CN105322849B - High-power brushless motor driving circuit and control method thereof - Google Patents
High-power brushless motor driving circuit and control method thereof Download PDFInfo
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- CN105322849B CN105322849B CN201510398378.6A CN201510398378A CN105322849B CN 105322849 B CN105322849 B CN 105322849B CN 201510398378 A CN201510398378 A CN 201510398378A CN 105322849 B CN105322849 B CN 105322849B
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Abstract
The invention discloses a high-power brushless motor driving circuit and a control method thereof, and the high-power brushless motor driving circuit comprises a singlechip, two keys, an alarm, a memory, a display, a three-phase circuit connected with a motor, a current detection circuit and 3 driving circuits which are electrically connected with the three-phase circuit, and 3 position detection circuits which are respectively connected with 3 Hall sensors which are arranged on a motor rotor and have an angle interval of 120 degrees in sequence; the singlechip, the 3 driving circuits, the three-phase circuit and the motor are electrically connected in sequence. The invention has the characteristics of rapidly and stably starting the motor, automatically detecting and judging the running fault of the motor, automatically repairing the fault which is not damaged by hardware, and timely stopping the machine for the fault which cannot be repaired and informing an operator.
Description
Technical Field
The invention relates to the technical field of brushless motor control, in particular to a high-power brushless motor driving circuit convenient to upgrade and low in price and a control method thereof.
Background
With the increasing demand for audio-visual products, such as "small, light, thin", household electrical appliances, and luxury cars, the demand for brushless dc motors has increased rapidly. The brushless DC motor uses electronic commutation to replace electric brush and commutator, and has the advantages of high reliability, high efficiency, long service life and convenient speed regulation.
At present, a drive device of a brushless motor is usually realized by a pure hardware circuit, for example, the drive device adopts a dsp chip, the circuit cannot be modified, and the dsp chip is expensive, suitable for high-end products, and not beneficial to upgrading and updating of products.
Chinese patent grant publication No.: CN203675019U, entitled public date 2014, 6, 25, discloses a brushless motor driving circuit, which comprises a single chip microcomputer, a brushless motor driving board, a brushless motor connected with the brushless motor driving board, a brushless motor speed regulation control circuit connected with the single chip microcomputer and the brushless motor driving board, a brushless motor forward/reverse rotation control circuit, and a brushless motor power supply circuit, wherein the brushless motor speed regulation control circuit is an output circuit for converting pulse width modulation signals into continuously variable voltage signals; the positive and negative rotation control circuit of the brushless motor controls the on-off of the circuit by utilizing the single chip microcomputer to realize the positive rotation and reverse rotation reversing functions of the motor; the brushless motor power supply circuit utilizes the singlechip to control the on-off of the circuit, and the on-off function of the power supply circuit is pushed through the triode and the two-stage MOS tube. The invention has the disadvantages that the circuit can not be modified, and is not beneficial to upgrading and updating of products.
Disclosure of Invention
The invention aims to overcome the defects that the circuit of the driving device in the prior art cannot be modified, is high in price and is not beneficial to upgrading and updating of products, and provides a high-power brushless motor driving circuit which is convenient to upgrade and low in price and a control method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
a high-power brushless motor drive circuit comprises a single chip microcomputer, two keys, an alarm, a memory, a display, a three-phase circuit connected with a motor, a current detection circuit and 3 drive circuits which are electrically connected with the three-phase circuit, and 3 position detection circuits which are respectively connected with 3 Hall sensors which are arranged on a motor rotor and have an angle interval of 120 degrees in sequence; the single chip microcomputer, the 3 driving circuits, the three-phase circuit and the motor are electrically connected in sequence, and the output end and the working voltage input end of the 3 position detection circuits are electrically connected with the single chip microcomputer; the signal input end of the current detection circuit is electrically connected with any one of the driving circuits, and the alarm, the memory, the display, the output end of the current detection circuit and the 2 keys are electrically connected with the single chip microcomputer.
According to the invention, 3 Hall sensors are arranged on a rotor of the motor at intervals of 120 degrees, and the names of the 3 Hall sensors are Ha, Hb and Hc respectively. The Hall sensor rotates by a rotation angle in each electric cycle of the rotation of the rotor of the motor to generate a state logic word corresponding to the logic distribution state of the motor. The three phases of the motor have six periods, which correspond to the phase periods of each of the rotation angle positions 0-60, 60-120, 120-180, 180-240, 240-300, 300-360, and correspond to the state logic words 001, 000, 100, 110, 111, 011, wherein the state logic words take Ha, Hb, Hc as the sequence, and 101 and 010 as the prohibited state logic words, that is, once the single chip reads 010 or 101 information, it indicates that the state is faulty.
The memory is provided with PWM variable acceleration wave with gradually reduced waveform period and PWM stable wave with constant waveform period, the number p of pole pairs of the motor, the target rotating speed n of the motor, and a period t0 corresponding to the target rotating speed, wherein
The memory is also provided with a phase change time sequence table, the phase change time sequence table is composed of 6 standard position state logic words which are sequentially arranged, and each standard position state logic word corresponds to the phases of the PWM variable acceleration wave and the PWM stable wave; an overcurrent threshold I1 is set in the memory;
the current detection circuit is used for detecting the current of the motor, the position detection circuit is used for detecting unknown of the Hall sensor, the single chip microcomputer is used for controlling acceleration and stable operation of the motor and carrying out phase change control according to detected position state logic words, and the overcurrent alarm is convenient for operators to timely carry out manual intervention.
The motor has a simple circuit, can adapt to different application occasions by modifying a program, and is convenient for upgrading and updating products; the motor can be quickly and stably started, the whole process of starting and stopping the motor is monitored in the whole process, the rotating speed of the motor is high, the motor runs stably, the running fault of the motor can be automatically detected and judged, part of non-hardware-damaged faults can be automatically repaired, and the motor can be stopped in time and an operator can be informed of the faults which cannot be repaired; the reliable control of the motor is ensured, the service life of the motor is prolonged, and the product is further optimized by a manufacturer.
Therefore, the motor has the advantages of simple circuit and convenient upgrading, and can adapt to different application occasions by modifying programs; the motor can be quickly and stably started, the running fault of the motor can be automatically detected and judged, the fault which is not damaged by hardware can be automatically repaired, and the fault which cannot be repaired can be stopped in time and informed to an operator; the reliable control of the motor is ensured, and the service life of the motor is prolonged.
Preferably, the position detection circuit comprises a resistor R1, a resistor R2, a sliding resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, an amplifier D1, a capacitor C1 and a triode T1; one end of the resistor R1 is electrically connected with one end of the Hall sensor and one end of the resistor R2 respectively, the other end of the resistor R1, one end of the Hall sensor and one end of the sliding resistor R3 are connected with VCC, the other end of the resistor R2 is electrically connected with the non-inverting input end of the amplifier D1, the middle tap of the sliding resistor R3 is electrically connected with the inverting input end of the amplifier D1, the other end of the sliding resistor R3 is grounded, one end of the resistor R4 is electrically connected with the output end of the amplifier D1, the other end of the resistor R4 is electrically connected with one end of the resistor R5 and the base of the triode T1 respectively, the emitter of the triode T1 is grounded through the resistor R7, the collector of the triode T1 is electrically connected with one end of the resistor R6 and one end of the resistor R8 respectively, the other ends of the resistor R5 and.
Preferably, the current detection circuit comprises a resistor R9, a resistor R10, a resistor R11, a resistor R12, a capacitor C2 and an amplifier D2; one end of a resistor R9 is electrically connected with any one of the driving circuits, the other end of the resistor R9 is electrically connected with the non-inverting input end of the amplifier D2 and one end of a capacitor C2 respectively, the other end of the capacitor C2 is grounded, one end of a resistor R10 is electrically connected with the inverting input end of the amplifier D2 and one end of a resistor R11 respectively, the other end of the resistor R10 is grounded, the other end of the resistor R11 is electrically connected with the output end of the amplifier D2 and one end of the resistor R12 respectively, and the other end of.
Preferably, the device also comprises a resistor R14 and an amplifier D3; the output end of the amplifier D2 is electrically connected with the reverse phase input end of the amplifier D3, the non-phase input end of the amplifier D3 is connected with 1.6V voltage, and the output end of the amplifier D3 is electrically connected with the single chip microcomputer.
Preferably, the three-phase circuit comprises 6 field effect transistors, a resistor R13, a capacitor C4 and a capacitor C5; the 6 field effect transistors are respectively a field effect transistor M1, a field effect transistor M2, a field effect transistor M3, a field effect transistor M4, a field effect transistor M5 and a field effect transistor M6; the 6 field effect transistors are electrically connected with the brushless motor, the field effect transistor M2, the field effect transistor M4 and the field effect transistor M6 are all grounded through a resistor R13, one ends of a capacitor C4 and a capacitor C5 are electrically connected with the field effect transistor M1, the field effect transistor M3 and the field effect transistor M5, and the other ends of the capacitor C4 and the capacitor C5 are grounded.
Preferably, each driving circuit comprises a field effect transistor driving chip J1, a capacitor C6, a capacitor C7 and a diode P1; the 1 pin of the field-effect tube driving chip J1 is electrically connected with one end of a capacitor C6 and the positive electrode of a diode P1 respectively, the other end of the capacitor C6 is grounded, the other end of the diode P1 is electrically connected with the 6 pin of the field-effect tube driving chip J1, the 5 pin and the 7 pin of the field-effect tube driving chip J1 are electrically connected with a three-phase circuit, the 2 pin and the 3 pin of the field-effect tube driving chip J1 are electrically connected with a single chip microcomputer, and the 6 pin of the field-effect tube driving chip J1 is electrically connected with the signal input end of a.
A control method of a high-power brushless motor driving circuit comprises the following steps:
(6-1) starting, accelerating and stably operating of the motor
The memory is provided with PWM variable acceleration wave with gradually reduced waveform period and PWM stable wave with constant waveform period, the number p of pole pairs of the motor, the target rotating speed n of the motor, and a period t0 corresponding to the target rotating speed, wherein
The memory is also provided with a phase change time sequence table, the phase change time sequence table is composed of 6 standard position state logic words which are sequentially arranged, and each standard position state logic word corresponds to the phases of the PWM variable acceleration wave and the PWM stable wave; an overcurrent threshold I1 and a small torque threshold I2 are arranged in the memory; the two keys are respectively a start key and a close key; wherein I2 is less than I1;
(6-1-1) pressing a start button, outputting PWM (pulse width modulation) variable acceleration waves to a three-phase circuit by the singlechip, gradually accelerating the motor, detecting position information by 3 Hall sensors, reading current Ic detected by a current detection circuit by the singlechip, and when the Ic is more than I1, forbidding the output of the PWM variable acceleration waves by the singlechip, and displaying the overcurrent of the motor by a display; meanwhile, the singlechip controls an alarm to give an alarm;
when the Ic is less than or equal to I1, the singlechip enables the position information of the 3 Hall sensors to form position state logic words and then stores the position state logic words in the memory;
(6-1-2) reading the position signal of any Hall sensor by the singlechip to obtain the time difference t of two low level to high level jumps of the Hall sensor;
setting the timing interval t2 to (t0+ t)/2;
when T2 is less than T0, circularly calculating T and T2 at intervals of T;
when t2 is t0, the single chip microcomputer stops outputting the variable acceleration waves, the single chip microcomputer outputs stable waves, and the motor operates stably;
(6-2) commutation during acceleration and Stable operation of the Motor
The singlechip reads the standard position state logic word at the current moment in the commutation time sequence table, simultaneously reads the detected position state logic word, and compares the two logic words;
if the two are not consistent, the standard position state logic word at the current moment in the commutation time sequence table is replaced by the previous standard position state logic of the detected position state logic word, so that commutation is realized;
(6-3) Torque detection during Motor acceleration and Stable operation
The single chip microcomputer circularly reads the detection current Ic output by the current detection circuit at a time interval T, if Ic is less than I2, the single chip microcomputer controls the alarm to give an alarm, and the display displays the information that the torque is too small; meanwhile, the singlechip stops outputting PWM stable waves, and the motor stops running.
The invention detects and controls the condition of overlarge current in the starting and stable operation processes of the motor, effectively avoids the motor from being burnt, detects and controls the condition of overlarge torque, ensures the effective operation of the motor, and controls the phase change of the acceleration and operation processes of the motor, thereby ensuring the operation stability and reliability of the motor and prolonging the service life of the motor.
Preferably, a Hall sensor fault diagnosis step is further included before the step (6-1-1):
the single chip microcomputer inputs 0 level to the working voltage input end of the 3 position detection circuits, and the level values detected by the 3 Hall sensors are all 0;
the single chip microcomputer gradually increases the level input to the working voltage input end of the 3 position detection circuits, when the single chip microcomputer receives the gradually increased and changed voltage value of each Hall sensor, the single chip microcomputer makes the normal judgment of the 3 Hall sensors, and the single chip microcomputer inputs stable working voltage to the 3 position detection circuits; the working voltage is 4.2V;
otherwise, the single chip microcomputer judges the damage of the 3 Hall sensors, controls the alarm to give an alarm, and displays the information of the damage of the 3 Hall sensors on the display.
Preferably, the period of the PWM varying acceleration wave is gradually changed from 200 milliseconds to t0, and in order to prevent the step-out phenomenon, the period of the PWM varying acceleration wave is gradually changed from 200 milliseconds, 180 milliseconds, 160 milliseconds, 140 milliseconds, 120 milliseconds to 100 milliseconds during the change from 200 milliseconds to 100 milliseconds;
the period of the PWM variable acceleration wave is gradually changed from 100 milliseconds, 90 milliseconds, 80 milliseconds, 70 milliseconds, 60 milliseconds and 50 milliseconds to 40 milliseconds in the change process from 100 milliseconds to 0 milliseconds;
the period of the PWM variable acceleration wave is changed in sequence every 5 milliseconds in the process of changing from 40 milliseconds to t 0.
Preferably, in the stable operation process of the motor, the singlechip circularly calculates T and T2 at intervals of T;
when T2 is less than T0, the single chip microcomputer stops outputting stop stable waves, the single chip microcomputer outputs variable acceleration waves, and the single chip microcomputer calculates T and T2 in a circulating mode every time T;
when t2 can not be reached within the time W, t0, the single chip microcomputer controls the display to display that the motor stalls, and controls the alarm to give an alarm.
Therefore, the invention has the following beneficial effects: the circuit is simple and convenient to upgrade, and the motor can adapt to different application occasions by modifying a program; the motor can be quickly and stably started, the running fault of the motor can be automatically detected and judged, the fault which is not damaged by hardware can be automatically repaired, and the fault which cannot be repaired can be stopped in time and informed to an operator; the reliable control of the motor is ensured, and the service life of the motor is prolonged.
Drawings
FIG. 1 is a circuit diagram of a three-phase circuit and position detection circuit of the present invention;
FIG. 2 is a circuit diagram of the single chip and the key of the present invention;
FIG. 3 is a circuit diagram of the drive circuit and current sense circuit of the present invention;
fig. 4 is a flow chart of an embodiment of the present invention.
In the figure: the device comprises a singlechip 1, a key 2, a three-phase circuit 3, a current detection circuit 4, a Hall sensor 5, a position detection circuit 6, a drive circuit 7, an alarm 8, a memory 9, a display 10 and a motor 11.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
The embodiment shown in fig. 1 and 2 is a high-power brushless motor driving circuit, which comprises a single chip microcomputer 1, two keys 2, an alarm 8, a memory 9, a display 10, a three-phase circuit 3 connected with a motor 11, a current detection circuit 4 and 3 driving circuits 7 electrically connected with the three-phase circuit, and 3 position detection circuits 6 respectively connected with 3 hall sensors 5 arranged on a motor rotor and sequentially arranged at 120-degree intervals; the single chip microcomputer, the 3 driving circuits, the three-phase circuit and the motor are electrically connected in sequence, and the output end and the working voltage input end of the 3 position detection circuits are electrically connected with the single chip microcomputer; the signal input end of the current detection circuit is electrically connected with any one of the driving circuits, and the alarm, the memory, the display, the output end of the current detection circuit and the 2 keys are electrically connected with the single chip microcomputer.
As shown in fig. 1, the position detection circuit includes a resistor R1, a resistor R2, a sliding resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, an amplifier D1, a capacitor C1, and a transistor T1; one end of the resistor R1 is electrically connected with one end of the Hall sensor and one end of the resistor R2 respectively, the other end of the resistor R1, one end of the Hall sensor and one end of the sliding resistor R3 are connected with VCC, the other end of the resistor R2 is electrically connected with the non-inverting input end of the amplifier D1, the middle tap of the sliding resistor R3 is electrically connected with the inverting input end of the amplifier D1, the other end of the sliding resistor R3 is grounded, one end of the resistor R4 is electrically connected with the output end of the amplifier D1, the other end of the resistor R4 is electrically connected with one end of the resistor R5 and the base of the triode T1 respectively, the emitter of the triode T1 is grounded through the resistor R7, the collector of the triode T1 is electrically connected with one end of the resistor R6 and one end of the resistor R8 respectively, the other ends of the resistor R5 and.
The three-phase circuit comprises 6 field effect transistors, a resistor R13, a capacitor C4 and a capacitor C5; the 6 field effect transistors are respectively a field effect transistor M1, a field effect transistor M2, a field effect transistor M3, a field effect transistor M4, a field effect transistor M5 and a field effect transistor M6; the 6 field effect transistors are electrically connected with the brushless motor, the field effect transistor M2, the field effect transistor M4 and the field effect transistor M6 are all grounded through a resistor R13, one ends of a capacitor C4 and a capacitor C5 are electrically connected with the field effect transistor M1, the field effect transistor M3 and the field effect transistor M5, and the other ends of the capacitor C4 and the capacitor C5 are grounded.
As shown in fig. 3, the current detection circuit includes a resistor R9, a resistor R10, a resistor R11, a resistor R12, a capacitor C2, and an amplifier D2; one end of a resistor R9 is electrically connected with any one of the driving circuits, the other end of the resistor R9 is electrically connected with the non-inverting input end of the amplifier D2 and one end of a capacitor C2 respectively, the other end of the capacitor C2 is grounded, one end of a resistor R10 is electrically connected with the inverting input end of the amplifier D2 and one end of a resistor R11 respectively, the other end of the resistor R10 is grounded, the other end of the resistor R11 is electrically connected with the output end of the amplifier D2 and one end of the resistor R12 respectively, and the other end of.
Each driving circuit comprises a field effect transistor driving chip J1, a capacitor C6, a capacitor C7 and a diode P1; the 1 pin of the field-effect tube driving chip J1 is electrically connected with one end of a capacitor C6 and the positive electrode of a diode P1 respectively, the other end of the capacitor C6 is grounded, the other end of the diode P1 is electrically connected with the 6 pin of the field-effect tube driving chip J1, the 5 pin and the 7 pin of the field-effect tube driving chip J1 are electrically connected with a three-phase circuit, the 2 pin and the 3 pin of the field-effect tube driving chip J1 are electrically connected with a single chip microcomputer, and the 6 pin of the field-effect tube driving chip J1 is electrically connected with the signal input end of a. The model of the field effect transistor driving chip is NCP 5106B.
The three driving circuits are respectively called driving circuits A, B and C; fig. 3 is a circuit diagram of the connection of the drive circuit a and the current detection circuit; the connecting ends of the singlechip and the B driving circuit are respectively PWMHB and PWMLB; b, connecting the driving circuit with the three-phase circuit in the segment positions VH and VL;
the connecting ends of the singlechip and the C driving circuit are respectively PWMHC and PWMLC; c, connecting section positions WH and WL of the driving circuit and the three-phase circuit; the model of the singlechip is 89C 52.
As shown in fig. 4, a method for controlling a high power brushless motor driving circuit includes the following steps:
step 100, starting, accelerating and stably operating the motor
The memory is provided with PWM variable acceleration wave with gradually reduced waveform period and PWM stable wave with constant waveform period, the number p of pole pairs of the motor, the target rotating speed n of the motor, and a period t0 corresponding to the target rotating speed, wherein
The memory is also provided with a phase change time sequence table as shown in table 1, the phase change time sequence table is composed of 6 standard position state logic words which are sequentially arranged, and each standard position state logic word corresponds to the phases of the PWM changing acceleration wave and the PWM stabilizing wave; an overcurrent threshold I1 and a small torque threshold I2 are arranged in the memory; the two keys are respectively a start key and a close key; wherein I2 is less than I1; when n is 12000 and p is 1, then
Milliseconds.
TABLE 1
In table 1, a, B, and C are symbols of 3 hall sensors, and 6 standard position state logic words in the commutation timing sequence table are sequentially and circularly permuted according to the sequence of sequence numbers.
The single chip microcomputer inputs 0 level to the working voltage input end of the 3 position detection circuits, and the level values detected by the 3 Hall sensors are all 0;
the single chip microcomputer gradually increases the level input to the working voltage input end of the 3 position detection circuits, when the single chip microcomputer receives the gradually increased and changed voltage value of each Hall sensor, the single chip microcomputer makes the normal judgment of the 3 Hall sensors, and the single chip microcomputer inputs stable working voltage to the 3 position detection circuits; the working voltage is 4.2V;
otherwise, the single chip microcomputer judges the damage of the 3 Hall sensors, controls the alarm to give an alarm, and displays the information of the damage of the 3 Hall sensors on the display.
Step 110, a start key is pressed, the single chip microcomputer outputs PWM (pulse width modulation) variable acceleration waves to the three-phase circuit, the motor gradually accelerates, the 3 Hall sensors detect position information, the single chip microcomputer reads current Ic detected by the current detection circuit, when Ic is larger than I1, the single chip microcomputer prohibits the output of the PWM variable acceleration waves, and the display displays that the motor is in overcurrent; meanwhile, the singlechip controls an alarm to give an alarm; i1 ═ 85 mA;
when the Ic is less than or equal to I1, the singlechip enables the position information of the 3 Hall sensors to form position state logic words and then stores the position state logic words in the memory;
step 120, the single chip reads the position signal of any one Hall sensor to obtain the time difference t of two low level to high level jumps of the Hall sensor;
setting the timing interval t2 to (t0+ t)/2;
when T2 is less than T0, circularly calculating T and T2 at intervals of T;
when t2 is t0, the single chip microcomputer stops outputting the variable acceleration waves, the single chip microcomputer outputs stable waves, and the motor operates stably;
200, phase change in the process of motor acceleration and stable operation
The singlechip reads the standard position state logic word at the current moment in the commutation time sequence table, simultaneously reads the detected position state logic word, and compares the two logic words;
if the two are not consistent, the standard position state logic word at the current moment in the commutation time sequence table is replaced by the previous standard position state logic of the detected position state logic word, so that commutation is realized;
for example, if the standard position status logic word in the current memory is 001 and the detected position status logic word is 110, the standard position status logic word at the current time in the commutation timing sequence table is changed to 100;
step 300, torque detection in motor acceleration and stable operation process
The single chip microcomputer circularly reads the detection current Ic output by the current detection circuit at a time interval T, if Ic is less than I2, the single chip microcomputer controls the alarm to give an alarm, and the display displays the information that the torque is too small; meanwhile, the singlechip stops outputting PWM stable waves, and the motor stops running. I2 ═ 5 mA;
when T2 is less than T0, the single chip microcomputer stops outputting stop stable waves, the single chip microcomputer outputs variable acceleration waves, and the single chip microcomputer calculates T and T2 in a circulating mode every time T;
when t2 can not be reached within the time W, t0, the single chip microcomputer controls the display to display that the motor stalls, and controls the alarm to give an alarm.
The period of the PWM variable acceleration wave is gradually changed from 200 milliseconds to t0, and in order to avoid the step-out phenomenon, the period of the PWM variable acceleration wave is gradually changed from 200 milliseconds, 180 milliseconds, 160 milliseconds, 140 milliseconds and 120 milliseconds to 100 milliseconds in the change process from 200 milliseconds to 100 milliseconds;
the period of the PWM variable acceleration wave is gradually changed from 100 milliseconds, 90 milliseconds, 80 milliseconds, 70 milliseconds, 60 milliseconds and 50 milliseconds to 40 milliseconds in the change process from 100 milliseconds to 0 milliseconds;
the period of the PWM variable acceleration wave is changed in sequence every 5 milliseconds in the process of changing from 40 milliseconds to t 0. The setting of the periodic variation interval of the PWM variable acceleration wave effectively avoids the occurrence of the motor step-out condition caused by the excessively fast interval variation.
In this embodiment, T is 2 milliseconds. The invention is mainly used in electric curlers and hair dryers.
It should be understood that this example is for illustrative purposes only and is not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
Claims (8)
1. A control method of a high-power brushless motor driving circuit comprises a singlechip (1), two keys (2), an alarm (8), a memory (9), a display (10), a three-phase circuit (3) connected with a motor, a current detection circuit (4) and 3 driving circuits (7) electrically connected with the three-phase circuit, and 3 position detection circuits (6) respectively connected with 3 Hall sensors (5) arranged on a motor rotor and sequentially arranged at 120-degree intervals; the single chip microcomputer, the 3 driving circuits, the three-phase circuit and the motor are electrically connected in sequence, and the output end and the working voltage input end of the 3 position detection circuits are electrically connected with the single chip microcomputer; the signal input end of the current detection circuit is electrically connected with any one of the driving circuits, and the alarm, the memory, the display, the output end of the current detection circuit and the 2 keys are electrically connected with the single chip microcomputer; the method is characterized by comprising the following steps:
(1-1) starting, accelerating and stably operating the motor
The memory is provided with PWM variable acceleration wave with gradually reduced waveform period and PWM stable wave with constant waveform period, the number p of pole pairs of the motor, the target rotating speed n of the motor, and a period t0 corresponding to the target rotating speed, wherein
The memory is also provided with a phase change time sequence table, the phase change time sequence table is composed of 6 standard position state logic words which are sequentially arranged, and each standard position state logic word corresponds to the phases of the PWM variable acceleration wave and the PWM stable wave; an overcurrent threshold I1 and a small torque threshold I2 are arranged in the memory; the two keys are respectively a start key and a close key; wherein I2 is less than I1;
(1-1-1) pressing a start button, outputting PWM (pulse width modulation) variable acceleration waves to a three-phase circuit by a single chip microcomputer, gradually accelerating a motor, detecting position information by 3 Hall sensors, reading current Ic detected by a current detection circuit by the single chip microcomputer, and when the Ic is more than I1, prohibiting the output of the PWM variable acceleration waves by the single chip microcomputer, and displaying the overcurrent of the motor by a display; meanwhile, the singlechip controls an alarm to give an alarm;
when the Ic is less than or equal to I1, the singlechip enables the position information of the 3 Hall sensors to form position state logic words and then stores the position state logic words in the memory;
(1-1-2) reading a position signal of any one Hall sensor by the singlechip to obtain a time difference t of two low level to high level jumps of the Hall sensor;
setting the timing interval t2 to (t0+ t)/2;
when T2 is less than T0, circularly calculating T and T2 at intervals of T;
when t2 is t0, the single chip microcomputer stops outputting the variable acceleration waves, the single chip microcomputer outputs stable waves, and the motor operates stably;
(1-2) commutation during acceleration and stable operation of the Motor
The singlechip reads the standard position state logic word at the current moment in the commutation time sequence table, simultaneously reads the detected position state logic word, and compares the two logic words;
if the two are not consistent, the standard position state logic word at the current moment in the commutation time sequence table is replaced by the previous standard position state logic of the detected position state logic word, so that commutation is realized;
(1-3) Torque detection during Motor acceleration and Stable operation
The single chip microcomputer circularly reads the detection current Ic output by the current detection circuit at a time interval T, if Ic is less than I2, the single chip microcomputer controls the alarm to give an alarm, and the display displays the information that the torque is too small; meanwhile, the singlechip stops outputting PWM stable waves, and the motor stops running.
2. The method for controlling the driving circuit of the high-power brushless motor according to claim 1, wherein the position detection circuit comprises a resistor R1, a resistor R2, a sliding resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a resistor R8, an amplifier D1, a capacitor C1 and a triode T1; one end of the resistor R1 is electrically connected with one end of the Hall sensor and one end of the resistor R2 respectively, the other end of the resistor R1, one end of the Hall sensor and one end of the sliding resistor R3 are connected with VCC, the other end of the resistor R2 is electrically connected with the non-inverting input end of the amplifier D1, the middle tap of the sliding resistor R3 is electrically connected with the inverting input end of the amplifier D1, the other end of the sliding resistor R3 is grounded, one end of the resistor R4 is electrically connected with the output end of the amplifier D1, the other end of the resistor R4 is electrically connected with one end of the resistor R5 and the base of the triode T1 respectively, the emitter of the triode T1 is grounded through the resistor R7, the collector of the triode T1 is electrically connected with one end of the resistor R6 and one end of the resistor R8 respectively, the other ends of the resistor R5 and.
3. The method for controlling the high-power brushless motor driving circuit according to claim 1, wherein the current detection circuit comprises a resistor R9, a resistor R10, a resistor R11, a resistor R12, a capacitor C2 and an amplifier D2; one end of a resistor R9 is electrically connected with any one of the driving circuits, the other end of the resistor R9 is electrically connected with the non-inverting input end of the amplifier D2 and one end of a capacitor C2 respectively, the other end of the capacitor C2 is grounded, one end of a resistor R10 is electrically connected with the inverting input end of the amplifier D2 and one end of a resistor R11 respectively, the other end of the resistor R10 is grounded, the other end of the resistor R11 is electrically connected with the output end of the amplifier D2 and one end of the resistor R12 respectively, and the other end of.
4. The method for controlling the high-power brushless motor driving circuit according to claim 1, wherein the three-phase circuit comprises 6 field effect transistors, a resistor R13, a capacitor C4 and a capacitor C5; the 6 field effect transistors are respectively a field effect transistor M1, a field effect transistor M2, a field effect transistor M3, a field effect transistor M4, a field effect transistor M5 and a field effect transistor M6; the 6 field effect transistors are electrically connected with the brushless motor, the field effect transistor M2, the field effect transistor M4 and the field effect transistor M6 are all grounded through a resistor R13, one ends of a capacitor C4 and a capacitor C5 are electrically connected with the field effect transistor M1, the field effect transistor M3 and the field effect transistor M5, and the other ends of the capacitor C4 and the capacitor C5 are grounded.
5. The method for controlling the high-power brushless motor driving circuit according to claim 1, wherein each driving circuit comprises a field-effect transistor driving chip J1, a capacitor C6, a capacitor C7 and a diode P1; the 1 pin of the field-effect tube driving chip J1 is electrically connected with one end of a capacitor C6 and the positive electrode of a diode P1 respectively, the other end of the capacitor C6 is grounded, the other end of the diode P1 is electrically connected with the 6 pin of the field-effect tube driving chip J1, the 5 pin and the 7 pin of the field-effect tube driving chip J1 are electrically connected with a three-phase circuit, the 2 pin and the 3 pin of the field-effect tube driving chip J1 are electrically connected with a single chip microcomputer, and the 6 pin of the field-effect tube driving chip J1 is electrically connected with the signal input end of a.
6. The method for controlling a high power brushless motor driving circuit according to claim 1, further comprising a hall sensor fault diagnosis step before the step (1-1-1):
the single chip microcomputer inputs 0 level to the working voltage input end of the 3 position detection circuits, and the level values detected by the 3 Hall sensors are all 0;
the single chip microcomputer gradually increases the level input to the working voltage input end of the 3 position detection circuits, when the single chip microcomputer receives the gradually increased and changed voltage value of each Hall sensor, the single chip microcomputer makes the normal judgment of the 3 Hall sensors, and the single chip microcomputer inputs stable working voltage to the 3 position detection circuits;
otherwise, the single chip microcomputer judges the damage of the 3 Hall sensors, controls the alarm to give an alarm, and displays the information of the damage of the 3 Hall sensors on the display.
7. The method for controlling the driving circuit of the high-power brushless motor according to claim 1, wherein the period of the PWM varying acceleration wave is gradually changed from 200 ms to t0, and in order to avoid step loss, the period of the PWM varying acceleration wave is gradually changed from 200 ms, 180 ms, 160 ms, 140 ms, 120 ms to 100 ms during the changing process from 200 ms to 100 ms;
the period of the PWM variable acceleration wave is gradually changed from 100 milliseconds, 90 milliseconds, 80 milliseconds, 70 milliseconds, 60 milliseconds and 50 milliseconds to 40 milliseconds in the change process from 100 milliseconds to 0 milliseconds;
the period of the PWM variable acceleration wave is changed in sequence every 5 milliseconds in the process of changing from 40 milliseconds to t 0.
8. The control method of the high-power brushless motor driving circuit according to claim 1, 2, 3, 4, 5, 6 or 7, characterized in that in the stable operation process of the motor, the singlechip circularly calculates T and T2 at intervals of T;
when T2 is less than T0, the single chip microcomputer stops outputting stop stable waves, the single chip microcomputer outputs variable acceleration waves, and the single chip microcomputer calculates T and T2 in a circulating mode every time T;
when t2 can not be reached within the time W, t0, the single chip microcomputer controls the display to display that the motor stalls, and controls the alarm to give an alarm.
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