CN107070102A - The motor control method of motor, miniature head and miniature head - Google Patents
The motor control method of motor, miniature head and miniature head Download PDFInfo
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- CN107070102A CN107070102A CN201710171116.5A CN201710171116A CN107070102A CN 107070102 A CN107070102 A CN 107070102A CN 201710171116 A CN201710171116 A CN 201710171116A CN 107070102 A CN107070102 A CN 107070102A
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- motor
- electrical angle
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Brushless Motors (AREA)
Abstract
The present invention relates to a kind of motor, stator component, rotor part and at least two Hall elements；The rotor part includes a rotatable circular magnet, and the stator component includes some electric coil windings；The Hall element is positioned close at the position of rotor part, and is intervally arranged on the direction radially of the axis of rotation of the motor, can obtain the magnetic field signal of the rotor part.Further relate to a kind of miniature head for being provided with above-mentioned motor, and miniature head motor control method.Motor internal involved in the present invention sets contactless Hall sensor, and no mechanical wear, service life is longer；Reduce the volume of motor simultaneously, reduce the volume of head, reduce cost.
Description
Technical field
The present invention relates to a kind of motor and a kind of miniature head, more particularly to built in a kind of electrical angle measurement part of motor
Motor and corresponding all-in-one micro head and motor control method.
Background technology
Traditional head is essentially all that motor driving part part is placed on into outside motor, using senior motor control algorithms-
Field orientable control（Field Oriented Control, FOC）Motor is controlled.The precondition of FOC control algolithms
It is to need to obtain the rotation electrical angle and motor three-phase current of motor.Motor three-phase is generally obtained using sampling resistor measuring method
Electric current；The rotation electrical angle of motor is obtained using the measuring method of angular transducer or magnetic coder simultaneously.
Using angular transducer measurement motor rotation electrical angle when, angular transducer need to be enclosed on motor shaft, obtain electricity
The physical angle of machine, then converses the rotation electrical angle of motor using the physical angle.Generally surveyed using angular transducer
When measuring the rotation electrical angle of motor, there is more physical friction, the short life of sensor between angular transducer and motor shaft.
And the volume ratio of angular transducer is larger, it is impossible to which motor driving plate is integrated in into motor internal, the head for causing it to drive is whole
The volume of body is larger, so that the miniaturization of head, miniaturization can not be realized.
Using magnetic coder measurement motor rotation electrical angle when because magnetic is encoded to noncontacting proximity sensor, therefore do not deposit
In physical friction, therefore the life-span is longer than angular transducer.But magnetic coder needs to be engaged with external magnet in the course of the work,
Therefore, it is impossible to which magnetic coder is integrated in into motor internal, the overall volume of the head for causing it to drive is larger, so that also can not be real
Miniaturization, the miniaturization of existing head.
The content of the invention
To overcome above-mentioned technical problem, the present invention provides a kind of motor, including：Stator component, rotor part and at least
Two Hall elements；The rotor part includes rotatable circular magnet, the stator component include some electric coils around
Group；The Hall element is positioned close at the position of stator component, and on the direction radially of the axis of rotation of the motor between
Every arrangement, the magnetic field signal information of the rotor part can be obtained.
Preferably, the Hall element is set with the position for differing 120 degree of intrinsic electrical angles.
Preferably, some grooves are provided with the stator component, the rotor part is set around the stator component,
And the Hall element is set in the groove.
Preferably, the annular magnet magnetizes by the way of sine wave magnetizes.
Preferably, in addition to motor driving part part；The motor driving part part is a motor driving circuit board, the motor
The rotary shaft of drive circuit board and the motor is vertically arranged, with the through-hole structure for accommodating the rotary shaft, the Hall member
Part is fixedly installed on the outside of the through-hole structure of the motor driving circuit board.
Preferably, in addition to a driving plate tabletting and a stator base；The driving plate tabletting is arranged at the stator department
Between part and the motor driving part part；The motor driving part part is installed on the stator base by driving plate tabletting.
Preferably, the rotary shaft runs through the stator component, the rotor part, the stator base and the electricity
The through-hole structure of machine driving part.
The present invention also provides a kind of miniature head, including motor, cradle head control module and IMU moulds described at least one
Block；Motor and the IMU module is connected with the cradle head control module respectively；Wherein described IMU modules are arranged on the head
Load on, and input to the cradle head control module attitude data of the load；The cradle head control module is according to described
The rotation of the magnetic field signal information controlled motor for the rotor part that attitude data and the Hall element are obtained.
The present invention also provides a kind of motor control method of miniature head, comprises the following steps：Motor control signal is obtained
Step is taken, the attitude data inputted according to the IMU modules obtains the control signal of motor；The acquisition of the rotation electrical angle of motor
Step, the rotation electrical angle of motor is obtained by the magnetic field signal information decoding of the rotor part obtained to two Hall elements；
The obtaining step of three-phase sine-wave, controlled motor is generated according to the control signal of the motor and the rotation electrical angle of the motor
Three-phase sine-wave.
Preferably, the obtaining step of the rotation electrical angle of the motor is as follows：Directly obtained respectively by two Hall elements
The magnetic field signal information of the rotor part is taken, described two Hall elements are set to the position of 120 ° of intrinsic electrical angles；Pass through
Magnetic field signal information acquired in described two Hall elements is calculated：If intrinsic electric in 120 ° with described two Hall elements
The position of angle is provided with the 3rd Hall element, the magnetic field signal information of the 3rd Hall element；To three Hall members
The magnetic field signal information decoding of part obtains the rotation electrical angle of motor.
Preferably, when obtaining the rotation electrical angle of motor, by the magnetic field signal information pair of three Hall elements of acquisition
360 ° of the intrinsic electrical angle answered averagely is divided into 6 sectors, according to the magnetic field signal information solution of three described Hall elements
The rotation electrical angle of each sector of code.
Preferably, in the obtaining step of three-phase sine-wave, first by the rotation of the control signal of the motor and the motor
Turn electrical angle and carry out PARK inverse transformations and empty vector pulse width modulation, obtain the dutycycle of three tunnel pulse width modulations；Then
The dutycycle of three tunnel pulse width modulation is subjected to the described three-phase sine-wave of inverse transformation generation.
The present invention is using the rotation electrical angle of two linear hall sensor measurement motors, and linear hall sensor is non-connects
Touch sensor, the characteristics of having evaded angular transducer short life；Simultaneously compared with traditional motor driving, the present invention can remove
Motor driving part part, so as to simplify drive circuit, can be integrated in motor internal, such as motor drives by current sampling circuit
Plate, and linear hall sensor small volume, so that the collection that motor driving part part and linear hall sensor can be miniaturized
Into in motor internal, united two into one with motor.Above-mentioned motor is used in head, miniaturization, the miniaturization of head can be realized,
Reduce cost.
Brief description of the drawings
Fig. 1 is this traditional heads motor control schematic diagram；
Fig. 2 splits schematic diagram for electric machine structure involved in the present invention；
Fig. 3 is the structural representation of the motor driving circuit board of motor involved in the present invention；
Fig. 4 is one of the relational structure schematic diagram between linear hall sensor involved in the present invention and motor stator phase line
Example；
Fig. 5 is one of miniature head structured flowchart involved in the present invention；
Fig. 6 is the motor control method block diagram of head involved in the present invention；
Fig. 7 is one of the sinusoidal schematic diagram of three hall signals in motor involved in the present invention.
Embodiment
The present invention is illustrated below according to accompanying drawing illustrated embodiment.This time disclosed embodiment can consider in all sides
Face is to illustrate, without limitation.The scope of the present invention is not limited by the explanation of implementation below, only by claims
Shown in scope, and including having all deformations in the same meaning and right with right.
In traditional cradle head structure, it uses traditional FOC algorithms to be controlled motor, and the control block diagram of its motor is such as
Shown in Fig. 1, including the rotation electrical angle of current sampling circuit and motor obtains circuit.Three-phase electricity is obtained by current sampling circuit
StreamI a 、I b WithI c , then obtained by CLARK conversionWith, afterwardsWithParticipate in follow-up PARK inverse transformations；Position is passed
Sensor or magnetic coder directly gather the physical angle of motor, are converted into the rotation electrical angle of motorθ, withWithIt is inverse through PARK
After conversion, obtained result is value of feedbackI d WithI q .In the control of durface mounted permanent magnet brushless electric machine,I dref For the radial direction point of torque
Amount, general order=0；For the variable of controlled motor torque；With feedback signalI q PI computings are carried out to obtainU q ,
With feedback signalI d PI computings are carried out to obtainU d 。U d WithU q PARK inverse transformations are carried out to obtainWith, then by space vector
SVPWM（Space vector pulse width modulation）Algorithm calculates generation three-phase pwm（Pulse width modulation）Dutycycle（pwm1、
Pwm2 and pwm3）And inverter is input to, corresponding three-phase sine-wave is produced after inverter computing（U, V and W）Motor is entered
Row control.Wherein PI computings are pid control algorithm, and P represents scale operation, and I represents integral operation, and D represents to differentiate；Passing
In the computing that the FOC algorithms of system are controlled to electrode, P scale operations and I integral operationes are only needed.
The rotation electrical angle of involved motor refers to that the rotor of motor is turned to corresponding to a certain position in the present invention
The value of electrical angle.
Traditional FOC operation methods need to obtain the rotation electric angle of motor it can be seen from above-mentioned control process and Fig. 1
The three-phase current of degree and motor, the rotation electrical angle of wherein motor is by the larger sensing such as angular transducer or magnetic coder
Device is directly obtained, and needs the design current sample circuit in drive control, so traditional motor driving can not avoid sensing
The technical problem that body product is big, driving circuit structure is complicated, drive circuit plate bulk is big etc..
To overcome above-mentioned technical problem, the present invention relates to a kind of rotation using two linear hall sensor measurement motors
The motor of electrical angle, selected linear hall sensor is noncontacting proximity sensor, and size is 2mm × 3mm, compares angular transducer
It is small with magnetic code sensor volume, it is easier to be integrated in motor internal.While the size in order to reduce motor driving circuit board,
Remove the sample circuit of electric current, so as to simplify driving circuit structure, reduce drive circuit plate bulk., can will be linear with this
Hall sensor and motor driving circuit board are miniaturized simultaneously is integrated in motor internal, so as to greatly reduce the volume of motor.
[electric machine structure]
Motor involved in the present invention is the three-phase brushless motor of small volume, it is preferred that motor is the minimum 15mm's of diameter
Brushless electric machine, it is furthermore preferred that a diameter of 15mm of motor, the highly brushless electric machine for 10mm.The fractionation structural representation of motor
As shown in Fig. 2 motor includes motor rotor end cover 1, motor annular magnet 2, stator 3, driving plate tabletting 4, motor-drive circuit
Plate 5, bearing 6, motor stator base 7, axle 8 and screw 9.The lucky buckle closure of the motor rotor end cover 1 is in motor annular magnet 2
Outside, motor annular magnet 2 is looped around the outside of stator 3, and there is gap between the two；Stator 3 is set by driving plate tabletting 4
In on motor driving circuit board 5, driving plate tabletting 4 is made up of insulating materials, and stator 3 and motor driving circuit board 5 can be made exhausted
Edge；Driving plate tabletting 4 simultaneously can be such that motor driving circuit board 5 is installed on stator base 7；Axle 8 can extend through stator
3rd, the via-like structure on driving plate tabletting 4, motor driving circuit board 5, bearing 6 and motor stator base 7, with rotor
End cap 1 is interference fitted, and is rotated so as to drive motor toroidal magnet 2；The bottom of axle 8 is also equipped with screw 9.
Wherein, the structural representation of motor driving circuit board 5 is as shown in figure 3, motor driving circuit board 5 is driven by a motor
Dynamic chip 51, two linear hall sensors 52 are constituted and are arranged on pcb board 53, and it is also at least (not shown) slotting including one
Fitting and some electric capacity, resistance, wherein motor drive ic 51 are integrated with inverter（As shown in Figure 7）And overheat (not shown)
The circuits such as protection, overcurrent protection and false alarm.Because usually required during motor control at least three each other 120 ° it is intrinsic
The linear hall sensor of electrical angle, but in order to reduce the quantity of element, the further volume for reducing motor, the present invention passes through
2 linear hall sensors, which are used only, in innovatory algorithm just can obtain the effect using three linear hall sensors.It is wherein solid
Have structures shape of the electrical angle by motor, refer to the actual electrical angle that in motor internal, is differed between the object of geo-stationary or
The value of electrical angle of equal value.
In motor, linear hall sensor 52 is positioned close at the position of motor annular magnet 2, and it can be arranged at
At the position that motor annular magnet 2 has a certain distance；Because stator 3 and motor toroidal magnet 2 are with mutually circular
Mode is set, thus linear hall sensor can also plug-type mode be arranged in the groove structure of stator 3, but it is linear suddenly
The position of that sensor 52 and motor annular magnet 2 need to ensure to enable linear hall sensor to obtain motor annular magnet 2
Magnetic Field；Preferably, plug-type set-up mode is used to reach the size for reducing motor in axially and radially direction；And institute
Two linear hall sensors 52 are stated to be intervally arranged on the direction radially of the axis of rotation of the motor.In the present invention, according to
The model of motor, two linear hall sensors 52 are arranged on the position of 120 ° of intrinsic electrical angles each other, concrete implementation side
Method sees below.For example when assuming the brushless electric machine that motor is the groove of 8 pole 9, the number of pole-pairs of motor is 4 pairs, as shown in figure 4, due to two
The physics angle of individual linear hall sensor 52 is 120 °, so the electrical angle of two correspondence angles of linear hall sensor 52 is real
Border is 4*120 °=480 °, that is, is equivalent to 120 ° of intrinsic electrical angles.Stator 3 can be divided into A, B and C three-phase, per corresponding electric angle
Spend for 120 °, wind corresponding coil in every alpha region, A phase lines, B phase lines and C phase lines are referred to as, so on stator 3
Just having in three grooves, there are two phase lines to intersect；Two linear hall sensors 52 are fastened in the groove of stator 3 just：Will
One linear hall sensor 52 is located in the middle of the groove of A phase lines and the intersecting stator 3 of C phase lines, another linear hall sensor
52 are located in the middle of A phase lines and the intersecting stator slot of B phase lines so that two linear hall sensors 52 differ 120 ° of intrinsic electric angle
Degree；This is also not limited to, linear hall sensor 52 can also be arranged in other grooves.Fig. 4 linear hall sensor
52 position is only one of embodiment, does not indicate that the linear hall sensor of the present invention only as Fig. 4 is set.
Because motor driving circuit board 5 is put into motor, the shape of motor stator base 7 is set and PCB
The shape identical shape of plate 53.Two linear hall sensors 52 are arranged on the underface of the end face of motor annular magnet 2, are used for
Detect the sinusoidal magnetic field strength signal of annular magnet 2.Compared with traditional electric machine structure, being set motor internal of the invention more
One motor driving circuit board 5 and driving plate tabletting 4, the driving plate tabletting 4 are made up of insulating materials, and it is applied not only to electricity
Drive circuit plate 5 is fixed on stator 3, additionally it is possible to motor driving circuit board 5 is insulated with stator 3.
[structure of miniature head]
Above-mentioned motor may be disposed in head, because being respectively provided with motor driving part part and linear hall sensor in electric machine structure
In motor internal, the volume of motor is reduced with this, therefore the use of above-mentioned motor can also greatly reduce the volume of head.Root
Factually at least one above-mentioned motor, can be installed in certain head, to realize device by the regulatory demand of the movement locus on border simultaneously
The direction of motion change.
Fig. 5 is one of the miniature head structured flowchart of the present invention with above-mentioned motor, as shown in figure 5, miniature
Head at least includes a head main control singlechip 11, an IMU modules 12, motor A13, motor B14 and motor C15, wherein IMU moulds
Block 12 and motor A13, motor B14 and motor C15 are connected with head main control singlechip 11 respectively.Head main control singlechip 11 can lead to
Cross serial peripheral interface bus（Serial Peripheral Interface：SPI）Attitude data is obtained by IMU modules 12,
IMU modules include gyroscope and accelerograph etc., obtain the data, Ran Houjin such as angular speed, the acceleration of device where head
Attitude data progress processing is respectively obtained motor A13, motor B14 and motor C15 by row attitude algorithm, head main control singlechip 11
Control signalU q .Motor A13, motor B14 and motor C15 are described above to be integrated with linear hall sensor and motor
Inverter is integrated with the motor of drive circuit board, the motor drive ic of motor driving circuit board（As shown in Figure 7）And not
The circuits such as overtemperature protection, overcurrent protection and the false alarm of diagram.Specifically, as shown in Fig. 2 motor A13, motor B14 and electricity
Machine C15 is respectively the three-phase brushless motor of small volume, and it includes motor rotor end cover 1, motor annular magnet 2, stator 3, drive
Dynamic plate tabletting 4, motor driving circuit board 5, bearing 6, motor stator base 7, axle 8 and screw 9.The motor rotor end cover 1 is proper
Good buckle closure is in the outside of motor annular magnet 2, and motor annular magnet 2 is looped around the outside of stator 3, and there is gap between the two；
Stator 3 is arranged on motor driving circuit board 5 by driving plate tabletting 4, and driving plate tabletting 4 is made up of insulating materials, can be made
Stator 3 insulate with motor driving circuit board 5；Driving plate tabletting 4 simultaneously can make motor driving circuit board 5 be installed on stator base
On 7；Axle 8 can be extended through on stator 3, driving plate tabletting 4, motor driving circuit board 5, bearing 6 and motor stator base 7
Via-like structure, be interference fitted, rotated so as to drive motor toroidal magnet 2 with motor rotor end cover 1；The bottom of axle 8
It is also equipped with screw 9.Wherein, motor driving circuit board 5 is consolidated by a motor drive ic 51, two linear hall sensors 52
Due to being constituted on pcb board 53, it also at least includes a plug connector (not shown) and some electric capacity, resistance；And two it is linear suddenly
The position setting of your sensor 52 120 ° of intrinsic electrical angles each other.
[motor control method of miniature head]
Fig. 6 is the motor control method block diagram of head of the present invention, as shown in fig. 6, whole control process no current sampling
Circuit part, motor driving circuit board simplifies the control algolithm of head so that whole head can only need a single-chip microcomputer
Complete control and the realization of algorithm to motor, and traditional heads usually require four single-chip microcomputers control respectively different motor and
The realization of algorithm, so head volume ratio traditional heads volume involved in the present invention can reduce several times, while also reducing
Cost.
In miniature cradle head structure, the difference controlled motor of head main control singlechip 11 A13, motor B14 and motor C15 be not
Rotation on equidirectional.With reference to Fig. 5 and Fig. 6, head main control singlechip 11 is utilized respectively motor A13, motor B14 and motor C15
On linear hall sensor obtain respective data decoded, motor A13, motor B14 and motor C15 are calculated respectively
Rotate electrical angleθ；The attitude data that head main control singlechip 11 is inputted according to IMU modules simultaneously obtains motor A13, motor respectively
B14 and motor C15 control signalU q , the rotation electrical angle for three motor 13-15 that head main control singlechip 11 passes through acquisitionθ
With corresponding control signalU q Respectively obtain three motor 13-15 three tunnel pulse width modulations dutycycle, finally respectively by
Three motor 13-15 inverter carries out inverse transformation to respective three tunnel dutycycle and obtains three-phase sine-wave to drive respectively accordingly
Motor work.
The controlled motor A13 of head main control singlechip 11, motor B14 are identical with motor C15 method, below with head master control
Illustrated exemplified by the controlled motor A13 of single-chip microcomputer 11 course of work, its controlled motor B14 and motor C15 process are no longer weighed
Multiple explanation.
The method of cradle head control motor uses open loop FOC algorithms, without closed loop, wherein the control method of each motor
It is identical, the controlled motor A13 of head main control singlechip 11 control method is specifically described below.
With reference to Fig. 5 and Fig. 6,U q It is the control signal of motor for voltage vector moment components, by the head master control list of head
The data such as angular speed and acceleration that piece machine 11 is inputted according to IMU modules carry out the attitude angle acquisition that attitude algorithm is obtained, its value
Bigger motor speed it is faster, if negative, motor is then inverted；U d For the excitation component of voltage vector, in surface-mount type three-phase
0 is typically set in permanent magnetic brushless, in this control program,U d It is directly disposed as 0.Meanwhile, in head main control singlechip 11
The AD converter in portion is read after the signal of the linear hall sensor inside motor A13, linear by 11 pairs of head main control singlechip
The signal of Hall sensor carries out the rotation electrical angle that decoding obtains motor A13；Head main control singlechip 11 willU q With motor A13
Rotation electrical angleθDo and the corresponding value of two-phase rest frame is obtained after PARK inverse transformations, then by space vector
SVPWM (space vector pulse width modulation) algorithm calculates and obtains three road pwm（Pulse width modulation）Dutycycle：pwm1、
Pwm2 and pwm3；Head main control singlechip 11 inputs to dutycycle pwm1, pwm2 and pwm3 motor A13 inverter, through this
Motor A13 three-phase sine-wave U, V and W is obtained after the inverse transformation of inverter to work with motor A13 motor.
In above-mentioned control process, the signal obtained by linear hall sensor 52 decodes motor A13 electric rotating
AngleθProcess comprise the steps 1）To 3）, it is specific as follows.
1）Obtain the signal of two linear hall sensors 52.
Linear hall sensor 52 can gather the sinusoidal magnetic field signal of motor annular magnet 2, because linear hall sensor
The voltage of 52 output is directly proportional to the magnetic field intensity of motor annular magnet 2, so directly distinguishing straight using AD converter herein
Connect read be input to two linear hall sensors 52 magnitude of voltage can represent motor annular magnet field strength values Ha and
Hb.
2）Calculate the signal of the 3rd linear hall sensor.
Because two linear hall sensors in motor A13 are set with the position of 120 ° of intrinsic electrical angles, so
Magnetic field intensity Ha, Hb of three linear hall sensors can be obtained according to formula sina+sin (a+120)+sin (a-120)=0
With Hc relation：Ha+Hb+Hc=0, you can the magnetic field intensity for calculating the 3rd linear hall sensor is：Hc=-(Ha+Hb).
Because what linear hall sensor 52 sensed is the magnetic field intensity of the end face of annular magnet 2 on motor A13, due to magnetic
Ring uses the mode that magnetizes of sine wave, and the magnetic field intensity that the end face of annular magnet 2 is produced in air gap is sine.Linear Hall is passed
Sensor 52 is fixed, and annular magnet 2 rotates a circle, therefore the electricity of the magnetic field intensity that collects of linear hall sensor 52 and motor
The relational graph of angle is a sine curve, so understanding the output signal of the 3rd linear hall sensor according to above-mentioned formula
It is also sinusoidal signal.The three-phase sinusoidal signal example images figure of three linear hall sensors obtained is as shown in fig. 7, figure
The abscissa of picture represents the electrical angle of motor, and ordinate represents the magnetic field intensity that linear hall sensor is collected.
3）Decoding obtains the rotation electrical angle of motor.
As shown in fig. 7, by 360 ° of electric angles of the three-phase sinusoidal signal image of three linear hall sensors of above-mentioned acquisition
Degree is averagely divided into 6 sectors, judges motor annular magnet is located at which specific sector according to Ha, Hb and Hc sign.
Because antitrigonometric function can obtain 2 corresponding angles, therefore the anti-triangle of Ha, Hb and Hc in the range of 0 ° to 60 ° is onlyed demand respectively
Function, you can obtain the corresponding rotation electrical angle in each sector, the electric rotating angle calculation formula of corresponding motor is as follows：
Sector 1：θ=sin -1Ha
Sector 2：θ=60°+sin -1（-Hc）
Sector 3：θ=120°+sin -1（Hb）
Sector 4：θ=180°+sin -1（-Ha）
Sector 5：θ=240°+sin -1（Hc）
Sector 6：θ=300°+sin -1（-Hb）
Just decodable code calculates the rotation electrical angle of motor to said processθ.Control method according to Fig. 6, head master afterwards
Controlling single-chip microcomputer 11 willU q With the rotation electrical angle of motorθDo and the corresponding value of two-phase rest frame is obtained after PARK inverse transformations, then calculated by space vector SVPWM (space vector pulse width modulation) algorithm and obtain three road pwm（Pulse is wide
Degree modulation）Dutycycle：Pwm1, pwm2 and pwm3；Head main control singlechip 11 inputs to dutycycle pwm1, pwm2 and pwm3
Motor A13 inverter, obtains corresponding three-phase sine-wave U, V and W to drive corresponding motor after the inverse transformation of inverter
A13 motor work.
In the above-described embodiment, three linear Halls of the present invention that are integrated with are set to sense in miniature head altogether
The motor of device and motor driving circuit board, and be used in unmanned plane etc. more and need to adjust the field in three directions, but it is not limited only to this.
The miniature head of the motor with appropriate number can also be applied to other industry or environment according to specifically background is used
In, the miniaturization of head is realized, is simplified.
In the above-described embodiment, two linear hall sensors are set in motor, the 3rd linear hall sensor
The acquisition of sine wave calculates what is obtained according to two foregoing linear hall sensors, but is not limited only to this.3 can also be set
Linear hall sensor, directly reads the output signal of three linear hall sensors by AD converter；Can also be according to electricity
The concrete model of machine, the linear hall sensor of setting three or more than three, as long as quantity and the position of linear hall sensor
The algorithms of 120 ° of electrical angles can be followed and decode the rotation electrical angle of motor by putting.
In the above-described embodiment, in order that the volume of the miniature head where motor and motor is sufficiently small, motor is driven
Dynamic chip 51 and linear hall sensor 52 are miniaturized and are integrated on the pcb board 53 of motor driving circuit board 5, but are not limited only to
This.Linear hall sensor miniaturization only can be integrated in motor internal in motor internal, motor drive ic 51 is arranged at
On the outside of motor, now, the motor control method that head is used can also use above-mentioned implementation using traditional foc algorithms
Open loop foc algorithms in mode.
In above-mentioned embodiment, it is necessary to by three lines of acquisition in the step of decoding obtains the rotation electrical angle of motor
360 ° of electrical angles of the three-phase sinusoidal signal image of property Hall sensor are averagely divided into 6 sectors, and according to the sinusoidal signal
Image carries out the rotation that arcsine triangular transformation obtains correspondence sector to the magnetic field intensity that three linear hall sensors are obtained respectively
Turn electrical angle, but not limited to this, the rotation electric angle of correspondence sector can also be obtained by the computational methods of anticosine triangular transformation
Degree.
Those skilled in the art will readily occur to its of the present invention after considering specification and putting into practice invention disclosed herein
Its embodiment.The application be intended to the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and including undocumented common knowledge or usual in the art
Technological means.Description and embodiments be considered only as it is exemplary, true scope and spirit of the invention by following right will
Ask and point out.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present invention is only limited by appended claim.
Claims (12)
1. a kind of motor, including：Stator component, rotor part and at least two Hall elements；
The rotor part includes a rotatable circular magnet, and the stator component includes some electric coil windings；
The Hall element is positioned close at the position of rotor part, and on the direction radially of the axis of rotation of the motor between
Every arrangement, the magnetic field signal information of the rotor part can be obtained.
2. motor according to claim 1, it is characterised in that：
The Hall element is set with the position for differing 120 degree of intrinsic electrical angles.
3. motor according to claim 2, it is characterised in that：
Some grooves are provided with the stator component, the rotor part is set around the stator component, and the Hall
Element is arranged in the groove.
4. motor according to claim 3, it is characterised in that：
The annular magnet magnetizes by the way of sine wave magnetizes.
5. motor according to claim 4, in addition to motor driving part part；
The motor driving part part is a motor driving circuit board, and the rotary shaft of the motor driving circuit board and the motor is hung down
Straight to set, with the through-hole structure for accommodating the rotary shaft, the Hall element is fixedly installed on the motor driving circuit board
Through-hole structure outside.
6. motor according to claim 5, in addition to a driving plate tabletting and a stator base；
The driving plate tabletting is arranged between the stator component and the motor driving part part；
The motor driving part part is installed on the stator base by driving plate tabletting.
7. motor according to claim 6, it is characterised in that：
The rotary shaft runs through the stator component, the rotor part, the stator base and the motor driving part part
Through-hole structure.
8. a kind of miniature head, including motor any one of at least one claim 1-7, cradle head control module and
IMU modules；
Motor and the IMU module is connected with the cradle head control module respectively；
Wherein, the IMU modules are arranged in the load of the head, and input the load to the cradle head control module
Attitude data；
Believe in the magnetic field for the rotor part that the cradle head control module is obtained according to the attitude data and the Hall element
The rotation of number information controlled motor.
9. a kind of motor control method of the miniature head described in claim 8, comprises the following steps：
The obtaining step of motor control signal, the attitude data inputted according to the IMU modules obtains the control signal of motor；
The obtaining step of the rotation electrical angle of motor, by the magnetic field signal information of the rotor part obtained to two Hall elements
Decoding obtains the rotation electrical angle of motor；
The obtaining step of three-phase sine-wave, is controlled according to the control signal of the motor and the generation of the rotation electrical angle of the motor
The three-phase sine-wave of motor.
10. the motor control method of miniature head according to claim 9, it is characterised in that：
The obtaining step of the rotation electrical angle of the motor is as follows：
Directly obtain the magnetic field signal information of the rotor part respectively by two Hall elements, described two Hall elements are set
It is set to the position of 120 ° of intrinsic electrical angles；
Calculated by the magnetic field signal information acquired in described two Hall elements：If being in described two Hall elements
The position of 120 ° of intrinsic electrical angles is provided with the 3rd Hall element, the magnetic field signal information of the 3rd Hall element；
Magnetic field signal information decoding to three Hall elements obtains the rotation electrical angle of motor.
11. the motor control method of miniature head according to claim 10, it is characterised in that：
When obtaining the rotation electrical angle of motor, by consolidating for corresponding 360 ° of the magnetic field signal information of three Hall elements of acquisition
There is electrical angle to be averagely divided into 6 sectors, each sector is decoded according to the magnetic field signal information of three described Hall elements
Rotate electrical angle.
12. the motor control method of miniature head according to claim 11, it is characterised in that：
In the obtaining step of three-phase sine-wave, first the control signal of the motor and the rotation electrical angle of the motor are carried out
PARK inverse transformations and space vector pulse width modulation, obtain the dutycycle of three tunnel pulse width modulations；Then by three tunnel
The dutycycle of pulse width modulation carries out the described three-phase sine-wave of inverse transformation generation.
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| CN107796392A (en) * | 2017-09-11 | 2018-03-13 | 北京航天控制仪器研究所 | A kind of three-axle steady platform, Digital Control System and method |
| CN108063523A (en) * | 2017-12-19 | 2018-05-22 | 深圳市哈博森科技有限公司 | A kind of horizontal stage electric machine and its rotor position angle detection method |
| CN108199539A (en) * | 2018-01-17 | 2018-06-22 | 北京小米移动软件有限公司 | Holder |
| CN108474671A (en) * | 2017-11-14 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Mechanical angle detection method, holder and machine readable storage medium |
| CN109067129A (en) * | 2018-09-12 | 2018-12-21 | 佛山市顺德区伊默特电机有限公司 | A kind of FOC brushless motor at the steady angle of low speed |
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| CN113848998A (en) * | 2021-11-30 | 2021-12-28 | 普宙科技(深圳)有限公司 | Method and device for self-checking position angle of micro holder |
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