CN106992725B - Position detection circuit and method for motor - Google Patents
Position detection circuit and method for motor Download PDFInfo
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- CN106992725B CN106992725B CN201610037649.XA CN201610037649A CN106992725B CN 106992725 B CN106992725 B CN 106992725B CN 201610037649 A CN201610037649 A CN 201610037649A CN 106992725 B CN106992725 B CN 106992725B
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- 238000001514 detection method Methods 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
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- 230000010355 oscillation Effects 0.000 description 1
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Classifications
-
- 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
Abstract
The embodiment of the invention discloses a motor position detection circuit and a motor position detection method. The circuit comprises: the motor driving circuit comprises an operational amplifier and a zero crossing detector, wherein the non-inverting input end of the operational amplifier is connected with one path of three-phase driving signals of the motor, the inverting input end of the operational amplifier is connected with the other path of three-phase driving signals of the motor, and the output end of the operational amplifier is connected with the input end of the zero crossing detector. The position detection circuit and the method for the motor improve the accuracy of detecting the current position of the motor.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a motor position detection circuit and a motor position detection method.
Background
The permanent magnet brushless direct current motor without the position sensor has the advantages of simple assembly, wide application occasions, high reliability, low cost and the like, and is widely and widely applied. However, the application occasion is complex, and the motor position signal cannot be directly acquired before the scheme is started, so that the starting control difficulty is high, and the starting failure is easy to occur under various external interferences. For example, under the influence of external force, the direct current fan may be in a forward or reverse rotation state before starting, and the rotation speed may also have a large difference, so that the controller needs to use a proper position detection method to detect the current state of the fan, so as to ensure reliable starting of the fan.
In order to solve such a problem, the prior art provides a position and rotation speed detection method. According to the detection method, 50% of PWM waves are generated by a processor to control 6 IGBTs of a 3-phase bridge arm to conduct orderly, 3-phase currents generated in a 3-phase winding by counter electromotive force of a motor are collected into a controller, then a detected current signal is subjected to threshold processing by software to obtain a current zero-crossing area, and further information of the position and the rotating speed of a rotor of the motor is obtained.
In the detection method, when the current generated by the counter electromotive force circularly flows in the IGBT and the parallel freewheeling diode thereof, the diode is cut off when the counter electromotive force voltage drop is smaller than the diode conducting voltage due to the fact that the fixed conducting voltage drop exists in the parallel diode in the IGBT, so that the zero current clamping phenomenon exists when the phase current is in a zero crossing point. Referring to fig. 1, there is a plateau 11 formed by a trend of keeping the original value at the zero crossing point. And the smaller the counter electromotive force of the motor is, the lower the rotating speed is, the more obvious the platform phenomenon is, and the longer the platform time is. Meanwhile, in the process of switching and conducting 6 IGBTs sequentially, oscillation distortion is caused to the current near the zero crossing point, so that zero crossing point detection difficulty is increased, and accuracy is poor. And simultaneously detect 6 zero crossings of 3 looks electric currents in an electric cycle, because only 1/6 cycle is located between two zero crossings, detection time zone is less, and receives zero crossing platform and zero crossing threshold interval's influence, and the higher the motor rotational speed, the less the time zone that can detect, the precision error is big, seriously influences the accuracy of current rotational speed of motor and angle calculation.
Disclosure of Invention
Aiming at the technical problems, the embodiment of the invention provides a position detection circuit and a position detection method of a motor, so as to improve the accuracy of detecting the current position of the motor.
In a first aspect, an embodiment of the present invention provides a position detection circuit of a motor, including: the non-inverting input end of the operational amplifier is connected with one path of three-phase driving signals of the motor, the inverting input end of the operational amplifier is connected with the other path of three-phase driving signals of the motor, a feedback resistor is connected between the output end of the operational amplifier and the inverting input end in a bridging way, and the operational amplifier is used for differentiating one path of three-phase driving signals of the motor from the other path of three-phase driving signals of the motor to obtain a reconstruction signal; the output end of the operational amplifier is connected with the input end of the zero-crossing point detector, and the zero-crossing point detector is used for judging the current steering and the current position of the motor by detecting the phase of the reconstruction signal.
In a second aspect, an embodiment of the present invention provides a method for detecting a position of a motor, including:
one path of the three-phase driving signals of the motor is differenced with the other path of the three-phase driving signals of the motor to obtain a reconstruction signal;
and determining the current steering and the current position of the motor by detecting the phase of the reconstruction signal.
According to the position detection circuit and method for the motor, provided by the embodiment of the invention, the difference signal between any two of three-phase driving signals of the motor is calculated by utilizing the operational amplifier, the difference signal is used as a reconstruction signal for position detection, and the current steering and the current position of the motor are judged by identifying the phase of the reconstruction signal, so that the zero current clamping phenomenon in the existing position detection method is avoided, and the steering and position detection accuracy of the motor is improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a prior art zero current clamping phenomenon;
fig. 2 is a circuit block diagram of a position detection circuit of a motor according to a first embodiment of the present invention;
fig. 3 is a signal waveform diagram of a reconstruction signal of a position detection circuit of a motor provided in the first embodiment of the present invention;
fig. 4 is a circuit configuration diagram of a position detection circuit of a motor provided in a second embodiment of the present invention;
fig. 5 is a flowchart of a method for detecting a position of a motor according to a third embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings.
First embodiment
The embodiment provides a technical scheme of a position detection circuit of a motor. Referring to fig. 2, in this technical solution, the position detection circuit of the motor includes: an operational amplifier 21 and a zero crossing detector 22.
In the invention, the motor is particularly a permanent magnet brushless direct current motor. It is understood that the signal directly driving the permanent magnet brushless dc motor to operate is a three-phase driving signal outputted by the inverter of the permanent magnet brushless dc motor. Since an IGBT element is generally included in an inverter, a certain voltage drop is generally required for the conduction of the IGBT element. Thus, each phase of the three-phase drive signal is caused to exhibit a plateau phenomenon, that is, zero-crossing clamp phenomenon, in the vicinity of the zero-crossing point.
In this embodiment, one signal of the three-phase driving signals is connected to the non-inverting input terminal of the operational amplifier, and the other signal of the three-phase driving signals is connected to the inverting input terminal of the operational amplifier. Specifically, one signal connected with the non-inverting input end passes through a non-inverting input resistor R connected with the non-inverting input end in series i2 Connected to the non-inverting input terminal of the operational amplifier, and the other signal connected with the inverting input terminal passes through an inverting input resistor R connected in series with the inverting input terminal i1 Is connected to the inverting input terminal of the operational amplifier. And a feedback resistor R is connected between the inverting input end and the output end of the operational amplifier f1 . Meanwhile, the normal phase input end is also connected with the ground resistor R f2 And (5) grounding.
Assuming that the feedback resistance R f1 Resistance value of (2) and the grounding resistor R f2 The resistance values are the same and are all R f And, the in-phase input resistor R i2 Resistance value of (2) and the inverting input resistor R i1 The resistance values of (a) are the same and R is the same, the input voltage of the operational amplifier, i.e. the reconstruction signal u o Can be represented by formula (1):
wherein u is i2 Is the voltage signal input from the non-inverting input terminal, and u i1 Is the voltage signal input by the inverting input terminal.
Since there is a phase difference of 2pi/3 between each phase signal and the other two phase signals in the three-phase driving signal, no matter the voltage signal u input from the non-inverting input terminal i2 Is also the voltage signal u input by the inverting input terminal i1 Is not possible or is zero crossing time in the reconstructed signal. That is to say that the zero crossing point of the reconstruction signal is not possible to match the voltage signal u fed by the non-inverting input i2 Is the same as the zero crossing point of the voltage signal u input by the inverting input terminal i1 The zero crossing times of (a) are the same. Therefore, the reconstructed signal is smoother at the zero crossing point, and no plateau phenomenon occurs. Therefore, the steering and position detection of the motor are carried out according to the zero crossing point of the reconstruction signal, and the detection accuracy is obviously improved compared with the prior art.
The zero crossing detector 22 determines the current steering and position of the motor by phase detection of the reconstructed signal.
Fig. 3 shows the signal waveforms of the original three-phase drive signals Ia, ib, ic and the reconstruction signals Ia-Ib. Referring to fig. 3, the periods of the reconstruction signals Ia-Ib are the same as the periods of the original three-phase drive signals Ia, ib, ic, and the phase is advanced by 1/12 period from the subtracted signal Ia in the three-phase drive signals. Thus, the zero crossing detector 22 may determine the steering and position of the motor by detecting two consecutive zero crossings of the reconstructed signal.
Preferably, the zero crossing detector 22 calculates the rotational speed of the motor by detecting and recording the moments of two consecutive zero crossings of the reconstructed signal and by equation (2):
wherein n is the rotational speed of the motor in revolutions per minute. t is t 1 To detect the time of the first zero-crossing of the two consecutive zero-crossings, t 2 To detect the time of the second zero-crossing of the succession of two zero-crossings. t is t 1 T 2 Are all in seconds.
Referring to fig. 3, the absolute value of the third phase signal should be maximum when the original two-phase signals used to construct the reconstructed signal are equal. The zero crossing detector 22 can determine the steering of the motor by determining the phase of the third phase signal at this time.
In addition, since the original three-phase driving signal is respectively T/12, 5T/12 and-T/4 after the reconstruction signal, the current rotational position of the motor can be determined by recognizing the phase of the reconstruction signal.
In the present embodiment, the two-phase signals are selected from the three-phase driving signals, and the resulting signal of the difference is used as a single reconstruction signal, so that the steering and the position of the motor are identified based on the single reconstruction signal. In practical application, the three-phase driving signals can be subjected to difference between two pairs of driving signals to obtain three-phase reconstruction signals, and the steering and the position of the motor are identified according to the three-phase reconstruction signals.
According to the embodiment, the original three-phase driving signal is reconstructed through the operational amplifier, so that the error of position detection caused by directly identifying the zero crossing point of the original driving signal is overcome, and the steering and position detection accuracy of the motor is improved.
Second embodiment
The embodiment provides another technical scheme of a position detection circuit of a motor. In this technical scheme, the position detection circuit of motor includes: the operational amplifier circuit 41 and the zero crossing point detection circuit 42.
Specifically, referring to fig. 4, the operational amplifier circuit 41 includes a first operational amplifier A1 and a second operational amplifier A2. The non-inverting input terminal of the first operational amplifier A1 is connected to one phase signal of the three-phase driving signals, and the other phase signal of the three-phase driving signals is connected to the non-inverting input terminal of the second operational amplifier A2. The output end of the first operational amplifier A1 is connected with the inverting input end of the second operational amplifier A2. The inverting input end of the first operational amplifier A1 is grounded through a grounding resistor R1. And a first feedback resistor R is connected between the output end of the first operational amplifier A1 and the inverting input end thereof f1 . A second feedback resistor R is connected between the output end of the second operational amplifier A2 and the inverting input end of the second operational amplifier A2 f2 。
By the above processing of the operational amplifier circuit, the output voltage signal thereof can be given by the formula (3):
also, due to a one-phase signal u input from the non-inverting input terminal of the first operational amplifier i1 And another phase signal u input from the non-inverting input terminal of the second operational amplifier i2 Having the same period and different phases, the voltage signal u input by the operational amplifier circuit o Zero crossing clamping phenomenon does not exist.
According to the embodiment, the original three-phase driving signals are reconstructed through the two operational amplifiers, so that the error of position detection caused by directly identifying the zero crossing point of the original driving signals is overcome, and the steering and position detection accuracy of the motor is improved.
Third embodiment
The embodiment provides a technical scheme of a motor position detection method. In this technical scheme, the position detection method of the motor includes: one path of the three-phase driving signals of the motor is differenced with the other path of the three-phase driving signals of the motor to obtain a reconstruction signal; and determining the current steering and the current position of the motor by detecting the phase of the reconstruction signal.
Referring to fig. 5, the motor position detection method includes:
s51, one path of the three-phase driving signals of the motor is differenced with the other path of the three-phase driving signals of the motor to obtain a reconstruction signal.
Specifically, the reconstruction signal is obtained by arbitrarily selecting two paths of signals from three-phase driving signals output by an inverter of the permanent magnet brushless direct current motor to make differences.
S52, judging the current steering and the current position of the motor by detecting the phase of the reconstruction signal.
Preferably, determining the current steering and current position of the motor by detecting the phase of the reconstructed signal includes: detecting two consecutive zero crossings of the reconstructed signal; calculating the rotating speed of the motor through the time interval between the two continuous zero crossing points; and judging the current steering and the current position of the motor according to the time relation between the current moment and the continuous two zero crossing points.
Further, the rotational speed of the motor is calculated according to equation (4):
wherein n is the rotating speed of the motor, t 1 To detect the time of the first zero-crossing of the two consecutive zero-crossings, t 2 To detect the time of the second zero-crossing of the succession of two zero-crossings.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in terms of differences from other embodiments, so that identical or similar parts between the embodiments are mutually referred to.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, elements, components, and/or groups thereof. The term "connected" refers to electrical connection unless specifically stated or defined otherwise. In particular, it may be a direct electrical connection, or an indirect electrical connection via other elements.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A position detection circuit of an electric motor, comprising: the non-inverting input end of the operational amplifier is connected with one path of three-phase driving signals of the motor, the inverting input end of the operational amplifier is connected with the other path of three-phase driving signals of the motor, a feedback resistor is connected between the output end of the operational amplifier and the inverting input end in a bridging way, and the operational amplifier is used for differentiating one path of three-phase driving signals of the motor from the other path of three-phase driving signals of the motor to obtain a reconstruction signal; the output end of the operational amplifier is connected with the input end of the zero crossing point detector, and the zero crossing point detector is used for judging the current steering and the current position of the motor by detecting the phase of the reconstruction signal;
the zero crossing detector calculates the rotating speed of the motor by detecting two continuous zero crossing points of the output signal of the output end of the operational amplifier;
the zero crossing point detector judges the phase of the output signal by detecting the rotating speed, and judges the current steering and the current position of the motor according to the phase;
the zero crossing detector judges the phase of the output signal by detecting the rotational speed, and judges the current steering of the motor according to the phase, including:
when the original two-phase signals used for constructing the reconstruction signals are equal, the absolute value of the third-phase signal is maximum, and the zero crossing point detector judges the steering of the motor by judging the phase of the third-phase signal at the moment.
2. The circuit of claim 1, wherein one of the three-phase drive signals is coupled to the non-inverting input via a non-inverting input resistor in series with the non-inverting input.
3. The circuit of claim 1, wherein another of the three-phase drive signals is coupled to the inverting input via an inverting input resistor in series with the inverting input.
4. The circuit of claim 1, wherein the zero crossing detector calculates the rotational speed of the motor according to the formula:
；
wherein,for the rotational speed of the motor, < > for>For the time of detection of the first zero crossing of the two consecutive zero crossings,/o>To detect the time of the second zero-crossing of the succession of two zero-crossings.
5. A position detection method of an electric motor, comprising:
one path of the three-phase driving signals of the motor is differenced with the other path of the three-phase driving signals of the motor to obtain a reconstruction signal;
determining the current steering and current position of the motor by detecting the phase of the reconstructed signal;
the determining the current steering and the current position of the motor by detecting the phase of the reconstruction signal comprises:
detecting two consecutive zero crossings of the reconstructed signal;
calculating the rotating speed of the motor through the time interval between the two continuous zero crossing points;
judging the current steering and the current position of the motor according to the time relation between the current moment and the continuous two zero crossing points;
when the original two-phase signals used for constructing the reconstruction signals are equal, the absolute value of the third-phase signal is maximum, and the zero crossing point detector judges the steering of the motor by judging the phase of the third-phase signal at the moment.
6. The method of claim 5, wherein calculating the rotational speed of the motor over the time interval between the consecutive two zero crossings comprises:
the rotational speed of the motor is calculated according to the following formula:
；
wherein,for the rotational speed of the motor, < > for>For the time of detection of the first zero crossing of the two consecutive zero crossings,/o>For detecting the time of the second zero-crossing of the succession of two zero-crossings。
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| CN111525866B (en) * | 2020-05-27 | 2021-05-11 | 上海儒竞智控技术有限公司 | Voltage following device and method and variable-frequency drive control loop |
| CN112104272A (en) * | 2020-09-14 | 2020-12-18 | 中船重工(重庆)西南装备研究院有限公司 | Position detection method for brushless direct current motor without position sensor |
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