CN107154756A - Brshless DC motor Hall phase sequence automatic identifying method - Google Patents
Brshless DC motor Hall phase sequence automatic identifying method Download PDFInfo
- Publication number
- CN107154756A CN107154756A CN201710422921.0A CN201710422921A CN107154756A CN 107154756 A CN107154756 A CN 107154756A CN 201710422921 A CN201710422921 A CN 201710422921A CN 107154756 A CN107154756 A CN 107154756A
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- motor
- hall
- phase sequence
- current
- brshless
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/18—Indicating phase sequence; Indicating synchronism
-
- 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
- H02P6/28—Arrangements for controlling current
Abstract
The invention discloses a kind of brshless DC motor Hall phase sequence automatic identifying method, it is related to the control method technical field of brshless DC motor.Methods described comprises the following steps：Set the conducting phase sequence of brshless DC motor, according to the conducting phase sequence of setting, it is controlled by the way of current closed-loop, the road Hall information of motor three in brshless DC motor rotation process corresponding to each energization phase sequence of record motor, according to brshless DC motor, conduction mode operation logic calculates brshless DC motor Hall phase sequence two-by-two.Methods described can accurately identify brshless DC motor Hall phase sequence, the Hall phase sequence mistake that can effectively prevent motor from installing, and reduce the working strength of field adjustable personnel.
Description
Technical field
The present invention relates to the control method technical field of brshless DC motor, more particularly to a kind of brshless DC motor Hall
Phase sequence automatic identifying method.
Background technology
When brshless DC motor is normally run, the Hall phase sequence that the power-up sequence of motor three-phase current is installed with motor is into one
One-to-one correspondence.If Hall phase sequence mistake motor will be unable to start or be not normally functioning.It can not know in some occasions
Motor Hall phase sequence, or wiring personnel are by hall signal, can only be by changing hall signal wiring phase during motor lines wrong
Sequence, brings many work and trouble when at the scene using debugging.
The content of the invention
The technical problems to be solved by the invention are how to provide one kind can accurately identify brshless DC motor suddenly
The method of your phase sequence.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of brshless DC motor Hall phase sequence
Automatic identifying method, it is characterised in that comprise the following steps：The conducting phase sequence of brshless DC motor is set, according to the conducting of setting
Phase sequence, is controlled by the way of current closed-loop, each energization phase sequence of record motor in brshless DC motor rotation process
The corresponding road Hall information of motor three, according to brshless DC motor, conduction mode operation logic calculates brshless DC motor two-by-two
Hall phase sequence.
Further technical scheme is：The order of conducting phase sequence of brshless DC motor is set as AB-AC-BC-BA-
CA-CB。
Further technical scheme is：Turn on phase sequence order be AB-AC-BC-BA-CA-CB when, collection it is described suddenly
Your information is S1, S2, S3, S4, S5, S6；S1-S6 is the level signal of the road signal of Hall three, and S is the group of the road signal of Hall three
Close, S1-6 transformation range is 1-7, i.e. 001-111.
Further technical scheme is：When the brshless DC motor AB is conducted, electric current is flowed into from A phases, and B phases flow
Go out, in closed-loop current control mode during control, given value of current be 50% Rated motor electric current, ON time 1s, now motor exist
Under rotor field and phase current interaction, the motor navigates to the Hall letter that this position is recorded after AB magnetic field positions, stabilization
Cease for S1.
Further technical scheme is：When the motor AC is conducted, electric current is flowed into from A phases, and C phases flow out, control
When in closed-loop current control mode, given value of current is 50% Rated motor electric current, ON time 1s, and now motor is in rotor magnetic
Under field and phase current interaction, motor, which is navigated to, records the Hall information of this position for S2 after AC magnetic field positions, stabilization.
Further technical scheme is：When the motor BC is conducted, electric current is flowed into from B phases, and C phases flow out, control
When in closed-loop current control mode, given value of current is 50% Rated motor electric current, ON time 1s, and now motor is in rotor magnetic
Under field and phase current interaction, motor, which is navigated to, records the Hall information of this position for S3 after BC magnetic field positions, stabilization.
Further technical scheme is：When motor BA is conducted, electric current is flowed into from B phases, and A phases flow out, during control with
Closed-loop current control mode, given value of current is 50% Rated motor electric current, ON time 1s, now motor in rotor field and
Under phase current interaction, motor, which is navigated to, records the Hall information of this position for S4 after BA magnetic field positions, stabilization.
Further technical scheme is：When motor CA is conducted, electric current is flowed into from C phases, and A phases flow out, during control with
Closed-loop current control mode, given value of current is 50% Rated motor electric current, ON time 1s, now motor in rotor field and
Under phase current interaction, motor, which is navigated to, records the Hall information of this position for S5 after CA magnetic field positions, stabilization.
Further technical scheme is：When motor CB is conducted, electric current is flowed into from C phases, and B phases flow out, during control with
Closed-loop current control mode, given value of current is 50% Rated motor electric current, ON time 1s, now motor in rotor field and
Under phase current interaction, motor, which is navigated to, records the Hall information of this position for S6 after CB magnetic field positions, stabilization.
Further technical scheme is：So the Hall phase sequence that direct current generator rotates forward conducting is S6-S1-S2-S3-S4-
S5, reverse-conducting phase sequence is rotates forward the result negated during phase sequence binary representation, if detecting the three roads letter of Hall sensor
Number all high level or all low levels, then stop identification, hall signal failure quoted, if suddenly during identification
There is the equal situation of any two in your information S1, S2, S3, S4, S5, S6, then regard as identification exception, known again
Not.
It is using the beneficial effect produced by above-mentioned technical proposal：Methods described can accurately identify brushless direct-current
Motor Hall phase sequence, the Hall phase sequence mistake that can effectively prevent motor from installing, reduces the working strength of field adjustable personnel.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is phase sequence conduction mode schematic diagram two-by-two in methods described of the embodiment of the present invention；
Fig. 2 is phase sequence recognition principle figure in methods described of the embodiment of the present invention.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Overall, the embodiment of the invention discloses a kind of brshless DC motor Hall phase sequence automatic identifying method, including such as
Lower step：The conducting phase sequence of brshless DC motor is set, according to the conducting phase sequence of setting, is controlled by the way of current closed-loop
The road Hall information of motor three in system, brshless DC motor rotation process corresponding to each energization phase sequence of record motor, according to
Conduction mode operation logic calculates brshless DC motor Hall phase sequence to brshless DC motor two-by-two.
Implementation principle：
The sensing counter electromotive force of brshless DC motor is the trapezoidal wave of three-phase symmetrical, a width of 120 ° of its wave crest.Three-phase brushless direct current
Motor leads to mode using 120 °Liu Pai roads and controlled, the road signal composition of rotor hall position three.It is 180 degree of electrical angles per road signal
High level and 180 degree of electrical angles low-level period change, 120 degree of electrical angles of mutual deviation two-by-two per road signal,
It is combined into the state of six circulation changes.Each state turns on the two-phase of motor, and the conducting of motor three-phase six-beat is believed with rotor-position
Number relation it is as shown in Figure 1.
When the order of conducting phase rotates for AB-AC-BC-BA-CA-CB motors in the presence of rotor field.In order to prevent
Excessively stream, is controlled by the way of current closed-loop, in motor rotation process corresponding to each energization phase sequence of record motor
The road Hall information of motor three, the phase sequence of motor, phase sequence recognition principle such as Fig. 2 institutes are calculated further according to motor three-phase six-beat operation logic
Show.
Brshless DC motor is allowed to run in a stepping manner, as shown in Fig. 2 given electric machine phase current IrefAnd feedback currentBy the phase sequence of current regulator output voltage, manually control conducting, in the voltage modulated exported by current regulator
PWM ripples, the switching tube of control three-phase inverter closes section order, and feedback current is the electric current that motor turns on phase.
The order for turning on phase to brushless electric machine is AB-AC-BC-BA-CA-CB, and motor will rotate an electric cycle, in order to protect
Demonstrate,prove position of magnetic pole in detection process reverse.In motor operation, at least one starts to recognize hall signal after the electric cycle.Hall signal
S1, S2, S3, S4, S5, S6 are the level signal of the road signal of Hall three, and S is the combination of the road signal of Hall three, S1-6 conversion model
Enclose for 1-7.
It is AB-AC-BC-BA-CA-CB to circulate the order for turning on phase to brushless electric machine：
1st, it is conducted to motor AB, electric current is flowed into from A phases, B phases flow out, with closed-loop current control mode, given value of current during control
For 50% Rated motor electric current（It is not limited to 50%）, ON time 1s（Time is not limited to 1s）.Now motor in rotor field and
Under phase current interaction, motor navigates to AB magnetic field positions.The Hall information S1.S1 of this position conversion model is recorded after stable
Enclose for 1-7.S is the combination of the road signal of Hall three.
2nd, it is conducted to motor AC, electric current is flowed into from A phases, C phases flow out, with closed-loop current control mode, electric current during control
It is given as 50% Rated motor electric current（It is not limited to 50%）, ON time 1s（Time is not limited to 1s）.Now motor is in rotor magnetic
Under field and phase current interaction, motor navigates to AC magnetic field positions.The Hall information S2 of this position is recorded after stable.
3rd, it is conducted to motor BC, electric current is flowed into from B phases, C phases flow out, with closed-loop current control mode, electric current during control
It is given as 50% Rated motor electric current（It is not limited to 50%）, ON time 1s（Time is not limited to 1s）.Now motor is in rotor magnetic
Under field and phase current interaction, motor navigates to BC magnetic field positions.The Hall information S3 of this position is recorded after stable.
4th, it is conducted to motor BA, electric current is flowed into from B phases, A phases flow out, with closed-loop current control mode, electric current during control
It is given as 50% Rated motor electric current（It is not limited to 50%）, ON time 1s（Time is not limited to 1s）.Now motor is in rotor magnetic
Under field and phase current interaction, motor navigates to BA magnetic field positions.The Hall information S4 of this position is recorded after stable.
5th, it is conducted to motor CA, electric current is flowed into from C phases, A phases flow out, with closed-loop current control mode, electric current during control
It is given as 50% Rated motor electric current（It is not limited to 50%）, ON time 1s（Time is not limited to 1s）.Now motor is in rotor magnetic
Under field and phase current interaction, motor navigates to CA magnetic field positions.The Hall information S5 of this position is recorded after stable.
6th, it is conducted to motor CB, electric current is flowed into from C phases, B phases flow out, with closed-loop current control mode, electric current during control
It is given as 50% Rated motor electric current（It is not limited to 50%）, ON time 1s（Time is not limited to 1s）.Now motor is in rotor magnetic
Under field and phase current interaction, motor navigates to CB magnetic field positions.The Hall information S6 of this position is recorded after stable
Calculate motor conducting Hall phase sequence：Brshless DC motor is when conduction mode is run two-by-two, and the commutation moment is each phase magnetic pole
Point midway（Torque when ensureing each commutation is maximum）.So the Hall phase sequence that motor rotates forward conducting is S6-S1-S2-S3-
S4-S5.The result negated when reverse-conducting phase sequence is rotating forward phase sequence binary representation.Hall position information such as S6 is 101, is taken
Instead negated successively for 010, S6-S1-S2-S3-S4-S5, obtain motor reversal Hall phase sequence.Motor is low in above-mentioned identification process
The three all high level of road signal or all low levels of Hall are such as detected in fast rotary course, then stops identification, quotes
Hall signal failure.The detection mode of hall signal is using the capture-port of control chip or the detection of common input/output port.
It is middle the equal situation of any two occur if Hall information S1, S2, S3, S4, S5, S6 in identification process, then recognize different
Often, it need to recognize again.
To sum up, methods described can accurately identify brshless DC motor Hall phase sequence, effectively can prevent motor from pacifying
The Hall phase sequence mistake of dress, reduces the working strength of field adjustable personnel.
Claims (10)
1. a kind of brshless DC motor Hall phase sequence automatic identifying method, it is characterised in that comprise the following steps：It is straight that setting is brushless
The conducting phase sequence of motor is flowed, according to the conducting phase sequence of setting, is controlled by the way of current closed-loop, brshless DC motor turns
The road Hall information of motor three during dynamic corresponding to each energization phase sequence of record motor, leads two-by-two according to brshless DC motor
Logical mode operation logic calculates brshless DC motor Hall phase sequence.
2. brshless DC motor Hall phase sequence automatic identifying method as claimed in claim 1, it is characterised in that：It is straight that setting is brushless
The order for flowing the conducting phase sequence of motor is AB-AC-BC-BA-CA-CB.
3. brshless DC motor Hall phase sequence automatic identifying method as claimed in claim 2, it is characterised in that：Turn on phase sequence
When order is AB-AC-BC-BA-CA-CB, the Hall information of collection is S1, S2, S3, S4, S5, S6；S1-S6 is Hall three
The level signal of road signal, S is the combination of the road signal of Hall three, and S1-6 transformation range is 1-7, i.e. 001-111.
4. brshless DC motor Hall phase sequence automatic identifying method as claimed in claim 2, it is characterised in that：When described brushless
When direct current generator AB is conducted, electric current is flowed into from A phases, and B phases flow out, and in closed-loop current control mode during control, given value of current is
50% Rated motor electric current, ON time 1s, now motor is under rotor field and phase current interaction, and the motor is determined
Position, which is arrived, records the Hall information of this position for S1 after AB magnetic field positions, stabilization.
5. brshless DC motor Hall phase sequence automatic identifying method as claimed in claim 2, it is characterised in that：When the motor
When AC is conducted, electric current is flowed into from A phases, and C phases flow out, in closed-loop current control mode during control, and given value of current is 50% motor
Rated current, ON time 1s, now motor is under rotor field and phase current interaction, and motor navigates to AC field bits
Put, the Hall information that this position is recorded after stabilization is S2.
6. brshless DC motor Hall phase sequence automatic identifying method as claimed in claim 2, it is characterised in that：When the motor
When BC is conducted, electric current is flowed into from B phases, and C phases flow out, in closed-loop current control mode during control, and given value of current is 50% motor
Rated current, ON time 1s, now motor is under rotor field and phase current interaction, and motor navigates to BC field bits
Put, the Hall information that this position is recorded after stabilization is S3.
7. brshless DC motor Hall phase sequence automatic identifying method as claimed in claim 2, it is characterised in that：When motor BA phases
During conducting, electric current is flowed into from B phases, and A phases flow out, in closed-loop current control mode during control, and given value of current is 50% Rated motor
Electric current, ON time 1s, now motor is under rotor field and phase current interaction, and motor navigates to BA magnetic field positions, surely
The Hall information that this position is recorded after fixed is S4.
8. brshless DC motor Hall phase sequence automatic identifying method as claimed in claim 2, it is characterised in that：When motor CA phases
During conducting, electric current is flowed into from C phases, and A phases flow out, in closed-loop current control mode during control, and given value of current is 50% Rated motor
Electric current, ON time 1s, now motor is under rotor field and phase current interaction, and motor navigates to CA magnetic field positions, surely
The Hall information that this position is recorded after fixed is S5.
9. brshless DC motor Hall phase sequence automatic identifying method as claimed in claim 2, it is characterised in that：When motor CB phases
During conducting, electric current is flowed into from C phases, and B phases flow out, in closed-loop current control mode during control, and given value of current is 50% Rated motor
Electric current, ON time 1s, now motor is under rotor field and phase current interaction, and motor navigates to CB magnetic field positions, surely
The Hall information that this position is recorded after fixed is S6.
10. brshless DC motor Hall phase sequence automatic identifying method as claimed in claim 2, it is characterised in that：So direct current
The Hall phase sequence that motor rotates forward conducting is S6-S1-S2-S3-S4-S5, when reverse-conducting phase sequence is rotating forward phase sequence binary representation
The result negated, if detecting the three all high level of road signal or all low levels of Hall sensor, stops knowing
Not, hall signal failure is quoted, if there is any two in Hall information S1, S2, S3, S4, S5, S6 during identification
Equal situation, then regard as identification exception, re-recognized.
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Cited By (12)
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| CN107947647A (en) * | 2017-12-19 | 2018-04-20 | 深圳市创科维信电子有限公司 | Three-phase brushless motor drive circuit and its control method |
| CN108226839A (en) * | 2017-12-27 | 2018-06-29 | 苏州英威腾电力电子有限公司 | The method for detecting abnormality and device of a kind of converter, Hall sensor |
| CN108900121A (en) * | 2018-07-10 | 2018-11-27 | 东莞市李群自动化技术有限公司 | Motor initial phase and phase sequence detecting method and control system for permanent-magnet synchronous motor |
| CN109981000A (en) * | 2019-04-18 | 2019-07-05 | 南京理工大学 | A kind of brshless DC motor phase change method based on digital hall sensor |
| CN110456271A (en) * | 2019-08-15 | 2019-11-15 | 深圳市兆威机电股份有限公司 | Detection method, device, equipment and the storage medium of motor hall signal |
| CN111245307A (en) * | 2020-03-19 | 2020-06-05 | 深圳市微秒控制技术有限公司 | Hall line sequence self-adaptive learning method of brushless motor |
| CN112104291A (en) * | 2020-08-27 | 2020-12-18 | 深圳市显控科技股份有限公司 | Servo driver power line pulse output control method, system and storage medium |
| CN112230075A (en) * | 2020-09-01 | 2021-01-15 | 宁波拓邦智能控制有限公司 | Phase sequence detection method and device of brushless direct current motor and brushless direct current motor |
| CN112564553A (en) * | 2019-09-25 | 2021-03-26 | 博泽沃尔兹堡汽车零部件有限公司 | Method and device for identifying motor with Hall sensor |
| CN113452307A (en) * | 2020-03-27 | 2021-09-28 | 宏碁股份有限公司 | Automatic correction method for pin connection and motor driving device |
| CN114046808A (en) * | 2021-09-30 | 2022-02-15 | 广州极飞科技股份有限公司 | Motor Hall phase sequence self-learning method and device and electronic equipment |
| CN117375335A (en) * | 2023-12-08 | 2024-01-09 | 深圳研控自动化科技股份有限公司 | Method for adjusting line sequence of Hall sensor by motor, control device and BLDC motor |
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| CN108900121A (en) * | 2018-07-10 | 2018-11-27 | 东莞市李群自动化技术有限公司 | Motor initial phase and phase sequence detecting method and control system for permanent-magnet synchronous motor |
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| CN110456271A (en) * | 2019-08-15 | 2019-11-15 | 深圳市兆威机电股份有限公司 | Detection method, device, equipment and the storage medium of motor hall signal |
| CN112564553A (en) * | 2019-09-25 | 2021-03-26 | 博泽沃尔兹堡汽车零部件有限公司 | Method and device for identifying motor with Hall sensor |
| CN111245307A (en) * | 2020-03-19 | 2020-06-05 | 深圳市微秒控制技术有限公司 | Hall line sequence self-adaptive learning method of brushless motor |
| CN113452307A (en) * | 2020-03-27 | 2021-09-28 | 宏碁股份有限公司 | Automatic correction method for pin connection and motor driving device |
| CN113452307B (en) * | 2020-03-27 | 2023-04-07 | 宏碁股份有限公司 | Automatic correction method for pin connection and motor driving device |
| CN112104291A (en) * | 2020-08-27 | 2020-12-18 | 深圳市显控科技股份有限公司 | Servo driver power line pulse output control method, system and storage medium |
| CN112230075A (en) * | 2020-09-01 | 2021-01-15 | 宁波拓邦智能控制有限公司 | Phase sequence detection method and device of brushless direct current motor and brushless direct current motor |
| CN114046808A (en) * | 2021-09-30 | 2022-02-15 | 广州极飞科技股份有限公司 | Motor Hall phase sequence self-learning method and device and electronic equipment |
| CN114046808B (en) * | 2021-09-30 | 2023-09-01 | 广州极飞科技股份有限公司 | Motor Hall phase sequence self-learning method and device and electronic equipment |
| CN117375335A (en) * | 2023-12-08 | 2024-01-09 | 深圳研控自动化科技股份有限公司 | Method for adjusting line sequence of Hall sensor by motor, control device and BLDC motor |
| CN117375335B (en) * | 2023-12-08 | 2024-02-20 | 深圳研控自动化科技股份有限公司 | Method for adjusting line sequence of Hall sensor by motor, control device and BLDC motor |
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