of phase sequence automatic adaptation, it comprises:
Control signal input unit, for inputting brushless electric machine control signal;
Central processing unit, for processing control signal and hall signal;
Hall signal harvester, for gathering brushless motor Hall sensor-output status data;
Brushless motor driven apparatus, realizes brushless electric machine driving for control signal being carried out power amplification;
Current sensing means, for detecting brushless electric machine electric current;
And data storage device, for storing corresponding relation and the Hall element output state data of Hall element output state and coil electricity state;
Described central processing unit is connected with control signal input unit, hall signal harvester, brushless motor driven apparatus and data storage device respectively; Described current sensing means is connected with central processing unit, brushless motor driven apparatus and brushless electric machine respectively; Described hall signal harvester is also connected with brushless electric machine.
Control signal input dress of the present invention is for inputting brushless electric machine control signal, and it is realized by I/O input port or PORT COM.
Hall signal harvester of the present invention is for gathering brushless motor Hall sensor-output status data, and it is realized by I/O input port, accepts position signal of hall sensor and provides power supply for Hall element.
Brushless motor driven apparatus of the present invention is used for coil electricity status signal being carried out power amplification and realizes brushless electric machine driving, and it, by digital circuit, specifically comprises and amplifying voltage magnitude and electric current.
Current sensing means of the present invention is for detecting brushless electric machine electric current, and it is converted to voltage signal by sampling to the electric current of brushless electric machine coil and amplitude is amplified to the scope being applicable to inputing to central processing unit.
Data storage device of the present invention is for storing corresponding relation and the Hall element output state data of Hall element output state and coil electricity state, and it is realized by memory.
Central processing unit of the present invention is used for processing control signal and hall signal, and it specifically comprises:
Brushless electric machine automatic adaptation processing unit, for processing brushless electric machine phase sequence adaptation data;
Brushless electric machine phase sequence logic control element, for realizing the logic control of brushless electric machine commutation phase sequence;
Brushless electric machine motion state control unit, rotating for controlling brushless electric machine, rotating backward, speed regulate and stop operating;
Current limited Control unit, regulates and restriction output current for controlling brushless motor driven apparatus;
Described brushless electric machine motion state control unit is connected with control signal input unit, brushless electric machine phase sequence logic control element and brushless electric machine automatic adaptation processing unit respectively; Described brushless electric machine phase sequence logic control element is also connected with hall signal harvester, Current limited Control unit and brushless electric machine automatic adaptation processing unit; Described brushless electric machine automatic adaptation processing unit is also connected with hall signal harvester, Current limited Control unit and data storage device; Described Current limited Control unit is also connected with brushless motor driven apparatus and current sensing means.
Control system workflow based on brushless electric machine phase sequence automatic adaptation of the present invention is:
Brushless electric machine automatic adaptation processing unit judges whether brushless electric machine phase sequence adaptation data exists; If brushless electric machine phase sequence adaptation data exists, input brushless electric machine control signal by control signal input unit; If brushless electric machine phase sequence adaptation data does not exist, carry out inputting phase sequence automatic adaptation signal by control signal input unit; brushless electric machine motion state control unit accepts phase sequence automatic adaptation signal, scheduling brushless electric machine phase sequence automatic adaptation processing unit starts to carry out phase sequence automatic adaptation, corresponding for brushless electric machine coil magnetic field direction coil electricity status signal is transferred to brushless motor driven apparatus through Current limited Control unit by brushless electric machine phase sequence automatic adaptation processing unit in certain sequence, brushless motor driven apparatus transfers to brushless electric machine through overcurrent detecting device after coil electricity status signal is carried out power amplification, after waiting for certain hour, brushless electric motor rotor magnetic line of force direction turns to coil magnetic field direction, hall signal harvester gathers brushless motor Hall sensor-output status data and transfers to brushless electric machine phase sequence automatic adaptation processing unit, brushless electric machine phase sequence automatic adaptation processing unit record also judges that whether Hall element output state is all not identical, if the Hall element output state of record is all not identical, rotor magnetic line direction is kept at data storage device with Hall element output state data as brushless electric machine phase sequence adaptation data is corresponding and is labeled as adaptation state, determine the corresponding relation controlling coil electricity state and rotor magnetic line direction when brushless electric machine rotates or rotates backward, according to the rotor magnetic line direction of record and the corresponding relation of Hall element output state, determine the corresponding relation controlling Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward, if the Hall element output state of record is not all not identical, end operation, control signal input unit input brushless electric machine control signal, transfers to brushless electric machine motion state control unit, brushless electric machine motion state control unit scheduling brushless electric machine phase sequence automatic adaptation processing unit judges whether brushless electric machine phase sequence adaptation data flag state is adaptive, if brushless electric machine phase sequence adaptation data flag state is not be adaptation, end operation or again accept phase sequence automatic adaptation signal, if brushless electric machine phase sequence adaptation data flag state is adaptation, brushless electric machine motion state control unit scheduling brushless electric machine phase sequence logic control element, brushless electric machine phase sequence logic control element accepts the brushless motor Hall sensor-output status data that hall signal harvester gathers, and inquire about the corresponding relation that phase sequence automatic adaptation processing unit obtains controlling Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward, output winding "on" position signal, brushless motor driven apparatus transfers to brushless electric machine through overcurrent detecting device after carrying out power amplification to coil electricity status signal, brushless electric machine coil current signal is fed back to Current limited Control unit and carries out Current limited Control to brushless electric machine electric current by current sensing means, hall signal harvester gathers brushless motor Hall sensor-output status data and transfers to brushless electric machine phase sequence logic control element, and brushless electric machine phase sequence logic control element controls the brushless motor Hall sensor-output status data output winding "on" position signal again gathered according to hall signal harvester.
Those of ordinary skill in the art will appreciate that, embodiment described here is to help reader understanding's principle of the present invention, should be understood to that protection scope of the present invention is not limited to so special statement and embodiment.Those of ordinary skill in the art can make various other various concrete distortion and combination of not departing from essence of the present invention according to these technology enlightenment disclosed by the invention, and these distortion and combination are still in protection scope of the present invention.
Claims (4)
1. based on a control method for brushless electric machine phase sequence automatic adaptation, it is characterized in that, comprise the following steps:
A, judge whether brushless electric machine phase sequence adaptation data exists; If brushless electric machine phase sequence adaptation data does not exist, then carry out step B; If brushless electric machine phase sequence adaptation data exists, then carry out step C;
B, brushless electric machine coil three power line to be energized and the Hall element output state recorded with a definite sequence simultaneously, determine the corresponding relation controlling Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward, realize brushless electric machine phase sequence automatic adaptation;
C, input brushless electric machine rotate or rotate backward control signal;
D, judge that whether brushless electric machine phase sequence adaptation data flag state is adaptive; If brushless electric machine phase sequence adaptation data flag state is adaptive, then carry out step e; If brushless electric machine phase sequence adaptation data flag state is not for adaptive, then return step B;
E, reading Hall element output state, rotate according to brushless electric machine or when rotating backward, the corresponding relation of Hall element output state and coil electricity state exports brushless electric machine coil electricity logic, returns step C.
2. as claimed in claim 1 based on the control method of brushless electric machine phase sequence automatic adaptation, it is characterized in that, described step B is energized and the Hall element output state recorded with a definite sequence to brushless electric machine coil three power line simultaneously, determine the corresponding relation controlling Hall element output state and coil electricity state when brushless electric machine rotates or rotates backward, realize brushless electric machine phase sequence automatic adaptation, specifically comprise the following steps:
B1, determine to control coil electricity state and the corresponding relation in rotor magnetic line direction when brushless electric machine rotates or rotates backward;
B2, according to coil electricity state, brushless electric machine coil three power line to be energized with a definite sequence simultaneously, record Hall element output state;
B3, judge record Hall element state whether all not identical; If the Hall element state of record is all not identical, then often kind of coil electricity state lower rotor part magnetic line of force direction preserved with Hall element output state data as brushless electric machine phase sequence adaptation data is corresponding and is labeled as adaptation state, completing brushless electric machine phase sequence automatic adaptation; If the Hall element state of record is not all not identical, then operate end.
3. based on a control system for brushless electric machine phase sequence automatic adaptation, it is characterized in that, comprising:
Control signal input unit, for inputting brushless electric machine control signal;
Central processing unit, for processing control signal and hall signal;
Hall signal harvester, for gathering brushless motor Hall sensor-output status data;
Brushless motor driven apparatus, realizes brushless electric machine driving for control signal being carried out power amplification;
Current sensing means, for detecting brushless electric machine electric current;
And data storage device, for storing corresponding relation and the Hall element output state data of Hall element output state and coil electricity state;
Described central processing unit is connected with control signal input unit, hall signal harvester, brushless motor driven apparatus and data storage device respectively; Described current sensing means is connected with central processing unit, brushless motor driven apparatus and brushless electric machine respectively; Described hall signal harvester is also connected with brushless electric machine.
4., as claimed in claim 3 based on the control system of brushless electric machine phase sequence automatic adaptation, it is characterized in that, described central processing unit specifically comprises:
Brushless electric machine automatic adaptation processing unit, for processing brushless electric machine phase sequence adaptation data;
Brushless electric machine phase sequence logic control element, for realizing the logic control of brushless electric machine commutation phase sequence;
Brushless electric machine motion state control unit, rotating for controlling brushless electric machine, rotating backward, speed regulate and stop operating;
Current limited Control unit, regulates and restriction output current for controlling brushless motor driven apparatus;
Described brushless electric machine motion state control unit is connected with control signal input unit, brushless electric machine phase sequence logic control element and brushless electric machine automatic adaptation processing unit respectively; Described brushless electric machine phase sequence logic control element is also connected with hall signal harvester, Current limited Control unit and brushless electric machine automatic adaptation processing unit; Described brushless electric machine automatic adaptation processing unit is also connected with hall signal harvester, Current limited Control unit and data storage device; Described Current limited Control unit is also connected with brushless motor driven apparatus and current sensing means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510536775.5A CN105162369B (en) | 2015-08-28 | 2015-08-28 | Control method and system based on brushless motor phase sequence automatic adaptation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510536775.5A CN105162369B (en) | 2015-08-28 | 2015-08-28 | Control method and system based on brushless motor phase sequence automatic adaptation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105162369A true CN105162369A (en) | 2015-12-16 |
| CN105162369B CN105162369B (en) | 2019-11-22 |
Family
ID=54803154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510536775.5A Active CN105162369B (en) | 2015-08-28 | 2015-08-28 | Control method and system based on brushless motor phase sequence automatic adaptation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105162369B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105915128A (en) * | 2016-06-20 | 2016-08-31 | 上海电机学院 | Permanent magnet synchronous motor Hall phase sequence self-learning method |
| CN107181431A (en) * | 2017-06-06 | 2017-09-19 | 上海三意电机驱动技术有限公司 | Brshless DC motor commutation automatic testing method |
| CN110557054A (en) * | 2019-09-29 | 2019-12-10 | 天地伟业技术有限公司 | Dynamic control method for torque of direct current brushless motor |
| CN111942168A (en) * | 2019-05-15 | 2020-11-17 | 天津九九电子有限公司 | Motor controller and electric vehicle for learning phase sequence by multiplexing multiple combinations of crank brake levers |
| CN112003507A (en) * | 2020-08-24 | 2020-11-27 | 中科芯集成电路有限公司 | Brushless motor software commutation method |
| CN112039372A (en) * | 2020-08-12 | 2020-12-04 | 友贸电机(深圳)有限公司 | Motor phase sequence detection method, terminal and storage medium |
| CN113452307A (en) * | 2020-03-27 | 2021-09-28 | 宏碁股份有限公司 | Automatic correction method for pin connection and motor driving device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101227162A (en) * | 2007-01-17 | 2008-07-23 | 凌阳科技股份有限公司 | Method and apparatus for driving under random connection and automatically distinguishing phase of brushless DC motor |
| CN102025305A (en) * | 2010-12-07 | 2011-04-20 | 南京邮电大学 | Hall phase sequence detecting method and device of brushless direct-current motor |
| CN102608438A (en) * | 2009-12-09 | 2012-07-25 | 电子科技大学 | Method for determining corresponding relation of phase sequence of stator winding and encoder |
-
2015
- 2015-08-28 CN CN201510536775.5A patent/CN105162369B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101227162A (en) * | 2007-01-17 | 2008-07-23 | 凌阳科技股份有限公司 | Method and apparatus for driving under random connection and automatically distinguishing phase of brushless DC motor |
| CN102608438A (en) * | 2009-12-09 | 2012-07-25 | 电子科技大学 | Method for determining corresponding relation of phase sequence of stator winding and encoder |
| CN102025305A (en) * | 2010-12-07 | 2011-04-20 | 南京邮电大学 | Hall phase sequence detecting method and device of brushless direct-current motor |
Non-Patent Citations (1)
| Title |
|---|
| 李广志: "电动车用三相无刷直流电机控制系统", 《中国优秀硕士学位论文全文数据库 工程科技II辑》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105915128A (en) * | 2016-06-20 | 2016-08-31 | 上海电机学院 | Permanent magnet synchronous motor Hall phase sequence self-learning method |
| CN107181431A (en) * | 2017-06-06 | 2017-09-19 | 上海三意电机驱动技术有限公司 | Brshless DC motor commutation automatic testing method |
| CN107181431B (en) * | 2017-06-06 | 2019-09-13 | 上海三意电机驱动技术有限公司 | Brshless DC motor commutation automatic testing method |
| CN111942168A (en) * | 2019-05-15 | 2020-11-17 | 天津九九电子有限公司 | Motor controller and electric vehicle for learning phase sequence by multiplexing multiple combinations of crank brake levers |
| CN110557054A (en) * | 2019-09-29 | 2019-12-10 | 天地伟业技术有限公司 | Dynamic control method for torque of direct current brushless motor |
| CN113452307A (en) * | 2020-03-27 | 2021-09-28 | 宏碁股份有限公司 | Automatic correction method for pin connection and motor driving device |
| CN113452307B (en) * | 2020-03-27 | 2023-04-07 | 宏碁股份有限公司 | Automatic correction method for pin connection and motor driving device |
| CN112039372A (en) * | 2020-08-12 | 2020-12-04 | 友贸电机(深圳)有限公司 | Motor phase sequence detection method, terminal and storage medium |
| CN112003507A (en) * | 2020-08-24 | 2020-11-27 | 中科芯集成电路有限公司 | Brushless motor software commutation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105162369B (en) | 2019-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105162369A (en) | Phase-sequence automatic adaptation-based brushless motor control method and system | |
| CN102025305B (en) | Hall phase sequence detecting method and device of brushless direct-current motor | |
| CN102957334B (en) | Methods, systems and apparatus for controlling a multi-phase inverter | |
| CN102777367B (en) | With the automobile electronic water pump controller of multiple interfaces | |
| EP1071194A1 (en) | Actuator | |
| CN103259481A (en) | Method and system for estimating electrical angular speed of permanent magnet machine | |
| CN102983803A (en) | Initial positioning method for permanent-magnet synchronous motor | |
| CN102780441A (en) | Scheme and method for determining zero position of permanent magnet synchronous motor for automobile EPS (Electric Power Steering) system | |
| CN102136820B (en) | Sensor-free start control method for brushless DC motor | |
| CN108336930A (en) | Rotor fixed position method, positioning device and the control system of brshless DC motor | |
| CN1279687C (en) | Method for positioning first-on rotor for alternating current permanent-magnet synchronous motor control system | |
| CN110429874B (en) | Method and system for reversely driving brushless direct current motor under Hall disorder | |
| US11342818B2 (en) | Encoder, motor and controlling method of encoder | |
| US10992243B2 (en) | System and computer-implemented method for reducing angle error in electric motors | |
| CN109600080A (en) | A kind of salient-pole permanent-magnet synchronous motor method for controlling position-less sensor | |
| CN108631660A (en) | Rotor fixed position method, positioning device and the control system of brshless DC motor | |
| CN110865586B (en) | Petri network-based brushless direct current motor DSP logic control program design method | |
| CN208489807U (en) | A kind of brshless DC motor driving control system | |
| CN209342878U (en) | A kind of permanent magnet synchronous motor MTPA parameter automatic calibration system | |
| CN202043066U (en) | Sensorless and brushless DC (direct current) motor controller | |
| CN111106765A (en) | Brushless motor driving system and method | |
| CN206977268U (en) | A kind of DC brushless motor Hall angle debugging system | |
| CN207884471U (en) | DC brushless motor and electric vehicle | |
| CN114696702A (en) | Direction-changeable non-inductive FOC motor control system and method | |
| CN109546901A (en) | A kind of DC brushless motor phase change method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |