CN107508509A - Control method for brushless direct current motor and device and its low-speed heave-load control method - Google Patents

Control method for brushless direct current motor and device and its low-speed heave-load control method Download PDF

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Publication number
CN107508509A
CN107508509A CN201710685125.6A CN201710685125A CN107508509A CN 107508509 A CN107508509 A CN 107508509A CN 201710685125 A CN201710685125 A CN 201710685125A CN 107508509 A CN107508509 A CN 107508509A
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China
Prior art keywords
motor
brshless
current
speed
low
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CN201710685125.6A
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CN107508509B (en
Inventor
王茗倩
顾卫杰
吴红亚
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Changzhou Vocational Institute of Mechatronic Technology
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Changzhou Vocational Institute of Mechatronic Technology
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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
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed

Abstract

The present invention relates to a kind of control method for brushless direct current motor and device and its low-speed heave-load control method, wherein brshless DC motor low-speed heave-load control method by the given value of current value of brshless DC motor and the comparative result of the current average of brshless DC motor, with control the combination of brshless DC motor hall signal open corresponding to power tube be turned on and off.Brshless DC motor is still exported for a long time under low-speed heave-load operating mode and torque as big as possible is provided, and effectively reduce the switching frequency of power tube, reduce control system heating, lift efficiency.

Description

Control method for brushless direct current motor and device and its low-speed heave-load control method
Technical field
The present invention relates to field of electrical control, in particular to a kind of control method for brushless direct current motor and device and Its low-speed heave-load control method.
Background technology
In recent years, brshless DC motor with its original small volume, in light weight, efficiency high, torque is big, good speed adjustment features are all More advantages obtain a wide range of applications in fields such as household electrical appliances, robot, electric cars.Under electric car low-speed heave-load operating mode, due to work( The limitation of rate pipe performance, brushless DC motor control system easily enter overcurrent protection and can not normal work, leisure opinion obtains full The control performance of meaning.For example, when and distance longer hill path, bridge etc. larger by the gradient in electric car of riding, due to brushless Direct current generator is under low-speed heave-load operating mode, is often occurred and is not yet reached top of the slope and motor enters overcurrent protection so that be electronic Car thoroughly runs out of steam, and under gravity, easily causes motor to reverse so as to trigger the tragedy of car crash.
How to solve the above problems, be that current manufacturer is urgently to be resolved hurrily.
The content of the invention
It is an object of the invention to provide a kind of control method for brushless direct current motor and device and its low-speed heave-load control method, Easily enter overcurrent protection to solve the limitation brushless DC motor control system under low-speed heave-load operating mode due to power tube performance And can not normal work the problem of.
To achieve these goals, the technical scheme that the embodiment of the present invention uses is as follows：
The invention provides a kind of brshless DC motor low-speed heave-load control method, given by the electric current of brshless DC motor The comparative result of the current average of definite value and brshless DC motor, to control the combination of brshless DC motor hall signal to open pair The power tube answered is turned on and off.
Present invention also offers a kind of control method for brushless direct current motor, enters low-speed heave-load in judgement brshless DC motor After operating mode, low-speed heave-load control is carried out to brshless DC motor by above-mentioned brshless DC motor low-speed heave-load control method.
It is brushless for judging present invention also offers a kind of control device for brushless direct current machine, including operating mode determination module Whether direct current generator enters low-speed heave-load operating mode；
Processing module, for after judging that brshless DC motor enters low-speed heave-load operating mode, passing through brshless DC motor The comparative result of the current average of given value of current value and brshless DC motor, to control brshless DC motor hall signal to combine Power tube corresponding to opening is turned on and off.
Compared with prior art, beneficial effects of the present invention are as follows：
The invention provides control method for brushless direct current motor and device and its low-speed heave-load control method, wherein brushless straight Stream motor low-speed heave-load control method passes through the given value of current value of brshless DC motor and the current average of brshless DC motor Comparative result, with control brshless DC motor hall signal combination open corresponding to power tube be turned on and off.Make brushless straight Offer torque as big as possible can still be exported for a long time under low-speed heave-load operating mode by flowing motor, and effectively reduce the switch of power tube Frequency, control system heating is reduced, lifts efficiency.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows brshless DC motor low-speed heave-load control method flow chart provided in an embodiment of the present invention.
Fig. 2 is the sub-step flow chart of the step S230 shown in Fig. 1.
Fig. 3 is the sub-step flow chart of the step S212 shown in Fig. 2.
Fig. 4 shows control method for brushless direct current motor flow chart provided in an embodiment of the present invention.
Fig. 5 shows the block diagram of control device for brushless direct current machine provided in an embodiment of the present invention.
Fig. 6 shows that the square frame of the operating mode determination module of control device for brushless direct current machine provided in an embodiment of the present invention shows It is intended to.
Fig. 7 shows the square frame signal of the processing module of control device for brushless direct current machine provided in an embodiment of the present invention Figure.
In figure：100- control device for brushless direct current machine；110- operating mode determination modules；111- detection sub-modules；112- sentences Stator modules；120- processing modules；121- first sets submodule；122- second sets submodule；123- compares submodule.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
The technical scheme of the above embodiment of the present invention is described in detail using several specific embodiments below.
First embodiment
Referring to Fig. 1, Fig. 1 shows brshless DC motor low-speed heave-load control method flow provided in an embodiment of the present invention Figure.This method by the given value of current value of brshless DC motor and the comparative result of the current average of brshless DC motor, with The hall signal combination of control brshless DC motor is opened corresponding power tube and is turned on and off.
The method for obtaining the comparative result comprises the following steps：
S210：Set the given value of current value Iset。
It is I to define given value of current valueset。
S220：Set the current average Ip。
The volume current average of brshless DC motor is defined as Ip, obtain brshless DC motor from into low-speed heave-load The initial time of operating mode is risen in per the 0.1L/R electrical time cycles, the current average I of brshless DC motorp；And electric current is put down Average IpInitial value for brshless DC motor enter low-speed heave-load operating mode initial time current values, current average IpNumber Value updates once per the 0.1L/R electrical time cycles.
S230：By given value of current value IsetWith current average IpIt is compared, if given value of current value IsetMore than or equal to electricity Levelling average Ip, then corresponding power tube is opened according to the combination of brshless DC motor hall signal；If given value of current value IsetIt is less than Current average Ip, then all power tubes are turned off.
By given value of current value IsetWith current average IpIt is compared, if given value of current value IsetIt is averaged more than or equal to electric current Value Ip, then corresponding power tube is opened according to the combination of brshless DC motor hall signal；If given value of current value IsetPut down less than electric current Average Ip, then all power tubes are turned off.
Referring to Fig. 2, step S210 is further comprising the steps of：
S211：It is brushless straight out of the initial time electrical time cycle that enter low-speed heave-load operating mode to obtain brshless DC motor Flow the rotating speed average value S of motorp。
S212：According to the rotating speed average value SpCalculate the given value of current value Iset。
By brshless DC motor from enter low-speed heave-load operating mode the initial time electrical time cycle in brushless dc The rotating speed average value S of machinepCalculate the given value of current value Iset。
Referring to Fig. 3, step S212 is including following further comprising the steps of：
S2121：Transfer the rated operational current I of power tubee。
The rated operational current I of power tube is transferred from datae。
S2122：Transfer the rated speed N of brshless DC motore。
The rated speed N of brshless DC motor is transferred from datae
S2123：Given value of current value Iset=(- 5Ie*Sp/Ne)+Ie, and SpBe initially set to 0.1Ne。
Given value of current value Iset=(- 5Ie*Sp/Ne)+Ie, and SpBe initially set to 0.1Ne, i.e. IsetAnd SpNumerical value do not have The L/R electrical time cycles update once.
Second embodiment
Referring to Fig. 4, Fig. 4 shows a kind of control method for brushless direct current motor flow chart provided in an embodiment of the present invention. For this method after judging that brshless DC motor enters low-speed heave-load operating mode, the brshless DC motor provided by first embodiment is low The heavily loaded control method of speed carries out low-speed heave-load control to brshless DC motor.
Judge that brshless DC motor comprises the following steps into the method for low-speed heave-load operating mode：
S310：Detect the output voltage V of speed control crankoWith brshless DC motor rotating speed S.
By the output voltage V for detecting speed control crankoWhether brshless DC motor is drawn with brshless DC motor rotating speed S Into low-speed heave-load operating mode.
S320：If the output voltage VoDuration T in maximumoNot less than 3s, and brshless DC motor turns Fast S is not more than the rated speed N of brshless DC motore10% when, judge brshless DC motor enter low-speed heave-load operating mode；It is no Then, judge that brshless DC motor is introduced into low-speed heave-load operating mode.
The output voltage V that will be detectedoContrasted with maximum, when the duration T in maximumoDuring not less than 3s, To rotating speed S and rated speed Ne10% contrast, so that it is guaranteed that brshless DC motor really be in low-speed heave-load operating mode under；It is no Then, brshless DC motor is introduced into low-speed heave-load operating mode.
In the present invention, V is setoDuration in maximum is not less than 3S, and the rotating speed S of brshless DC motor is little In the rated speed N of brshless DC motore10%, can be other numerical value in other embodiments.
3rd embodiment
Referring to Fig. 5, the embodiments of the invention provide a kind of control device for brushless direct current machine 100.Brshless DC motor Control device 100 includes operating mode determination module 110 and processing module 120.
Operating mode determination module 110, for judging whether brshless DC motor enters low-speed heave-load operating mode.
In embodiments of the present invention, operating mode determination module 110 can be used for performing second embodiment provided it is brushless straight Flow motor control method.
Processing module 120 can be a kind of IC chip, have signal handling capacity.Above-mentioned processing module 120 Can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor, application specific integrated circuit, field programmable gate array Either other PLDs, discrete gate or transistor logic, discrete hardware components.It can realize or perform Disclosed each method, step and logic diagram in the embodiment of the present invention.General processor can be microprocessor or this at It can also be any conventional processor etc. to manage module 120.
Specifically, processing module 120 is used for after judging that brshless DC motor enters low-speed heave-load operating mode, by brushless straight The comparative result of the given value of current value of motor and the current average of brshless DC motor is flowed, to control brshless DC motor Hall Signal group is run logical corresponding power tube jointly and is turned on and off.
In embodiments of the present invention, processing module 120 can be used for entering low-speed heave-load work in judgement brshless DC motor After condition, the brshless DC motor low-speed heave-load control method that first embodiment is provided is performed.
Referring to Fig. 6, operating mode determination module 110 includes detection sub-module 111 and decision sub-module 112.
Detection sub-module 111, for detecting the output voltage V of speed control crankoWith brshless DC motor rotating speed S.
In embodiments of the present invention, detection sub-module 111 can be used for performing step S310.
Decision sub-module 112, if for the output voltage VoDuration T in maximumoNot less than 3s, and nothing The rotating speed S of brushless motor is not more than the rated speed N of brshless DC motore10% when, judge brshless DC motor enter Low-speed heave-load operating mode；Otherwise, it is determined that brshless DC motor is introduced into low-speed heave-load operating mode.
In embodiments of the present invention, decision sub-module 112, can be used for performing step S320.
Set submodule 122 referring to Fig. 7, processing module 120 includes the first setting submodule 121, second and compare Submodule 123.
First setting submodule 121, for setting the given value of current value Iset。
In embodiments of the present invention, the first setting submodule 121 can be used for performing step S210.
Second setting submodule 122, for setting the current average Ip。
In embodiments of the present invention, the second setting submodule 122 can be used for performing step S220.
Submodule 123 is compared, for by given value of current value IsetWith current average IpIt is compared, if given value of current value IsetMore than or equal to current average Ip, then corresponding power tube is opened according to the combination of brshless DC motor hall signal；If electric current Set-point IsetLess than current average Ip, then all power tubes are turned off.
In embodiments of the present invention, submodule 123 is compared to can be used for performing step S230.
In summary, the invention provides a kind of control method for brushless direct current motor and device and its low-speed heave-load controlling party The given value of current value and brshless DC motor that method, wherein brshless DC motor low-speed heave-load control method pass through brshless DC motor Current average comparative result, with control brshless DC motor hall signal combination open corresponding to power tube open or close Close.Brshless DC motor is still exported for a long time under low-speed heave-load operating mode and torque as big as possible is provided, and effectively reduce The switching frequency of power tube, control system heating is reduced, lifts efficiency.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.

Claims (10)

  1. A kind of 1. brshless DC motor low-speed heave-load control method, it is characterised in that including
    By the given value of current value of brshless DC motor and the comparative result of the current average of brshless DC motor, to control nothing The combination of brushless motor hall signal is opened corresponding power tube and is turned on and off.
  2. 2. brshless DC motor low-speed heave-load control method according to claim 1, it is characterised in that
    Obtaining the method for the comparative result includes：
    Set the given value of current value Iset；
    Set the current average Ip；
    By given value of current value IsetWith current average IpIt is compared, if given value of current value IsetMore than or equal to current average Ip, Corresponding power tube is then opened according to the combination of brshless DC motor hall signal；If given value of current value IsetLess than current average Ip, then all power tubes are turned off.
  3. 3. control method for brushless direct current motor as claimed in claim 2, it is characterised in that
    The given value of current value IsetAcquisition methods include：
    Obtain brshless DC motor brshless DC motor out of the initial time electrical time cycle that enter low-speed heave-load operating mode Rotating speed average value Sp；
    According to the rotating speed average value SpCalculate the given value of current value Iset。
  4. 4. control method for brushless direct current motor as claimed in claim 3, it is characterised in that described according to the rotating speed average value SpCalculate the given value of current value IsetThe step of include：
    Transfer the rated operational current I of power tubee；
    Transfer the rated speed N of brshless DC motore；And
    Given value of current value Iset=(- 5Ie*Sp/Ne)+Ie, and SpBe initially set to 0.1Ne。
  5. 5. control method for brushless direct current motor as claimed in claim 4, it is characterised in that
    The current average IpThe step of include：
    Obtain brshless DC motor from the initial time for entering low-speed heave-load operating mode in every 0.1L/R electrical times cycle, nothing The current average I of brushless motorp；And current average IpInitial value enter low-speed heave-load operating mode for brshless DC motor The current values of initial time.
  6. A kind of 6. control method for brushless direct current motor, it is characterised in that including：
    After judging that brshless DC motor enters low-speed heave-load operating mode, by brushless straight as described in claim any one of 1-5 Flow motor low-speed heave-load control method and low-speed heave-load control is carried out to brshless DC motor.
  7. 7. control method for brushless direct current motor according to claim 6, it is characterised in that
    It is described to judge that brshless DC motor includes into the method for low-speed heave-load operating mode：
    Detect the output voltage V of speed control crankoWith brshless DC motor rotating speed S；
    If the output voltage VoDuration T in maximumoRotating speed S not less than 3s, and brshless DC motor is not more than The rated speed N of brshless DC motore10% when, judge brshless DC motor enter low-speed heave-load operating mode；Otherwise, it is determined that nothing Brushless motor is introduced into low-speed heave-load operating mode.
  8. A kind of 8. control device for brushless direct current machine, it is characterised in that including：
    Operating mode determination module, for judging whether brshless DC motor enters low-speed heave-load operating mode；
    Processing module, for after judging that brshless DC motor enters low-speed heave-load operating mode, passing through the electric current of brshless DC motor The comparative result of the current average of set-point and brshless DC motor, to control the combination of brshless DC motor hall signal open-minded Corresponding power tube is turned on and off.
  9. 9. control device for brushless direct current machine as claimed in claim 8, it is characterised in that
    The operating mode determination module includes：
    Detection sub-module, for detecting the output voltage V of speed control crankoWith brshless DC motor rotating speed S；
    Decision sub-module, if for the output voltage VoDuration T in maximumoNot less than 3s, and brushless dc The rotating speed S of machine is not more than the rated speed N of brshless DC motore10% when, judge brshless DC motor enter low-speed heave-load Operating mode；Otherwise, it is determined that brshless DC motor is introduced into low-speed heave-load operating mode.
  10. 10. control device for brushless direct current machine as claimed in claim 8, it is characterised in that
    The processing module includes：
    First setting submodule, for setting the given value of current value Iset；
    Second setting submodule, for setting the current average Ip；
    Submodule is compared, for by given value of current value IsetWith current average IpIt is compared, if given value of current value IsetMore than etc. In current average Ip, then corresponding power tube is opened according to the combination of brshless DC motor hall signal；If given value of current value Iset Less than current average Ip, then all power tubes are turned off.
CN201710685125.6A 2017-08-11 2017-08-11 Brushless direct current motor control method and device and low-speed heavy-load control method thereof Active CN107508509B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108223401A (en) * 2017-12-30 2018-06-29 盛瑞传动股份有限公司 Electric pump load too high method for diagnosing faults and device
CN108266364A (en) * 2017-12-30 2018-07-10 盛瑞传动股份有限公司 Electric pump load too low method for diagnosing faults and device

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JPH01274688A (en) * 1988-04-25 1989-11-02 Mitsubishi Electric Corp Overload detector
CN1787359A (en) * 2004-12-08 2006-06-14 Lg电子株式会社 Method of controlling motor drive speed
US20080048599A1 (en) * 2006-07-13 2008-02-28 Ho Eddy Y Y Signal conditioning apparatus and method for determination of permanent magnet motor rotor position
CN101501952A (en) * 2006-07-31 2009-08-05 丹纳赫传动有限责任公司 Overload prevention device for permanent magnet DC motors
CN104953903A (en) * 2015-06-30 2015-09-30 许继集团有限公司 AC (alternating current) synchronous motor and overload protection method thereof
CN204721273U (en) * 2015-06-29 2015-10-21 山东信合节能科技股份有限公司 A kind of can according to the system of load regulation motor speed
CN106936365A (en) * 2015-12-31 2017-07-07 南京德朔实业有限公司 The control method of motor in snowplough

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01274688A (en) * 1988-04-25 1989-11-02 Mitsubishi Electric Corp Overload detector
CN1787359A (en) * 2004-12-08 2006-06-14 Lg电子株式会社 Method of controlling motor drive speed
US20080048599A1 (en) * 2006-07-13 2008-02-28 Ho Eddy Y Y Signal conditioning apparatus and method for determination of permanent magnet motor rotor position
CN101501952A (en) * 2006-07-31 2009-08-05 丹纳赫传动有限责任公司 Overload prevention device for permanent magnet DC motors
CN204721273U (en) * 2015-06-29 2015-10-21 山东信合节能科技股份有限公司 A kind of can according to the system of load regulation motor speed
CN104953903A (en) * 2015-06-30 2015-09-30 许继集团有限公司 AC (alternating current) synchronous motor and overload protection method thereof
CN106936365A (en) * 2015-12-31 2017-07-07 南京德朔实业有限公司 The control method of motor in snowplough

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108223401A (en) * 2017-12-30 2018-06-29 盛瑞传动股份有限公司 Electric pump load too high method for diagnosing faults and device
CN108266364A (en) * 2017-12-30 2018-07-10 盛瑞传动股份有限公司 Electric pump load too low method for diagnosing faults and device
CN108223401B (en) * 2017-12-30 2020-03-10 盛瑞传动股份有限公司 Electric pump overload fault diagnosis method and device

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