CN105743399A - Direct-current brushless motor position-free control system and control method thereof - Google Patents
Direct-current brushless motor position-free control system and control method thereof Download PDFInfo
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- CN105743399A CN105743399A CN201610322297.2A CN201610322297A CN105743399A CN 105743399 A CN105743399 A CN 105743399A CN 201610322297 A CN201610322297 A CN 201610322297A CN 105743399 A CN105743399 A CN 105743399A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
Abstract
The invention relates to the technical field of motor control, in particular to a direct-current brushless motor position-free control system and a control method thereof. The direct-current brushless motor position-free control system comprise a controller, a drive circuit, a power circuit module, a current detection module, a motor and a counter electromotive force detection module, which are successively connected with one another by virtue of current signals, wherein the counter electromotive force detection module is connected with the controller and used for providing counter electromotive signals to the controller; the current detection module is connected with the controller and used for providing the current signals to the control module, and the controller controls the drive circuit according to the current signals so as to control the rotation speed of the motor; and the rotor position of the motor can be known by virtue of the counter electromotive force signals, and the rotation speed of the motor can be obtained by virtue of the current signals. By adopting the direct-current brushless motor position-free control system, the operation state of the motor in the position-free control process of the single-phase direct-current brushless motor can be monitored and controlled, the circuit structure and the control process are relatively simple, and the market popularization is facilitated.
Description
Technical field
The present invention relates to motor control technology field, be specifically related to a kind of D-C brushless electric machine no-position and control system and a kind of control method controlling system for D-C brushless electric machine no-position.
Background technology
In existing driving control system for electric machine, single-phase DC brushless motor is all control whole system by position sensor, and have position sensing control mode to add cost, the sensitivity requirement of Hall element is high, the position installation requirement also structure higher, whole system of Hall element is sufficiently complex；For the monitoring of high rotating speed and invariable power, it has the great difficulty of increase.Therefore, in Motor Control Field, the control mode of position-sensor-free is existing mainstream research method, and control to detect, by Hall element, the rotating speed that motor runs with position sensor, and position-sensorless control mode does not have Hall element, therefore the monitoring running state of motor is problem in the urgent need to address with control by it.
Summary of the invention
For overcoming drawbacks described above, namely the purpose of the present invention is in that to provide a kind of D-C brushless electric machine no-position to control system and control method thereof.
It is an object of the invention to be achieved through the following technical solutions:
The present invention is that a kind of D-C brushless electric machine no-position controls system and control method thereof, including: controller, described controller is connected to drive circuit；
Described drive circuit is connected to power circuitry module, the described drive circuit control command for sending according to controller, generate corresponding driving signal, and this driving signal is sent to power circuitry module；
Described power circuitry module is respectively equipped with bridge portion and lower bridge portion, described upper bridge portion is connected respectively with first, second end of motor phase line, described lower bridge portion is connected respectively with first, second end of motor phase line, makes bridge portion and motor phase line the first end joint constitute the first path between lower bridge portion and motor phase line the second end joint；And upper bridge portion and motor phase line the second end joint are to constituting alternate path between lower bridge portion and motor phase line the first end joint；Motor, according to driving signal, is controlled by described power circuitry module by upper bridge portion and lower bridge portion；
Described motor is connected to counter electromotive force detection module and current detection module, described counter electromotive force detection module is connected with controller, described counter electromotive force detection module is for being acquired back-emf signal produced on motor, and sends its back-emf signal to described controller；
Described current detection module is arranged between described motor and described power circuitry module, and it is for for being acquired by the electric current on motor, obtaining current signal, and sent to controller by this current signal；
The rotor position information of motor determined by described controller according to receiving back-emf signal, and according to received current signal, sends to drive circuit after control command is modified.
Further, described upper bridge portion and battery module are attached, described battery module is that described upper bridge is powered, described battery module is further connected with power transfer module, described power transfer module is adjusted by its voltage, described power transfer module is connected with described lower bridge portion, and it is for being powered for lower bridge portion.
Further, being provided with temperature detecting module between described controller and power circuitry module, described temperature detecting module, for monitoring the temperature of power circuitry module, obtains temperature data, and is sent to controller by this temperature data.
Further, being provided with voltage detection module between described controller and power transfer module, described voltage detection module, for monitoring the magnitude of voltage in power power-supply modular converter, obtains voltage data, and is sent to controller by this voltage data.
Further, described controller is connected to display module and key circuit detection module；
Described display module is for displaying for the information on controller；
Described key circuit detection module is for inputting control information to controller.
A kind of control method controlling system for D-C brushless electric machine no-position as above of the present invention, including:
Controller sends instantaneous control command to drive circuit, it is instantaneous by driving signal that drive circuit controls the first path in power circuitry module according to control command, and instantaneous by while driving signal at the first path, it is judged that whether the rotor of motor rotates；
When the rotor of motor does not rotate, controller sends continuous print control command to drive circuit, first, second path that drive circuit controls in power circuitry module according to control command passes sequentially through driving signal, while first, second path passes sequentially through driving signal, the rotor of motor rotates according to driving signal, the back-emf signal that rotation because of rotor is produced by counter electromotive force detection module is acquired, and controller judges whether receiving back-emf signal；
After controller receives back-emf signal, control command is adjusted, motor is made to be accelerated running with peak power, when, after motor Accelerating running to predetermined duration, the upper and lower bridge portion controlling power circuitry module disconnects with motor phase line respectively；
After the upper and lower bridge portion controlling power circuitry module disconnects with motor phase line respectively, controller identifies the position of rotor according to back-emf signal now；
After identifying the position of rotor, controller adjusts control command, the dutycycle making the input drive signal of the upper bridge portion of the first path is adjusted to maximum, after scheduled duration, the dutycycle of input drive signal is reduced, until the dutycycle of its input drive signal is minimum with fixed step size；
Drive circuit control the upper bridge portion of the first path with maximum duty cycle input drive signal while, the dutycycle of the input drive signal of the lower bridge portion of alternate path is adjusted to minimum, after scheduled duration, the dutycycle of input drive signal is improved, until the dutycycle of its input drive signal is maximum with fixed step size；
On the first path, the dutycycle of bridge portion input drive signal is that under minimum and alternate path, the dutycycle of bridge portion input drive signal is after maximum, and the upper and lower bridge portion again controlling power circuitry module disconnects with motor phase line respectively.
Further, whether the described rotor judging motor rotates and includes afterwards:
When the rotor of motor rotates, controller sends instantaneous control command to drive circuit again.
Further, make motor be accelerated operation with peak power described in also to include:
Current detection module detects by the electric current of motor, and will detect that current signal is converted to voltage signal, and control command is adjusted by controller according to voltage signal.
This invention address that, in the position-sensorless control process of single-phase DC brushless motor, the running status of motor is monitored and the problem controlled by it, and its circuit structure is all relatively simple with the process of control, is beneficial to and commercially promotes.
Accompanying drawing explanation
For ease of illustrating, the present invention is described in detail by following preferred embodiment and accompanying drawing.
Fig. 1 is the circuit logic structural representation that the present invention controls system；
Fig. 2 is the workflow schematic diagram of control method of the present invention；
Fig. 3 is current signal and the drive signal waveform figure of control method of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in more detail.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1, the present invention is that a kind of D-C brushless electric machine no-position controls system, comprising:
Controller 1, described controller 1 is connected to drive circuit 2；
Described drive circuit 2 is connected to power circuitry module 3, the described drive circuit 2 control command for sending according to controller 1, generates corresponding driving signal, and this driving signal is sent to power circuitry module 3；
Described power circuitry module 3 is respectively equipped with bridge portion and lower bridge portion, described upper bridge portion is connected respectively with first, second end of motor phase line, described lower bridge portion is connected respectively with first, second end of motor phase line, makes bridge portion and motor phase line the first end joint constitute the first path between lower bridge portion and motor phase line the second end joint；And upper bridge portion and motor phase line the second end joint are to constituting alternate path between lower bridge portion and motor phase line the first end joint；Motor, according to driving signal, is controlled by described power circuitry module 3 by upper bridge portion and lower bridge portion；Adopting H bridge to drive connected mode between power circuitry module 3 and motor, on it, bridge portion is connected with motor U phase, V respectively, and its lower bridge portion is connected with motor U phase, V respectively；In U phase, bridge constitutes the first path with the lower bridge of V phase, and in V phase, bridge constitutes alternate path with the lower bridge of U phase；
Described motor 12 is connected to counter electromotive force detection module 7 and current detection module 6, described counter electromotive force detection module 7 is connected with controller 1, described counter electromotive force detection module 7 is for being acquired back-emf signal produced on motor 12, and sends its back-emf signal to described controller 1；Counter electromotive force detection module 7 refers to that U phase voltage and V phase voltage obtain the numeral of analog quantity through subtractor, the numerical value less than supply voltage is obtained then through electric resistance partial pressure, then pass through two passage analog switches, the DA value that finally this numerical value sets with controller 1 is made comparisons, and reads its level state by controller 1 and detects counter electromotive force zero passage.
Described current detection module 6 is arranged between described motor 12 and described power circuitry module 3, and it is for for being acquired by the electric current on motor 12, obtaining current signal, and sent to controller 1 by this current signal；
The rotor position information of motor 12 determined by described controller 1 according to receiving back-emf signal, and according to received current signal, sends to drive circuit 2 after control command is modified.Back-emf signal received by controller 1 has reacted the rotor position information of motor 12, and its current signal has reacted the rotary speed information of motor 12, when current signal is too high, illustrates that motor 12 rotating speed is too fast, and controller 1 controls drive circuit 2 so that it is rotating speed reduces；When current signal is too low, illustrating that motor 12 rotating speed is excessively slow, controller 1 controls drive circuit 2 so that it is faster rotational speed.
Further, described upper bridge portion and battery module 4 are attached, described battery module 4 is powered for described upper bridge, described battery module 4 is further connected with power transfer module 5, described power transfer module 5 is adjusted by its voltage, described power transfer module 5 is connected with described lower bridge portion, and it is for being powered for lower bridge portion.Wherein, described battery module 4 is lithium battery.
Further, being provided with temperature detecting module 8 between described controller 1 and power circuitry module 3, described temperature detecting module 8, for monitoring the temperature of power circuitry module 3, obtains temperature data, and is sent to controller 1 by this temperature data.If temperature is higher than preset value, it is switched off all signals by described controller 1；
Further, it is provided with voltage detection module 11 between described controller 1 and power transfer module 5, described voltage detection module 11 is for monitoring the magnitude of voltage in power power-supply modular converter 5, obtain voltage data, and this voltage data is sent to controller 1, when voltage data is beyond preset range, then controller 1 control circuit disconnects, it is to avoid circuit devcie is caused damage by too high voltage.
Further, described controller 1 is connected to display module 9 and key circuit detection module 10；
Described display module 9 is for displaying for the information on controller 1；
Controller 1, for inputting control information to controller 1, can be controlled adjusting by described key circuit detection module 10 by key circuit detection module 10.
Refer to Fig. 2 and Fig. 3, a kind of control method controlling system for D-C brushless electric machine no-position as above of the present invention, including:
201. pre-determined bit
Controller sends instantaneous control command to drive circuit, it is instantaneous by driving signal that drive circuit controls the first path in power circuitry module according to control command, and instantaneous by while driving signal at the first path, it is judged that whether the rotor of motor rotates；
In order to determine the position of rotor, the original position of the rotor of its needs is determined, therefore need electronics rotor is carried out pre-determined bit, by in electronics rotor adhesive to predetermined position, it realizes pre-determined bit by repeatedly inputting instantaneous driving signal at the first path, when instantaneous by while driving signal at the first path, if the rotor of electronics rotates, prove that rotor not yet adhesive is to precalculated position, controller sends instantaneous control command to drive circuit again, and again to the driving signal that the first path input is instantaneous；If the rotor of electronics does not rotate, then prove that rotor has arrived at precalculated position.
202. position is detected
When the rotor of motor does not rotate, controller sends continuous print control command to drive circuit, first, second path that drive circuit controls in power circuitry module according to control command passes sequentially through driving signal, while first, second path passes sequentially through driving signal, the rotor of motor rotates according to driving signal, the back-emf signal that rotation because of rotor is produced by counter electromotive force detection module is acquired, and controller judges whether receiving back-emf signal；The operation of motor can produce back-emf signal, can be played that by back-emf signal rotor-position being accurately positioned so that motor each run can be accurately detected rotor-position.
203. speed draws high
After controller receives back-emf signal, control command is adjusted, make to drive signal to be input in power circuitry module with the form of maximum duty cycle, motor is made to be accelerated running with peak power, it is accelerated running simultaneously with peak power at motor, current detection module detects by the electric current of motor, and will detect that current signal is converted to voltage signal, and control command is adjusted by controller according to voltage signal；When, after motor Accelerating running to predetermined duration, the upper and lower bridge portion controlling power circuitry module disconnects with motor phase line respectively；
204. steady-state operation
After the upper and lower bridge portion controlling power circuitry module disconnects with motor phase line respectively, controller identifies the position of rotor according to back-emf signal now；
After identifying the position of rotor, controller adjusts control command, the dutycycle making the input drive signal of the upper bridge portion of the first path is adjusted to maximum, after scheduled duration, the dutycycle of input drive signal is reduced, until the dutycycle of its input drive signal is minimum with fixed step size；
Drive circuit control the upper bridge portion of the first path with maximum duty cycle input drive signal while, the dutycycle of the input drive signal of the lower bridge portion of alternate path is adjusted to minimum, after scheduled duration, the dutycycle of input drive signal is improved, until the dutycycle of its input drive signal is maximum with fixed step size；
On the first path, the dutycycle of bridge portion input drive signal is that under minimum and alternate path, the dutycycle of bridge portion input drive signal is after maximum, and the upper and lower bridge portion again controlling power circuitry module disconnects with motor phase line respectively；
With an object lesson, the control method of steady-state operation is described below, first by all off for all upper and lower bridge portions, then opens bridge in U phase with the dutycycle of 100% again, over time, then reduce with the dutycycle of 5%, until bridge turns off in U phase；Meanwhile, the lower bridge of U phase is first turned off a period of time, then increases with the dutycycle of 5% again, until reaching the dutycycle of 100%；Meanwhile, the lower bridge of V phase is also always on leading to；In U phase bridge turn off or U phase under bridge dutycycle reach maximum after, again by all off for all upper and lower bridge portions, repeat above-mentioned flow process again.
Under the normal operating condition of motor, it can run with the pattern of steady-state operation, in steady state operation, current detection module and counter electromotive force detection module detect current signal and the back-emf signal of motor respectively always, can be respectively obtained rotating speed and the rotor-position of motor by current signal and back-emf signal.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (8)
1. a D-C brushless electric machine no-position controls system, it is characterised in that including:
Controller, described controller is connected to drive circuit；
Described drive circuit is connected to power circuitry module, the described drive circuit control command for sending according to controller, generate corresponding driving signal, and this driving signal is sent to power circuitry module；
Described power circuitry module is respectively equipped with bridge portion and lower bridge portion, described upper bridge portion is connected respectively with first, second end of motor phase line, described lower bridge portion is connected respectively with first, second end of motor phase line, makes bridge portion and motor phase line the first end joint constitute the first path between lower bridge portion and motor phase line the second end joint；And upper bridge portion and motor phase line the second end joint are to constituting alternate path between lower bridge portion and motor phase line the first end joint；Motor, according to driving signal, is controlled by described power circuitry module by upper bridge portion and lower bridge portion；
Described motor is connected to counter electromotive force detection module and current detection module, described counter electromotive force detection module is connected with controller, described counter electromotive force detection module is for being acquired back-emf signal produced on motor, and sends its back-emf signal to described controller；
Described current detection module is arranged between described motor and described power circuitry module, and it is for for being acquired by the electric current on motor, obtaining current signal, and sent to controller by this current signal；
The rotor position information of motor determined by described controller according to receiving back-emf signal, and according to received current signal, sends to drive circuit after control command is modified.
2. D-C brushless electric machine no-position according to claim 1 controls system, it is characterized in that, described upper bridge portion and battery module are attached, described battery module is that described upper bridge is powered, described battery module is further connected with power transfer module, described power transfer module is adjusted by its voltage, and described power transfer module is connected with described lower bridge portion, and it is for being powered for lower bridge portion.
3. D-C brushless electric machine no-position according to claim 2 controls system, it is characterized in that, it is provided with temperature detecting module between described controller and power circuitry module, described temperature detecting module is for monitoring the temperature of power circuitry module, obtain temperature data, and this temperature data is sent to controller.
4. D-C brushless electric machine no-position according to claim 3 controls system, it is characterized in that, it is provided with voltage detection module between described controller and power transfer module, described voltage detection module is for monitoring the magnitude of voltage in power power-supply modular converter, obtain voltage data, and this voltage data is sent to controller.
5. D-C brushless electric machine no-position according to claim 4 controls system, it is characterised in that be connected to display module and key circuit detection module on described controller；
Described display module is for displaying for the information on controller；
Described key circuit detection module is for inputting control information to controller.
6. the control method controlling system for D-C brushless electric machine no-position as claimed in claim 1, it is characterised in that including:
Controller sends instantaneous control command to drive circuit, it is instantaneous by driving signal that drive circuit controls the first path in power circuitry module according to control command, and instantaneous by while driving signal at the first path, it is judged that whether the rotor of motor rotates；
When the rotor of motor does not rotate, controller sends continuous print control command to drive circuit, first, second path that drive circuit controls in power circuitry module according to control command passes sequentially through driving signal, while first, second path passes sequentially through driving signal, the rotor of motor rotates according to driving signal, the back-emf signal that rotation because of rotor is produced by counter electromotive force detection module is acquired, and controller judges whether receiving back-emf signal；
After controller receives back-emf signal, control command is adjusted, motor is made to be accelerated running with peak power, when, after motor Accelerating running to predetermined duration, the upper and lower bridge portion controlling power circuitry module disconnects with motor phase line respectively；
After the upper and lower bridge portion controlling power circuitry module disconnects with motor phase line respectively, controller identifies the position of rotor according to back-emf signal now；
After identifying the position of rotor, controller adjusts control command, the dutycycle making the input drive signal of the upper bridge portion of the first path is adjusted to maximum, after scheduled duration, the dutycycle of input drive signal is reduced, until the dutycycle of its input drive signal is minimum with fixed step size；
Drive circuit control the upper bridge portion of the first path with maximum duty cycle input drive signal while, the dutycycle of the input drive signal of the lower bridge portion of alternate path is adjusted to minimum, after scheduled duration, the dutycycle of input drive signal is improved, until the dutycycle of its input drive signal is maximum with fixed step size；
On the first path, the dutycycle of bridge portion input drive signal is that under minimum and alternate path, the dutycycle of bridge portion input drive signal is after maximum, and the upper and lower bridge portion again controlling power circuitry module disconnects with motor phase line respectively.
7. control method according to claim 6, it is characterised in that whether the described rotor judging motor rotates and include afterwards:
When the rotor of motor rotates, controller sends instantaneous control command to drive circuit again.
8. control method according to claim 7, it is characterised in that described in make motor with peak power be accelerated run also include:
Current detection module detects by the electric current of motor, and will detect that current signal is converted to voltage signal, and control command is adjusted by controller according to voltage signal.
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| CN201610322297.2A CN105743399B (en) | 2016-05-13 | 2016-05-13 | A kind of D-C brushless electric machine no-position control system and its control method |
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