CN106411192A - Method for realizing motor accurate control by using linear Hall sensors - Google Patents
Method for realizing motor accurate control by using linear Hall sensors Download PDFInfo
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- CN106411192A CN106411192A CN201610777457.2A CN201610777457A CN106411192A CN 106411192 A CN106411192 A CN 106411192A CN 201610777457 A CN201610777457 A CN 201610777457A CN 106411192 A CN106411192 A CN 106411192A
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Abstract
The invention relates to a method for realizing motor accurate control by using linear Hall sensors, and belongs to the electromechanical field. The method comprises a control unit, a magnetic field measuring unit, a driving unit and a brushless motor, wherein the control unit is a core of a whole system; the control unit accepts control commands input from outside, receives information which is output by the magnetic field measuring unit and obtained by measurement of a rotor magnetic field of the brushless motor through linear Hall sensors in the measuring unit, and receives temperature and current information fed back by the driving unit at the same time; the control unit calculates target state information of a brushless motor winding based on the information, and transmits the target state information to the driving unit; and the driving unit drives the brushless motor to output in order to realize dynamic closed-loop control. Compared with a conventional inductive brushless motor, the method has the advantages that precise phase angle information is obtained under the condition of not changing a structure or increasing the cost, and motor accurate control is realized. Compared with a servo motor, the method has the advantages that motor accurate control is realized, and the cost is lowered at the same time.
Description
Technical field
The present invention relates to electro-mechanical arts, realize the side of motor precise control particularly to a kind of application linear hall sensor
Method.
Background technology
With the continuous upgrading of China's manufacturing industry and the fast development of manufacturing technology, in industry, wilderness demand high-quality is accurate
Control actuation techniques, tradition has：The technical methods such as thoughts brushless electric machine, servomotor, stepper motor, but all there are some not
Foot, the invention provides a kind of control accuracy is high and lower-cost motor position Closed loop Control method.
Traditional thoughts brushless electric machine adopts Hall switch sensor, as shown in Figure 3 after magnetic direction changes
Output signal is although electronic commutation can be realized, but hysteresis quality is high and more coarse in terms of obtaining rotor phase place, at present
Product in society uses n Hall switch sensor, is typically only capable to rotor field according to sensing station layout difference
Phase angle carries out the subdivision of the 2 times scales of n.
For example typical 3 Hall switch sensors become 120 degree of layouts, are that a cycle has been divided into 6 intervals,
And finer angle information cannot be provided in an interval although supposing the relatively low feelings of motor rotation percentage speed variation
Under condition, can be estimated according to motor rotation speed and current time, but rotating speed very low or load change greatly when, estimation
Accuracy will significantly reduce and then assumes the little shortcoming of torsion of trembling or start to walk.
For obtaining fine and accurate rotor phase angle, determine rotor-position, in the industry generally using combining photoelectric coded disk
Servomotor, but its shortcoming is that photoelectric coded disk is with high costs, and increased photoelectric coded disk assembly and make whole motor knot
Structure is complicated.
For solving the above problems, the invention provides one kind does not change thoughts brushless motor structure, do not increase the skill of cost
Art method, application linear hall sensor measurement rotor field, the output information of sensor can finely reflect the phase place of rotor
Angle, control unit obtains sensor information and calculates phase angle numerical value, and comprehensive current phase angle is calculated with each control targe
The dbjective state of winding simultaneously exports to driver element, driver element motor winding again, realizes the precise control to motor, from
And ensure that the mechanical of motor exports the control instruction meeting input.
Content of the invention
The present invention is a kind of method that application linear hall sensor realizes motor precise control, belongs to electro-mechanical arts.Bag
Include：Control unit, magnetic field measurement unit, driver element and brushless electric machine.Wherein said control unit is the core of whole system,
Control unit accepts each control instruction of outside input；And receive the information of described magnetic field measurement unit output, this information by
The rotor field that each linear hall sensor in measuring unit measures described brushless electric machine obtains；Receive described driving single simultaneously
The temperature of unit's feedback and current information.Control unit resolves and each instruction of summary and information calculate brushless electric machine winding
Target status information is simultaneously sent to driver element by instruction, and driver element execute instruction simultaneously drives brushless electric machine with electrical source of power
The mechanical-physical amount such as power output, position, speed, realizes the Dynamic Closed Loop control from input to output end comprising feedback mechanism
System is it is ensured that the output of motor meets the control instruction of input.
The brushless electric machine being related in the present invention refers to various forms, the rule being made up of PM rotor and coil windings stator
Straight, the AC brushless electric machine of lattice.
Linear hall sensor in the present invention and direct or indirect the fixing with motor stator of sensor circuit board, sensing
Device is installed with its measuring surface angle perpendicular with the rotor permanent magnet magnetic line of force, and strong with rotor permanent magnet magnetic field with its range
Spend the distance matching to install.
In one preferred version of the present invention, control unit receives each control instruction of outside input.
In appeal preferred version, control unit receives the information of magnetic field measurement unit output, and this information is by measuring unit
The rotor field that interior each linear hall sensor measures brushless electric machine obtains.When brushless electric motor rotor is in different phase angles
When, the angle being fixed on magnetic field produced by the permanent magnet on rotor is also different, and then rotor field is in each Hall element
Magnetic induction intensity in measurement direction is also different.Magnetic induction on the electric signal and its measurement direction of linear hall sensor output
Intensity is linear, as shown in Figure 2.
In appeal preferred version, when using n linear hall sensor, if turning with the simulation numeral of sensor cooperation
Parallel operation is r position precision, then magnetic phase angle can be carried out with the r power that lower limit is 2, and the upper limit is n times scale of 2 r power
Subdivision (specific high-subdividing number and scale uniformity are different according to sensing station layout difference), such that it is able to fine reflection motor
The phase angle information of rotor.
In appeal preferred version, control unit receives temperature and the current information of driver element feedback simultaneously, in order to reality
Now as the control function to temperature and electric current such as overtemperature protection and overcurrent protection.
In appeal preferred version, resolve linear hall sensor information through control unit and obtain rotor phase angle information,
The application such as the closed-loop control based on phase angle and the sine wave drive based on phase angle can be realized based on this.Control unit
The each instruction of summary and information calculate the target status information of brushless electric machine winding and are sent to driver element by instruction.
In appeal preferred version, driver element execution control unit instruction simultaneously drives brushless electric machine output with electrical source of power
The mechanical-physical amount such as power, position, speed, realizes the Dynamic Closed Loop Control from input to output end comprising feedback mechanism, protects
The output of card motor meets the control instruction of input.
Extensively, in processing and manufacturing industry, various numerical control cutting equipment and stacking process equipment all need application prospect of the present invention
Displacement motor is wanted to have position feedback capability, reliable accurately to ensure displacement.In processing and manufacturing production line, various manipulators, processing
Robot, similarly needs programmed articulation and position to move, reliable accurately to ensure operation.In application neck
Domain, various electrical equipments, device, arrive greatly the various control rudder faces of aircraft and ship, little to family expenses with amusement robot, model,
Toy, is required for closed-loop control target velocity, target location, and the present invention is exactly that a kind of control accuracy is high and lower-cost motor
Controlling technical method.
The application scenarios of conventionally used middle low resolution photoelectric encoder, can substantially reduce cost using the present invention, by
In eliminating photoelectric encoder, volume and weight aspect can also be made less, gently, more more compact.
The scene of conventionally used stepper motor, can realize closed loop using the present invention on the premise of hardware cost is suitable
Control and avoid losing step problem, and realize higher power.
The scene of conventionally used thoughts brushless electric machine, can not increase cost using the present invention and just realize fine position
Control, and the slow-speed of revolution and dynamic load scene are substantially improved by method for controlling curves such as the sine wave drive based on phase angle
Under moment of torsion ride comfort.
Brief description
Fig. 1 is the schematic diagram of the method that a kind of patent of the present invention application linear hall sensor realizes motor precise control.
Fig. 2 is the linear hall sensor output signal curve figure that the present invention is applied.
Fig. 3 is the Hall switch sensor output signal curve figure of application in traditional thoughts brushless electric machine.
Fig. 4 is the basic module figure of one embodiment of the invention.
Fig. 5 is Hall element circuit board schematic top plan view in the embodiment of the present invention.
Fig. 6 is control panel schematic diagram.
Fig. 7 is Hall Plate schematic diagram.
Fig. 8 is driving plate schematic diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples, and the content of embodiment is not as to the present invention's
The restriction of protection domain.
One specific embodiment structure of the present invention is as shown in figure 4, including brushless electric machine (1), magnetic field measurement unit
(5), control unit (2), driver element (3).
Above-mentioned magnetic field measurement unit mainly includes circuit board, linear hall sensor (4).Described circuit board and stator are fixed
On support, stator includes iron core, coil windings, bearing, and stator passes through bearing and rotor engagement, and rotor includes casing, permanent magnetism
Body, axle.
Embodiment method such as Fig. 1, the core with control unit as whole system, control unit accepts each control of outside input
System instruction, and receive the information of magnetic field measurement unit output, this information is surveyed by each linear hall sensor in measuring unit
The rotor field of amount brushless electric machine obtains, and receives temperature and the current information of driver element feedback simultaneously.Control unit resolves simultaneously
The each instruction of summary and information calculate the target status information of brushless electric machine winding and are sent to driver element by instruction,
Driver element execute instruction simultaneously drives the mechanical-physical amounts such as brushless electric machine power output, position, speed with electrical source of power.
In embodiment, control unit accepts each control instruction of outside input, control unit control panel principle such as Fig. 6, P2
Interface external control instruction and 5V power supply.
In embodiment, control unit receives the information of magnetic field measurement unit output, and this information is by each line in measuring unit
Property Hall element measure brushless electric machine rotor field obtain, control panel schematic diagram Hall interface：Connect Hall Plate, input sensing
Device signal.
Above-mentioned magnetic field measurement unit 3 linear hall sensors as shown in Figure 5 become 120 degree of intervals to be arranged in circuit board
On, particular location rotor permanent magnet and stator core gap center line be projected on circuit board annular on, 3 linear Halls
A cycle can be subdivided into 12288 scales with reference to 12bitADC by sensor, and this measurement is direct, and the rotating speed of motor
Unrelated, can also be unaffected under the slow-speed of revolution and dynamic load scene.
Appeal magnetic field measurement unit Hall Plate principle such as Fig. 7,1,2, No. 3 interface is respectively welded the type wiring of machine winding Y
Lift one's head for three, public the lifting one's head of No. 4 joint weld machine winding Y type wiring, Hall Plate passes through Hall interface, and metrical information is defeated
Go out to control unit.
In embodiment, control unit as the core of whole system, except receiving external command and magnetic field measurement unit information
Outward, accept temperature and the current information of driver element feedback, then each instruction of summary and information do following computing simultaneously.
In embodiment, if h0, the Hall element output information that h1, h2 receive for control unit, offset1, offset2
For 1, No. 2 sensors with respect to No. 0 sensor offset phase angle, above-mentioned offset1, offset2, h0, h1, h2 be known
Amount, if neutral is the neutral point of sensor reading, amp is sensor amplification coefficient, and angle is the phase place of No. 0 sensor
, there is equation below at angle：
H0=neutral+amp*sin (angle)；
H1=neutral+amp*sin (angle+offset1)；
H2=neutral+amp*sin (angle+offset2)；
Solve equation and can calculate neutral, tri- unknown quantitys of amp, angle, you can obtain the phase angle of rotor.Control single
Metasynthesis current phase angle, current flow and temperature and each control targe calculate the dbjective state letter of brushless electric machine winding
Breath.For different concrete application scenes, there are respective concrete control targe and the control method realizing target.
In embodiment, control panel P1 interface exports the target status information of above-mentioned brushless electric machine winding to driver element.
In embodiment, driver element driving plate circuit theory diagrams such as Fig. 8：P1 interface connects control panel, half-bridge control input；Drive
Moving cell executes control unit signal, and P5 interface connects electrical source of power, obtains dynamic power；P4 interface connects motor, motor around
The mechanical-physical amounts such as group power output, position, speed.
In embodiment, finer and reliable phase angle information can with the closed-loop control of Support Position and based on phase place just
String ripple drive etc. application, realize comprise feedback mechanism the Dynamic Closed Loop Control from input to output end it is ensured that motor defeated
Go out to meet the control instruction of input.
In embodiment, each interface specification of control panel schematic diagram：
P1 interface：Half-bridge controls output, connects driving plate.
P2 interface：Control instruction input and 5V power supply, connect outside.
P3 interface：Debugging and burning interface.
Hall interface：Connect Hall Plate, input sensor signal.
3P3：Connect Hall Plate, output power supply.
In embodiment, each interface specification of Hall Plate schematic diagram：
1,2, No. 3 interface：Lift one's head for three that are respectively welded the type wiring of machine winding Y.
No. 4 interfaces：Public the lifting one's head of welding machine winding Y type wiring.
Coil interface：Power input, connects driving plate.
Hall interface：Hall element exports, and connects control panel.
3P3 interface：Hall element is powered, and connects analog power.
In embodiment, each interface specification of driving plate schematic diagram：
P1 interface：Half-bridge control input, connects control panel.
P2 interface：Protection and reset, reserve and connect control panel.
P3 interface：Current monitoring, reserves and connects optional amplifier board.
P4 interface：Power output, connects motor.
P5 interface：Power input, connects electrical source of power.
Above-described embodiment is only to be clearly example of the present invention to be described, and is not the embodiment party to the present invention
The restriction of formula.The change of the multi-form done on the basis of the above description or variation, the technical method institute of every present invention
Amplify out, row belonging to protection scope of the present invention within the scope of the invention as claimed.
Claims (7)
1. the present invention is a kind of method that application linear hall sensor realizes motor precise control, belongs to electro-mechanical arts, including：
Control unit, magnetic field measurement unit, driver element and brushless electric machine.
2. control unit is the core of whole system according to claim 1.
3. control unit accepts each control instruction of outside input according to claim 2.
4. control unit receives the information of described magnetic field measurement unit output according to claim 2, and this information is by measuring list
The rotor field that each linear hall sensor in unit measures described brushless electric machine obtains.
5. magnetic field measurement unit according to claim 4, applies linear hall sensor, sensor circuit board directly or
Connect is fixed with motor stator, and sensor is installed with its measuring surface angle perpendicular with the rotor permanent magnet magnetic line of force, and with
The distance that its range is matched with rotor permanent magnet magnetic field intensity is installed.
6. control unit resolves the information of magnetic field measurement unit output according to claim 2, and each instruction of Integrated Receiver
Calculate the target status information of brushless electric machine winding with information and driver element is sent to by instruction.
7. driver element execute instruction according to claim 1, and with electrical source of power drive brushless electric machine power output, position,
The mechanical-physical amount such as speed, the Dynamic Closed Loop Control from input to output end realizing comprising feedback mechanism is it is ensured that motor
Output meets the control instruction of input.
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| CN201610777457.2A CN106411192A (en) | 2016-08-31 | 2016-08-31 | Method for realizing motor accurate control by using linear Hall sensors |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107658850A (en) * | 2017-11-03 | 2018-02-02 | 核工业理化工程研究院 | The raising speed protection device and speed control method of high rotating speed DC brushless motor |
| CN107659227A (en) * | 2017-10-23 | 2018-02-02 | 核工业理化工程研究院 | High rotating speed the control system for non-brush direct currunt electromotors and control method |
| CN109368518A (en) * | 2018-12-20 | 2019-02-22 | 重庆超磐信息科技有限公司 | The anti-dismounting tower crane monitoring system of total failure self-test |
| CN109489534A (en) * | 2018-11-09 | 2019-03-19 | 浙江国自机器人技术有限公司 | A kind of position detecting device, control system and the mechanical equipment of gear shaping and turntable |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101227163A (en) * | 2007-01-15 | 2008-07-23 | 深圳国际技术创新研究院 | Control system and control method of brushless DC motor |
| CN202906811U (en) * | 2012-10-26 | 2013-04-24 | 杭州科技职业技术学院 | AC servo control system based on linear Hall sensor |
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2016
- 2016-08-31 CN CN201610777457.2A patent/CN106411192A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101227163A (en) * | 2007-01-15 | 2008-07-23 | 深圳国际技术创新研究院 | Control system and control method of brushless DC motor |
| CN202906811U (en) * | 2012-10-26 | 2013-04-24 | 杭州科技职业技术学院 | AC servo control system based on linear Hall sensor |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107659227A (en) * | 2017-10-23 | 2018-02-02 | 核工业理化工程研究院 | High rotating speed the control system for non-brush direct currunt electromotors and control method |
| CN107658850A (en) * | 2017-11-03 | 2018-02-02 | 核工业理化工程研究院 | The raising speed protection device and speed control method of high rotating speed DC brushless motor |
| CN109489534A (en) * | 2018-11-09 | 2019-03-19 | 浙江国自机器人技术有限公司 | A kind of position detecting device, control system and the mechanical equipment of gear shaping and turntable |
| CN109368518A (en) * | 2018-12-20 | 2019-02-22 | 重庆超磐信息科技有限公司 | The anti-dismounting tower crane monitoring system of total failure self-test |
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