CN107482966B - A kind of starting method of no Hall brushless DC motor - Google Patents
A kind of starting method of no Hall brushless DC motor Download PDFInfo
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- CN107482966B CN107482966B CN201710652079.XA CN201710652079A CN107482966B CN 107482966 B CN107482966 B CN 107482966B CN 201710652079 A CN201710652079 A CN 201710652079A CN 107482966 B CN107482966 B CN 107482966B
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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
- H02P6/20—Arrangements for starting
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Abstract
The invention discloses a kind of starting methods of no Hall brushless DC motor, it is by making A, B, C three-phase windings of no Hall brushless DC motor successively be powered under identical voltage, and electrical current when every phase winding is powered is measured, initial position when stationary rotor to determine no Hall brushless DC motor；Then it determines whether the start-up course of no Hall brushless DC motor terminates by the waveform of the counter electromotive force at the free end of the hanging winding of detection, if being not finished, while incrementally increasing applied voltage, improves the frequency of commutation；Advantage is can to make no Hall brushless DC motor quick start, and also no Hall brushless DC motor can be made quickly normally to start when external loading is excessive.
Description
Technical field
The present invention relates to a kind of electric motor starting technologies, more particularly, to a kind of starting side of no Hall brushless DC motor
Method.
Background technique
In China Today industrial circle, brshless DC motor (Brushless DC Motor, BLDC) can not by it
The advantage of analogy gradually substitutes brushed DC motor, in occupation of more and more important position.The advantage master of brshless DC motor
It is omitted excitation unit, electric machine structure is simplified, alleviates motor weight, and there is high reliability, high efficiency and excellent
Speed adjusting performance the features such as, reduce loss, in terms of also have clear superiority, transfer efficiency average specific has brush
High ten percentage points of direct current generator or more, therefore have become an important development direction of New-type electric machine.Now from external import
Equipment in, seldom seen the system using brushed DC motor as actuating motor, brshless DC motor is significant because of it
Superior function, be widely used to household electrical appliance (such as air-conditioning, hair dryer, bladeless fan washing machine, refrigerator, dust catcher),
Office equipment (such as scanner, duplicator, printer, shredder), industrial automation (such as industrial sewing machine, textile machine, electricity
Motor-car, lathe, robot, elevator, automatic door control system etc.), aerospace (such as supercentrifuge, gyro motor, emulation turn
Platform, inertial navigation test equipment) etc. fields.Under the background of global economy fast development, some country's (such as U.S., Britain, days
Sheet, Germany etc.) the associated companies no longer brushed DC motor of mass production servo-drive, then study performance more
Superior brshless DC motor and control system.
However, traditional brshless DC motor needs a set of position sensor to obtain rotor in order to correctly start
The location information of relative stator, i.e., traditional brshless DC motor are that have Hall brushless DC motor.But position sensor
In the presence of not only increasing cost, the volume of brshless DC motor, and also limit brshless DC motor in high temperature, high humidity, strong
Application under the bad working environments such as corrosive gas, therefore, the starting control of no Hall brushless DC motor have become research hotspot
One of.
The Starting mode of existing no Hall brushless DC motor are as follows: first determine the rotor without Hall brushless DC motor
Initial position；Then start no Hall brushless DC motor, improve turning for rotor using raising frequency method in this process
Speed.This Starting mode improves the revolving speed of rotor due to using raising frequency method, however raising frequency needs the regular hour, therefore
When external loading is excessive or too small, the starting speed of no Hall brushless DC motor is slower, especially when external loading is excessive
When without Hall brushless DC motor it is also possible to can not start.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of starting methods of no Hall brushless DC motor, can
Make no Hall brushless DC motor quick start, and can also make when external loading is excessive no Hall brushless DC motor quickly just
Often starting.
The technical scheme of the invention to solve the technical problem is: a kind of starting of no Hall brushless DC motor
Method, it is characterised in that the following steps are included:
1. determining the initial position when stationary rotor without Hall brushless DC motor, detailed process are as follows:
1. _ 1, accessing DC power supply to no Hall brushless DC motor；
1. A, B, C three-phase windings of no Hall brushless DC motor _ 2, is made successively to be powered under identical voltage, and measure every
Electrical current when phase winding is powered；
1. _ 3, find out the maximum winding of electrical current, indicate the magnetic field of the stator of no Hall brushless DC motor with
The angle of rotor is 0 degree, obtains the initial position when stationary rotor without Hall brushless DC motor；
2. making no Hall brushless direct current after the initial position when determining the stationary rotor without Hall brushless DC motor
Machine quickly normally starts, detailed process are as follows:
2. _ 1, applying voltage to the smallest winding of electrical current；
2. _ 2, detecting the counter electromotive force at the free end of hanging winding；Then the wave for the counter electromotive force that judgement detection obtains
Whether shape is effective operation waveform, if it is, determine that the start-up course without Hall brushless DC motor terminates, no Hall brushless
Direct current generator will enter normal operating phase；Otherwise, step is executed 2. _ 3；
2. _ 3, carrying out commutation after reaching commutation time for providing, commutation while improves to be applied to the winding after commutation
Voltage；Then judge when whether this commutation time is less than the minimum speed that no Hall brushless DC motor operates normally most
The small time returns again to step and 2. _ 2 continues to execute if it is, being kept for the time of commutation next time identical as this commutation time；
Otherwise, the time of commutation next time is determined as the 3/4 of this commutation time, returns again to step and 2. _ 2 continues to execute.
The step 1. _ 2 in every phase winding be powered voltage be less than or equal to the work without Hall brushless DC motor
Make the 1/10 of voltage.
The step 2. _ 1 in the voltage that the smallest winding of electrical current applies be without Hall brushless DC motor
The 1/4 to 1/3 of operating voltage.
The step 2. _ 3 in commutation time for providing for the first time be effective minimum speed without Hall brushless DC motor
3 times of the commutation time；To the voltage that the winding after commutation applies be on the basis of the voltage applied to the winding before commutation,
Increase 1/4 of the operating voltage without Hall brushless DC motor.
The step 2. _ 2 in effective operation waveform refer to back-emf voltage rise time or voltage falling time
Waveform, the waveform variation time be in 1/2 to 4/3 range of last commutation time.
Compared with the prior art, the advantages of the present invention are as follows:
1) brshless DC motor can correctly be started without position sensor, so that brshless DC motor can not only be reduced
Cost, volume, and brshless DC motor can be made to be applied under the bad working environments such as high temperature, high humidity, strong corrosive gas, mentioned
The high adaptive capacity to environment of brshless DC motor.
2) initial position when stationary rotor without Hall brushless DC motor is determined with conventional method first, in no Hall
During brshless DC motor quickly normally starts, artificially apply one by low frequency to height to no Hall brushless DC motor
The synchronism switching signal that frequency constantly accelerates, while voltage is also being constantly increasing, i.e., while incrementally increasing applied voltage, mentions
The frequency of high commutation, this frequency and voltage boosting mode can be improved starting speed, and can guarantee also can be just when external loading is very big
Normal quick start.
Detailed description of the invention
Fig. 1 is that the overall of the method for the present invention realizes block diagram；
Fig. 2 is the system diagram without Hall brushless DC motor；
Fig. 3 is the method for the present invention figure compared with the starting speed of existing traditional three-stage Starting mode.
Specific embodiment
The present invention will be described in further detail below with reference to the embodiments of the drawings.
A kind of starting method of no Hall brushless DC motor proposed by the present invention, it is overall realize block diagram as shown in Figure 1,
Itself the following steps are included:
1. determining the initial position when stationary rotor without Hall brushless DC motor, detailed process are as follows:
1. _ 1, accessing DC power supply to no Hall brushless DC motor.
1. A, B, C three-phase windings of no Hall brushless DC motor _ 2, is made successively to be powered under identical voltage, and measure every
Electrical current when phase winding is powered.
In this particular embodiment, step 1. _ 2 in every phase winding be powered voltage it is straight less than or equal to no Hall brushless
The 1/10 of the operating voltage of galvanic electricity machine, the voltage for such as making every phase winding be powered just are equal to the work of no Hall brushless DC motor
The 1/10 of voltage.When actual treatment, the time that every phase winding is powered also should be can not rotate rotor as principle.
1. _ 3, find out the maximum winding of electrical current, indicate the magnetic field of the stator of no Hall brushless DC motor with
The angle of rotor is 0 degree, obtains the initial position when stationary rotor without Hall brushless DC motor.
Fig. 2 gives the system diagram of no Hall brushless DC motor, and the inverter in Fig. 2 is by 6 insulated gate bipolar crystalline substances
Body Guan Zucheng, every two insulated gate bipolar transistor control a phase winding and are powered.Rotor without Hall brushless DC motor is quiet
Initial position when only determines which two power device the inverter in no Hall brushless DC motor should trigger for the first time, with
It detects initial position when stationary rotor with very complicated method, not as good as elder generation any two-phase of inverter sequentially turn on come to
A, B, C three-phase windings are successively powered, since counter electromotive force is zero or the counter electromotive force in low speed to brshless DC motor when static
Very little, rotor can not rotate, therefore each phase winding in A, B, C three-phase windings can first be allowed successively to be powered according to order,
Initial position when stationary rotor is estimated by the size of electric current in feedback A, B, C three-phase windings again, this is just effectively prevented from
There is oscillatory regime in rotor when traditional three-stage starting of brshless DC motor.In this process, according to the magnetic field of stator
With the relationship of rotor, it is easy to obtain the magnitude range of electric current, be mainly the following situation: 1) electric current is maximum, obtained knot
By being the position of rotor and the angle of the phase is 0 degree；2) electric current is minimum, and obtained conclusion is that the position of rotor is perpendicular with this；
3) for electric current between maximum and minimum, obtained conclusion is the position of rotor between certain two-phase.
2. after the initial position when the stationary rotor of no Hall brushless DC motor has been determined, it is necessary to artificial change nothing
The applied voltage and commutation signal of Hall brushless DC motor, make no Hall brushless DC motor by it is static gradually accelerate with
Starting is without Hall brushless DC motor, it may be assumed that after the initial position when determining the stationary rotor without Hall brushless DC motor, makes
No Hall brushless DC motor quickly normally starts, detailed process are as follows:
2. _ 1, applying voltage to the smallest winding of electrical current.
In this particular embodiment, step 2. _ 1 in the voltage that applies to the smallest winding of electrical current be no Hall brushless
The 1/4 to 1/3 of the operating voltage of direct current generator such as makes the voltage applied to the smallest winding of electrical current straight without Hall brushless
The 1/4 of the operating voltage of galvanic electricity machine.
2. _ 2, detecting the counter electromotive force at the free end of hanging winding (i.e. cold winding)；Then judgement detects
To the waveform of counter electromotive force whether be effective operation waveform, if it is, determining the starting without Hall brushless DC motor
Journey terminates, and no Hall brushless DC motor will enter normal operating phase；Otherwise, step is executed 2. _ 3.
In this particular embodiment, step 2. _ 2 in effective operation waveform refer to back-emf voltage rise time or electricity
The waveform of drops time, by calculating, the time of waveform variation is in 1/2 to 4/3 range of last commutation time.
2. _ 3, carrying out commutation after reaching commutation time for providing, commutation while improves to be applied to the winding after commutation
Voltage；Then judge when whether this commutation time is less than the minimum speed that no Hall brushless DC motor operates normally most
The small time returns again to step and 2. _ 2 continues to execute if it is, being kept for the time of commutation next time identical as this commutation time；
Otherwise, the time of commutation next time is determined as the 3/4 of this commutation time, returns again to step and 2. _ 2 continues to execute.
In this particular embodiment, step 2. _ 3 in commutation time for providing for the first time be having without Hall brushless DC motor
Imitate 3 times of the commutation time of minimum speed；It is the electricity that the winding before to commutation applies to the voltage that the winding after commutation applies
On the basis of pressure, increases 1/4 of the operating voltage without Hall brushless DC motor, improve the sound of no Hall brushless DC motor
Between seasonable.
Artificially apply a synchronism switching signal constantly accelerated by low frequency to high frequency to no Hall brushless DC motor,
And voltage is also being constantly increasing, i.e., while incrementally increasing applied voltage, improves the frequency of commutation, this frequency and voltage boosting
Mode can be improved starting speed, and can guarantee also can normal quick start when external loading is very big.
Fig. 3 gives the method for the present invention and existing traditional three-stage Starting mode (that is: finds the initial position of motor；
The fixation accelerator of speed；Stable travels at the uniform speed) starting speed compare, from figure 3, it can be seen that the method for the present invention
It is rapider to start speed, it is sufficient to illustrate that the method for the present invention is effective.
Claims (4)
1. a kind of starting method of no Hall brushless DC motor, it is characterised in that the following steps are included:
1. determining the initial position when stationary rotor without Hall brushless DC motor, detailed process are as follows:
1. _ 1, accessing DC power supply to no Hall brushless DC motor；
1. so that A, B, C three-phase windings of no Hall brushless DC motor is successively powered under identical voltage, and measure every phase around
Electrical current when group is powered；
1. _ 3, finding out the maximum winding of electrical current, magnetic field and the rotor of the stator of no Hall brushless DC motor are indicated
Angle be 0 degree, obtain initial position when stationary rotor without Hall brushless DC motor；
2. keeping no Hall brushless DC motor fast after the initial position when determining the stationary rotor without Hall brushless DC motor
Fast normal starting, detailed process are as follows:
2. _ 1, applying voltage to the smallest winding of electrical current；
2. _ 2, detecting the counter electromotive force at the free end of hanging winding；Then judgement, which detects the waveform of obtained counter electromotive force, is
It is no to run waveform to be effective, if it is, determine that the start-up course without Hall brushless DC motor terminates, no Hall brushless direct current
Motor will enter normal operating phase；Otherwise, step is executed 2. _ 3；
The step 2. _ 2 in effective operation waveform refer to the wave of back-emf voltage rise time or voltage falling time
The time of shape, waveform variation is in 1/2 to 4/3 range of last commutation time；
2. _ 3, carrying out commutation after reaching commutation time for providing, commutation while, improves the electricity applied to the winding after commutation
Pressure；When then judging minimum when whether this commutation time is less than the minimum speed that no Hall brushless DC motor operates normally
Between, if it is, being kept for the time of commutation next time identical as this commutation time, returns again to step and 2. _ 2 continue to execute；Otherwise,
The time of commutation next time is determined as the 3/4 of this commutation time, step is returned again to and 2. _ 2 continues to execute.
2. a kind of starting method of no Hall brushless DC motor according to claim 1, it is characterised in that the step
Suddenly 1. _ 2 in every phase winding be powered voltage be less than or equal to the operating voltage without Hall brushless DC motor 1/10.
3. a kind of starting method of no Hall brushless DC motor according to claim 1 or 2, it is characterised in that described
Step 2. _ 1 in 1/4 that the voltage that the smallest winding of electrical current applies is the operating voltage without Hall brushless DC motor to
1/3。
4. a kind of starting method of no Hall brushless DC motor according to claim 3, it is characterised in that the step
Suddenly 2. _ 3 in commutation time for providing for the first time be 3 times of the commutation time of effective minimum speed without Hall brushless DC motor；
It is to increase straight without Hall brushless on the basis of the voltage that the winding before to commutation applies to the voltage that the winding after commutation applies
The 1/4 of the operating voltage of galvanic electricity machine.
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| CN201710652079.XA CN107482966B (en) | 2017-08-02 | 2017-08-02 | A kind of starting method of no Hall brushless DC motor |
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| CN201710652079.XA CN107482966B (en) | 2017-08-02 | 2017-08-02 | A kind of starting method of no Hall brushless DC motor |
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| CN107482966B true CN107482966B (en) | 2019-08-20 |
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| CN111585482B (en) * | 2020-04-22 | 2022-06-17 | 华帝股份有限公司 | Control method of brushless direct current motor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103078573A (en) * | 2013-02-05 | 2013-05-01 | 安徽中家智锐科技有限公司 | Starting method of brushless DC (Direct Current) motor without Hall sensor |
| CN103647484A (en) * | 2013-12-24 | 2014-03-19 | 南京航空航天大学 | Full-speed position-less sensor technology for aviation starting power generation system |
| CN104378030A (en) * | 2014-10-31 | 2015-02-25 | 张前 | Permanent magnet brushless motor sensorless starting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6995530B2 (en) * | 2004-04-22 | 2006-02-07 | International Business Machines Corporation | System, method, and an article of manufacture for starting a brushless direct current motor |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103078573A (en) * | 2013-02-05 | 2013-05-01 | 安徽中家智锐科技有限公司 | Starting method of brushless DC (Direct Current) motor without Hall sensor |
| CN103647484A (en) * | 2013-12-24 | 2014-03-19 | 南京航空航天大学 | Full-speed position-less sensor technology for aviation starting power generation system |
| CN104378030A (en) * | 2014-10-31 | 2015-02-25 | 张前 | Permanent magnet brushless motor sensorless starting method |
Non-Patent Citations (1)
| Title |
|---|
| 《无位置传感器无刷直流电机闭环起动方法》;王强等;《电机与控制学报》;20131130;第17卷(第11期);全文 |
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