CN107482968B - control method for improving motion precision of direct current motor - Google Patents
control method for improving motion precision of direct current motor Download PDFInfo
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- CN107482968B CN107482968B CN201710764888.XA CN201710764888A CN107482968B CN 107482968 B CN107482968 B CN 107482968B CN 201710764888 A CN201710764888 A CN 201710764888A CN 107482968 B CN107482968 B CN 107482968B
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- hall signal
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- falling edge
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/0094—Arrangements for regulating or controlling the speed or torque of electric DC motors wherein the position is detected using the ripple of the current caused by the commutator
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
the invention discloses a control method for improving the motion precision of a direct current motor, which comprises the following steps: (a) when the rising edge and the falling edge of the Hall signal A or the Hall signal B are normal trigger signals respectively, the counter is increased by one counting unit, and level state values of the Hall signal A and the Hall signal B corresponding to the Hall signal A or the Hall signal B in front of the rising edge and the falling edge are recorded; and if the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal A or the Hall signal B do not correspond to the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal A or the Hall signal B as the normal trigger signal, the signal is an abnormal trigger signal, and the counter is decreased by one counting unit. The invention optimizes the acquisition of Hall signals, thereby realizing the accurate control of the motion precision of the direct current motor.
Description
Technical Field
the invention belongs to the technical field of electromechanical control, and particularly relates to a control method for improving the motion precision of a direct current motor.
background
the motor can output a Hall signal every time the motor rotates a preset angle, and the rotating speed, the running step length and the like of the motor can be calculated by counting the number of the Hall signals output by the motor, so that the motor is correspondingly controlled. The motor is controlled by the controller, and Hall signals output by the motor are collected by the controller. In the prior art, each time a controller collects a group of rising edges and falling edges, the controller considers that the motor outputs one Hall signal, and the number of the Hall signals output by the motor is counted by counting the number of the rising edges and the falling edges. The signal processing mode is that the edge triggering of two paths of Hall signals is used as the basis of counting, thereby realizing the control of the motor.
However, under the influence of the performance and working environment of the motor, an interference signal (for example, a narrow pulse signal) is often mixed in the hall signal output by the motor, and when the hall signal has the interference signal and the motor rotates forward and reversely, the hall signal is counted for many times, and as a result, the counting deviation is increased. Therefore, the number of hall signals obtained by counting by adopting the method for detecting the rising edge and the falling edge cannot accurately reflect the number of hall signals actually output by the motor, so that errors occur in the motor rotating speed or the operation step length and the like calculated according to the counting result, and the subsequent control errors of the motor are caused.
Disclosure of Invention
in order to solve the problems, the invention provides a control method for improving the motion precision of a direct current motor, which optimizes the acquisition of Hall signals and realizes the precise control of the motion precision of the direct current motor.
the technical scheme of the invention is as follows: a control method for improving motion precision of a direct current motor comprises the following steps:
(a) when the rising edge and the falling edge of the Hall signal A are normal trigger signals respectively, the counter increases a counting unit, and level state values of the Hall signal A and the Hall signal B corresponding to the Hall signal A in the front of the rising edge and the falling edge are recorded;
(b) when the rising edge and the falling edge of the Hall signal B are normal trigger signals respectively, the counter increases a counting unit, and level state values of the Hall signal A and the Hall signal B corresponding to the Hall signal B in front of the rising edge and the falling edge are recorded;
(c) if the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal A do not correspond to the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal A as a normal trigger signal, the signal is an abnormal trigger signal, and the counter is decreased by one counting unit;
(d) And if the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal B do not correspond to the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal B as the normal trigger signal, the signal is an abnormal trigger signal, and the counter is decreased by one counting unit.
The invention judges the direction of the rising edge and the falling edge of the Hall signal A and the Hall signal B, if the direction judgment is accurate, the signals are normal trigger signals, for example, if the normal trigger signals are forward rotation trigger signals, the abnormal trigger signals are reverse rotation trigger signals.
Preferably, the method for detecting the normal trigger signal in the step (a) and the step (b) includes:
(1) Reading a high level state value and a low level state value of the Hall signal A and the Hall signal B as initial values;
(2) when the rising edge of the Hall signal A is detected, judging that the Hall signal A is a normal trigger signal according to the high-level state value and the low-level state value of the Hall signal A in the step (1), increasing a counting unit by the numerical value of a counter, and recording the level state values of the Hall signal A and the Hall signal B corresponding to the rising edge of the Hall signal A at this time;
(3) When the rising edge of the Hall signal B is detected, judging that the Hall signal B is a normal trigger signal according to the Hall signal A and the level state value of the Hall signal B recorded in the step (2), increasing a counting unit by the counter value, and recording the Hall signal A and the level state value of the Hall signal B corresponding to the rising edge of the Hall signal B at the time;
(4) when the falling edge of the Hall signal A is detected, judging that the Hall signal A is a normal trigger signal according to the level state values of the Hall signal A and the Hall signal B recorded in the step (3), increasing a counting unit by the counter value, and recording the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal A at this time;
(5) and (4) when the falling edge of the Hall signal B is detected, judging that the Hall signal B is a normal trigger signal according to the Hall signal A and the level state value of the Hall signal B recorded in the step (4), increasing a counting unit by the counter value, and recording the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal B at this time.
Compared with the prior art, the invention has the beneficial effects that:
compared with the traditional edge counting, the method increases one-time direction judgment, thereby realizing the filtering effect, having more accurate counting, and avoiding the accumulated deviation of pulse calculation caused by external interference or repeated switching of positive and negative rotation. Therefore, the invention optimizes the acquisition of the Hall signal, thereby realizing the accurate control of the motion precision of the direct current motor.
Drawings
fig. 1 is a waveform diagram of a hall signal without jitter and interference when a clock motor of the present invention is operated.
FIG. 2 is a waveform diagram of Hall signals when the motor of the present invention is in operation and is subject to interference.
fig. 3 is a waveform diagram of hall signals under the condition of commutation jitter when the motor of the invention is in operation.
Detailed Description
Example 1 (case without jitter and interference)
When the motor is operated in the forward direction and no vibration or interference exists, fig. 1 is a waveform diagram of a hall signal under the condition of no vibration or interference. The detection steps are as follows:
(1) Reading a high level state value and a low level state value of the Hall signal A and the Hall signal B as initial values;
(2) When the rising edge of the Hall signal A is detected, judging that the Hall signal A is a forward rotation trigger signal according to the high level state value and the low level state value of the Hall signal A in the step (1), increasing a counting unit by the numerical value of a counter, and recording the level state values of the Hall signal A and the Hall signal B corresponding to the rising edge of the Hall signal A at this time;
(3) When the rising edge of the Hall signal B is detected, judging that the Hall signal B is a forward rotation trigger signal according to the Hall signal A and the level state value of the Hall signal B recorded in the step (2), increasing a counting unit by the counter value, and recording the Hall signal A and the level state value of the Hall signal B corresponding to the Hall signal B before the rising edge;
(4) When the falling edge of the Hall signal A is detected, judging that the Hall signal A is a forward rotation trigger signal according to the level state values of the Hall signal A and the Hall signal B recorded in the step (3), increasing a counting unit by the counter value, and recording the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal A at this time;
(5) And (4) when the falling edge of the Hall signal B is detected, judging that the Hall signal B is a forward rotation trigger signal according to the Hall signal A and the level state value of the Hall signal B recorded in the step (4), increasing a counting unit by the counter value, and recording the Hall signal A and the level state value of the Hall signal B corresponding to the falling edge of the Hall signal B at the time.
example 2 (case of interference)
when the motor of the embodiment is operated in the forward rotation mode and encounters interference, fig. 2 is a waveform diagram of a hall signal under the interference condition, and the detection steps are as follows:
The pulse state of the Hall signal A and the pulse state of the Hall signal B before the interference signal 1 are that the Hall signal A is in a high level position state, the Hall signal B is in a low level position state, when the Hall signal B receives a rising edge signal of the interference signal 1, the Hall signal A and the Hall signal B are both in the high level position state, the state of the last forward rotation trigger signal is compared, the forward rotation signal is judged, so that the counter is increased by a counting unit, and the signal state values of the Hall signal A and the Hall signal B at this time are recorded again; then detecting the falling edge of the Hall signal B, comparing the state of the last forward rotation trigger signal, and judging that the falling edge is the reverse rotation trigger signal, so that the counter is reduced by one unit, and re-recording the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal B; the interference section is followed by the rising edge of the hall signal B, and likewise, a forward rotation trigger signal is detected, and the counter is incremented by one count unit.
The interference section of the interference signal 2 is preceded by a state that the Hall signal A and the Hall signal B are both in low level positions, the first interference trigger is the rising edge of the Hall signal A, the signal can be judged to be a forward trigger signal by comparing the state of the forward trigger signal at the last time, the counter is added with a counting unit and then is the falling edge of the Hall signal A, the same method is adopted to compare to obtain a reverse trigger signal, the counter subtracts one counting unit and then is the rising edge of the Hall signal A, and the counter is added with one unit.
from the above, the final count of the interference signals 1 and 2 is increased by one count unit and then decreased by another count unit, as in the case of no interference.
Example 3 (case of reversing with dithering)
if the motor is commutating during operation in embodiment 1, fig. 3 is a waveform diagram of hall signals during commutation jitter of the motor.
in this embodiment, as shown in fig. 3, before the phase-change jitter state, the states of the hall signal a and the hall signal B are the state where the hall signal a is at the high level and the state where the hall signal B is at the low level, respectively. The jittering signals are all signals of the Hall signal B and are respectively a rising edge, a falling edge, a rising edge and a falling edge. Also, the contrast state is normal rotation, reverse rotation, normal rotation, reverse rotation. The total number of count units counted by the final counter remains unchanged as the positive rotation increases and the negative rotation decreases.
Claims (1)
1. A control method for improving motion precision of a direct current motor is characterized by comprising the following steps:
(a) When the rising edge and the falling edge of the Hall signal A are normal trigger signals respectively, the counter increases a counting unit, and level state values of the Hall signal A and the Hall signal B corresponding to the Hall signal A in the front of the rising edge and the falling edge are recorded;
(b) When the rising edge and the falling edge of the Hall signal B are normal trigger signals respectively, the counter increases a counting unit, and level state values of the Hall signal A and the Hall signal B corresponding to the Hall signal B in front of the rising edge and the falling edge are recorded;
(c) If the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal A do not correspond to the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal A as a normal trigger signal, the signal is an abnormal trigger signal, and the counter is decreased by one counting unit;
(d) If the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal B do not correspond to the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal B as a normal trigger signal, the signal is an abnormal trigger signal, and the counter is decreased by one counting unit;
The method for detecting the normal trigger signal in the step (a) and the step (b) comprises the following steps:
(1) reading a high level state value and a low level state value of the Hall signal A and the Hall signal B as initial values;
(2) When the rising edge of the Hall signal A is detected, judging that the Hall signal A is a normal trigger signal according to the high-level state value and the low-level state value of the Hall signal A in the step (1), increasing a counting unit by the numerical value of a counter, and recording the level state values of the Hall signal A and the Hall signal B corresponding to the rising edge of the Hall signal A at this time;
(3) when the rising edge of the Hall signal B is detected, judging that the Hall signal B is a normal trigger signal according to the Hall signal A and the level state value of the Hall signal B recorded in the step (2), increasing a counting unit by the counter value, and recording the Hall signal A and the level state value of the Hall signal B corresponding to the rising edge of the Hall signal B at the time;
(4) When the falling edge of the Hall signal A is detected, judging that the Hall signal A is a normal trigger signal according to the level state values of the Hall signal A and the Hall signal B recorded in the step (3), increasing a counting unit by the counter value, and recording the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal A at this time;
(5) and (4) when the falling edge of the Hall signal B is detected, judging that the Hall signal B is a normal trigger signal according to the Hall signal A and the level state value of the Hall signal B recorded in the step (4), increasing a counting unit by the counter value, and recording the level state values of the Hall signal A and the Hall signal B corresponding to the falling edge of the Hall signal B at this time.
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| CN107482968B true CN107482968B (en) | 2019-12-17 |
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| CN109780983A (en) * | 2019-03-21 | 2019-05-21 | 安图实验仪器(郑州)有限公司 | Stepper motor real time position detection system and its method with Adding Direction-Judging Function |
| CN110142965B (en) * | 2019-05-17 | 2021-07-27 | 珠海赛纳三维科技有限公司 | Servo motor drive circuit and 3D printing device |
| CN116080745A (en) * | 2023-01-05 | 2023-05-09 | 北京汽车集团越野车有限公司 | Control method capable of improving position accuracy of electric adjustment steering column and automobile |
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| CN101227162A (en) * | 2007-01-17 | 2008-07-23 | 凌阳科技股份有限公司 | Method and apparatus for driving under random connection and automatically distinguishing phase of brushless DC motor |
| CN105790652A (en) * | 2016-04-28 | 2016-07-20 | 广东威灵电机制造有限公司 | Hall signal identification method used for motor control system and apparatus thereof |
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| CN108226563A (en) * | 2018-01-08 | 2018-06-29 | 燕山大学 | A kind of motor speed measuring method and apparatus |
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| JP6498414B2 (en) * | 2014-10-22 | 2019-04-10 | ローム株式会社 | Fan motor drive device and cooling device and electronic equipment using the same |
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Patent Citations (4)
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| CN101227162A (en) * | 2007-01-17 | 2008-07-23 | 凌阳科技股份有限公司 | Method and apparatus for driving under random connection and automatically distinguishing phase of brushless DC motor |
| CN105790652A (en) * | 2016-04-28 | 2016-07-20 | 广东威灵电机制造有限公司 | Hall signal identification method used for motor control system and apparatus thereof |
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