CN106059400B - A kind of motor HALL rate smoothing processing method - Google Patents

Abstract

The invention belongs to electric machines control technologies, and in particular to a kind of motor HALL rate smoothing processing method.Motor HALL rate smoothing processing method of the present invention, first calculate the time difference of one circle of motor HALL state rotation, the 360 ° of times added up divided by rotation time and smooth counter enclosed with rotation one, as current HALL speed, if current HALL state updates, the time that smoothing computation device adds up is zero；If current HALL state does not update, at this time smooth counter is started to add up, its smoothingtime to add up and rotation time are overlapped to obtain total time, and for calculating HALL speed, so that the step of HALL velocity jump 0 is jumped process processing is a smooth gradual change process.To preferably complete the speed ring control of motor, the jitter problem of motor is solved, the more ideal purpose of motor control is reached.

Description

A kind of motor HALL rate smoothing processing method

Technical field

The invention belongs to electric machines control technologies, and in particular to a kind of motor HALL rate smoothing processing method.

Background technique

The closed-loop control of motor is usually all controlled using the classical closed loop strategy such as position ring, speed ring, electric current loop, And the speed ring of motor (referring both to DC brushless motor herein), velocity feedback are the current HALL speed of motor.For electricity The HALL speed of machine calculates, and there are many kinds of methods, and method more classical at present is exactly directly to be rotated a circle using motor, HALL The time of transformation a cycle calculate the speed of current HALL.

In the control of motor, input of the HALL speed as feedback, the quality of quality directly influences the control of motor Quality, traditional method directly calculate HALL speed, and in the case where HALL state does not update, the speed for directly setting motor is 0, Therefore in the case where motor is static suddenly, motor speed just will appear one and jump from the larger value to 0 step, motor speed The control of ring just will appear a burr, to the phenomenon that motor is shaken at the time of stopping occur.It so solves above-mentioned Problem is how to allow the mutation of HALL speed to become more smooth at all.

It is traditional motor HALL speed calculation method shown in Fig. 1, this method is simply direct, is using current HALL state No variation carries out the calculating of HALL speed, if HALL state does not change, the HALL speed directly calculated is 0.If For the high-voltage motor of 160V, electric motor starting and stopping are controlled with PWM, is stopped in a flash in motor, high-voltage motor Movement is very fast, if velocity feedback drops to 0 from very big speed suddenly, in the control of motor, and the feedback of speed ring A bigger burr is just had, jitter phenomenon occurs so as to cause motor, the motor vibrating of high-voltage motor often causes The generation of burr electric current, big burr electric current often blow the winding of motor, burn out circuit board.

Under normal conditions, the control section driving of motor is all to be realized using FPGA, and the software in DSP is usually only used The control of closed loop is carried out, in this way in FPGA, software does not need to carry out the judgement of HALL state, is directly calculated with FPGA Speed.And current most of chip, all support individually control motor, the PWM of direct application chip to carry out the control of motor System, therefore software has to take into account that the calculation method of motor speed.How high-precision motor control is completed, it is how real with software The data smoothing of existing loop feedback is comprehensive, just becomes urgent problem to be solved.

Summary of the invention

The object of the present invention is to provide one kind can effectively reduce motor HALL velocity jump, prevents the flat of motor vibrating Sliding processing method.

The technical scheme is that a kind of motor HALL rate smoothing processing method, first calculates motor HALL state The time difference of one circle of rotation, the 360 ° of times added up divided by rotation time and smooth counter enclosed with rotation one, as work as Preceding HALL speed, if current HALL state updates, the time that smoothing computation device adds up is zero；If current HALL State does not update, and starts to add up by smooth counter at this time, and the smoothingtime to add up is overlapped with rotation time Total time is obtained, for calculating HALL speed, so that the step of HALL velocity jump 0 is jumped process processing is a smooth gradual change Process.

The smoothing computation device accumulated counts be self accumulated counts is carried out on the basis of the frequency of periodic duty, and with from The small frame period of definition is multiplied to obtain smoothingtime.

The motor HALL rate smoothing processing method, detailed process is as follows:

Step 1): a HALL state of selected motor, record at the time of the state currently occurs HALL_TIME_NOW and HALL_TIME_LAST at the time of last time occurs；

Step 2): judging whether the HALL state of current motor has update, is then transferred to step 4) if any updating, is otherwise transferred to Step 3)；

Step 3): smooth counter FADER_CNT starts to add up, smooth to count if smooth counter is more than threshold value δ The value of device FADER_CNT is δ, is transferred to step 5)；

Step 4): when judging that this moment out current moment HALL_TIME_NOW and the last time of current motor HALL state occur Whether equal carve HALL_TIME_LAST, if equal, the numerical value of smooth counter is 1, and otherwise the value of smooth counter is 0, it is transferred to step 5)；

Step 5): current HALL speed, the calculation formula of HALL speed are calculated are as follows:

360 °/[(HALL_TIME_NOW-HALL_TIME_LAST)+FADER_CNT*T], wherein T is customized small frame Period is transferred to step 6)；

Step 6): the HALL velocity amplitude of calculating is exported.

The solution have the advantages that: the invention mainly relates to be HALL speed calculation method optimization, traditional On the basis of HALL speed calculation method, using the size of the small frame count of smooth counter come the slope for reduction of regulating the speed, into The processing of row HALL rate smoothing preferably completes the speed ring control of motor, solves the jitter problem of motor, reach motor control Make more ideal purpose.

Detailed description of the invention

Fig. 1 is traditional motor HALL speed schematic diagram of calculation flow；

Fig. 2 is motor HALL speed schematic diagram of calculation flow after present invention processing.

Specific embodiment

The present invention will be further described with reference to the accompanying drawings and examples:

Motor HALL rate smoothing processing method of the present invention first calculates the time difference of one circle of motor HALL state rotation, The 360 ° of times added up divided by rotation time and smooth counter enclosed with rotation one, as current HALL speed, if Current HALL state updates, and the time that smoothing computation device adds up is zero；If current HALL state does not update, at this time will Smooth counter starts to add up, and the smoothingtime to add up and rotation time are overlapped to obtain total time, based on HALL speed is calculated, so that the step of HALL velocity jump 0 is jumped process processing is a smooth gradual change process.Wherein, described flat Sliding calculator accumulated counts be self accumulated counts is carried out on the basis of the frequency of periodic duty, and with the customized small frame period Multiplication obtains smoothingtime.So as to handle mutating speed using smooth counter, realizes the control to motor speed, eliminate The shake of motor.

As shown in Fig. 2, in certain example: using certain chip MPC5644A on the market, dominant frequency is set as 120MHz, same to time control Two DC brushless motors are made, motor collocation HALL sensor, wherein HALL state 0x1~0x6 is normal condition, 0x0 and 0x7 For illegal state, CPU carries out the control of motor rotation by PWM wave.In the control of software, smooth counter fader_ is set Cnt, initial value 0, the upper limit threshold of smooth counter are set as 1000, and smooth counter does not have periodic accumulation 1, HALL state note Record chronomere is the second (s), and small frame cycle time is 2s, as follows using case step of the invention.

1) the current uniform rotation of motor selects HALL state 0x6 as the normal condition calculated, the HALL state currently clapped The time of 0x6 is 236.7512s, and the time that upper one claps HALL state 0x6 is 232.1953s.

2) current HALL state is 0x1, i.e. HALL state is changed.

3) HALL state 0x6 current time and the time of a upper bat is not identical, then smooth counter is 0 at this time, smoothly Time mutually should be 0.

4) HALL speed is calculated, using formula

360 °/[(HALL_TIME_NOW-HALL_TIME_LAST)+FADER_CNT*T]=

360 °/[(236.7512-232.1953)+0*0.002]=79.0184 °/s.

5) the output PWM of current motor is 0, and motor stops suddenly.And current motor HALL state be 0x2, upper one The motor HALL state of bat is also 0x2.

6) smooth counter starts to add up, and current smooth counter is added to 500.Current HALL is then calculated according to formula Speed is 360 °/[0+0*2*500]=0.36 °/s, i.e. HALL speed is slowly reduced to 0.36 °/s.

Alternatively, it is also possible to adjust the increased speed of smooth counter, the size of the smooth small frame count of counter adjusts speed Reduced slope is spent, the speed ring control of motor is further preferably completed, optimizes the control process of entire motor.

Claims (3)

1. a kind of motor HALL rate smoothing processing method, which is characterized in that first calculate one circle of motor HALL state rotation Time difference, the 360 ° of times added up divided by rotation time and smooth counter enclosed with rotation one, as current HALL speed Degree, if current HALL state updates, the time that smooth counter adds up is zero；If current HALL state is not more Newly, at this time smooth counter is started to add up, when the smoothingtime to add up and rotation time are overlapped to obtain total Between, for calculating HALL speed, so that the step of HALL velocity jump 0 is jumped process processing is a smooth gradual change process.

2. motor HALL rate smoothing processing method according to claim 1, which is characterized in that the smooth counter is tired Adding counting is self accumulated counts to be carried out on the basis of the frequency of periodic duty, and be multiplied and put down with the customized small frame period The sliding time.

3. motor HALL rate smoothing processing method according to claim 1, which is characterized in that detailed process is as follows:

Step 1): a HALL state of selected motor records HALL_TIME_NOW and upper one at the time of the state currently occurs Secondary HALL_TIME_LAST at the time of occur；

Step 2): judging whether the HALL state of current motor has update, is then transferred to step 4) if any updating, is otherwise transferred to step 3)；

Step 3): smooth counter FADER_CNT starts to add up, if smooth counter is more than threshold value δ, smooth counter The value of FADER_CNT is δ, is transferred to step 5)；

Step 4): judge current motor HALL state goes out current moment HALL_TIME_NOW and last current moment out this moment Whether HALL_TIME_LAST is equal, if equal, the numerical value of smooth counter is 1, and otherwise the value of smooth counter is 0, It is transferred to step 5)；

Step 5): current HALL speed, the calculation formula of HALL speed are calculated are as follows:

360 °/[(HALL_TIME_NOW-HALL_TIME_LAST)+FADER_CNT*T], wherein T is customized small frame week Phase is transferred to step 6)；

Step 6): the HALL velocity amplitude of calculating is exported.