CN107508509B - Brushless direct current motor control method and device and low-speed heavy-load control method thereof - Google Patents
Brushless direct current motor control method and device and low-speed heavy-load control method thereof Download PDFInfo
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- CN107508509B CN107508509B CN201710685125.6A CN201710685125A CN107508509B CN 107508509 B CN107508509 B CN 107508509B CN 201710685125 A CN201710685125 A CN 201710685125A CN 107508509 B CN107508509 B CN 107508509B
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- brushless
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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 invention relates to a brushless direct current motor control method and device and a low-speed heavy-load control method thereof, wherein the brushless direct current motor low-speed heavy-load control method controls the Hall signal combination of a brushless direct current motor to open or close a corresponding power tube according to the comparison result of the current set value of the brushless direct current motor and the current average value of the brushless direct current motor. The brushless direct current motor can still output and provide torque as much as possible for a long time under the working condition of low speed and heavy load, the switching frequency of the power tube is effectively reduced, the heating of a control system is reduced, and the electric energy utilization efficiency is improved.
Description
Technical Field
The invention relates to the field of electrical control, in particular to a brushless direct current motor control method and device and a low-speed heavy-load control method thereof.
Background
In recent years, brushless dc motors have been widely used in the fields of home appliances, robots, electric vehicles, etc. due to their unique advantages of small size, light weight, high efficiency, large torque, and good speed regulation performance. Under the condition of low speed and heavy load of the electric vehicle, due to the limitation of the performance of the power tube, the brushless direct current motor control system can not work normally because of extremely easy access to overcurrent protection, and no mention is made of obtaining satisfactory control performance. For example, when the electric vehicle is ridden to pass through a mountain road, a bridge and the like with a large gradient and a long distance, because the brushless direct current motor is under a low-speed heavy-load working condition, the situation that the motor enters overcurrent protection before reaching the top of a slope often occurs, the electric vehicle completely loses power, and under the action of gravity, the motor is easy to reverse, so that tragedy of vehicle destruction and death is caused.
How to solve the above problems is a urgent need to be solved by manufacturers at present.
Disclosure of Invention
The invention aims to provide a brushless direct current motor control method and device and a low-speed heavy-load control method thereof, and aims to solve the problem that a brushless direct current motor control system is very easy to enter overcurrent protection and cannot work normally under the working condition of low speed heavy load due to the limitation of the performance of a power tube.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
the invention provides a brushless direct current motor low-speed heavy-load control method, which controls the opening or closing of a power tube corresponding to the opening of a brushless direct current motor Hall signal combination through the comparison result of a current set value of the brushless direct current motor and a current average value of the brushless direct current motor.
The invention also provides a brushless direct current motor control method, and after the brushless direct current motor is judged to enter the low-speed heavy-load working condition, the low-speed heavy-load control method of the brushless direct current motor is used for carrying out low-speed heavy-load control on the brushless direct current motor.
The invention also provides a brushless direct current motor control device, which comprises a working condition judging module, a control module and a control module, wherein the working condition judging module is used for judging whether the brushless direct current motor is in a low-speed heavy-load working condition or not;
and the processing module is used for controlling the Hall signal combination of the brushless DC motor to open or close the corresponding power tube through the comparison result of the current given value of the brushless DC motor and the current average value of the brushless DC motor after judging that the brushless DC motor enters the low-speed heavy-load working condition.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a brushless direct current motor control method and device and a low-speed heavy-load control method thereof, wherein the brushless direct current motor low-speed heavy-load control method controls the opening or closing of a power tube corresponding to the opening of a brushless direct current motor Hall signal combination through the comparison result of a current set value of the brushless direct current motor and the current average value of the brushless direct current motor. The brushless direct current motor can still output and provide torque as much as possible for a long time under the working condition of low speed and heavy load, the switching frequency of the power tube is effectively reduced, the heating of a control system is reduced, and the electric energy utilization efficiency is improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows a flowchart of a low-speed heavy-load control method for a brushless dc motor according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating sub-steps of step S230 shown in fig. 1.
Fig. 3 is a flowchart illustrating sub-steps of step S212 shown in fig. 2.
Fig. 4 shows a flowchart of a method for controlling a brushless dc motor according to an embodiment of the present invention.
Fig. 5 is a block diagram schematically illustrating a brushless dc motor control apparatus according to an embodiment of the present invention.
Fig. 6 is a block diagram illustrating an operation condition determination module of a brushless dc motor control apparatus according to an embodiment of the present invention.
Fig. 7 is a block diagram illustrating a processing module of a brushless dc motor control apparatus according to an embodiment of the present invention.
In the figure: 100-brushless DC motor control device; 110-a condition determination module; 111-a detection submodule; 112-a decision submodule; 120-a processing module; 121-a first setting submodule; 122-a second setting submodule; 123-alignment submodule.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The technical solution of the above embodiments of the present invention will be described in detail by using several specific embodiments.
First embodiment
Referring to fig. 1, fig. 1 is a flowchart illustrating a low-speed heavy-load control method for a brushless dc motor according to an embodiment of the present invention. According to the method, the corresponding power tube is controlled to be opened or closed by the combination of Hall signals of the brushless direct current motor through the comparison result of the current set value of the brushless direct current motor and the current average value of the brushless direct current motor.
The method for obtaining the comparison result comprises the following steps:
s210: setting the given value of current Iset。
Defining a given value of current as Iset。
S220: setting the current average value Ip。
Defining the rated current average value of the brushless DC motor as IpAcquiring the current average value I of the brushless direct current motor in every 0.1L/R electrical time period from the initial moment of entering the low-speed heavy-load working condition of the brushless direct current motorp(ii) a And the average value of the current IpThe initial value of (1) is the current value of the brushless DC motor at the initial moment when the brushless DC motor enters the low-speed heavy-load working condition, and the current average value IpThe value of (d) is updated every 0.1L/R electrical time period.
S230: setting the current to a given value IsetAnd the average value of the current IpComparing, if the current is given value IsetGreater than or equal to the average value of current IpThen, corresponding power tubes are switched on according to the Hall signal combination of the brushless direct current motor; if the given value of current IsetLess than the current average value IpAnd all power tubes are turned off.
Setting the current to a given value IsetAnd the average value of the current IpComparing, if the current is given value IsetGreater than or equal to the average value of current IpThen, corresponding power tubes are switched on according to the Hall signal combination of the brushless direct current motor; if the given value of current IsetLess than the current average value IpAnd all power tubes are turned off.
Referring to fig. 2, step S210 further includes the following steps:
s211: obtaining the average value S of the rotating speed of the brushless DC motor in the electric time period from the initial moment when the brushless DC motor enters the low-speed heavy-load working conditionp。
S212: according to the average value S of the rotating speedpCalculating the given value of current Iset。
Through a brushless DC motorAverage value S of rotating speed of brushless direct current motor in initial moment electrical time period of entering low-speed heavy-load working conditionpCalculating the given value of current Iset。
Referring to fig. 3, step S212 includes the following steps:
s2121: adjusting rated working current I of power tubee。
Calling rated working current I of power tube from datae。
S2122: adjusting the rated speed N of the brushless DC motore。
The rated speed N of the brushless DC motor is called from the datae
S2123: given value of current Iset＝(-5Ie*Sp/Ne)+IeAnd S ispIs initially set to 0.1Ne。
Given value of current Iset＝(-5Ie*Sp/Ne)+IeAnd S ispIs initially set to 0.1NeI.e. IsetAnd SpThe value of (d) is not updated once for the L/R electrical time period.
Second embodiment
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for controlling a brushless dc motor according to an embodiment of the present invention. After the method determines that the brushless direct current motor enters the low-speed heavy-load working condition, the low-speed heavy-load control method of the brushless direct current motor provided by the first embodiment is used for carrying out low-speed heavy-load control on the brushless direct current motor.
The method for judging the brushless direct current motor to enter the low-speed heavy-load working condition comprises the following steps of:
s310: detecting output voltage V of speed-regulating rotating handleoAnd a brushless dc motor speed S.
By detecting the output voltage V of the speed-regulating rotating handleoAnd the rotating speed S of the brushless DC motor is used for obtaining whether the brushless DC motor enters a low-speed heavy-load working condition or not.
S320: if the output voltage V isoDuration T at maximumoNot less than 3s and of brushless DC motorThe rotating speed S is not more than the rated rotating speed N of the brushless DC motoreWhen the speed is 10 percent, judging that the brushless direct current motor enters a low-speed heavy-load working condition; otherwise, judging that the brushless direct current motor does not enter a low-speed heavy-load working condition.
The detected output voltage VoIn comparison with the maximum value, when at the duration T of the maximum valueoWhen the rotating speed is not less than 3S, the rotating speed S and the rated rotating speed N are controlledeThe comparison is 10%, so that the brushless direct current motor is ensured to be really under the low-speed heavy-load working condition; otherwise, the brushless direct current motor does not enter a low-speed heavy-load working condition.
In the present invention, V is setoThe duration time at the maximum value is not less than 3S, and the rotating speed S of the brushless direct current motor is not more than the rated rotating speed N of the brushless direct current motore10% of the total weight of the composition, and in other embodiments, may be other values.
Third embodiment
Referring to fig. 5, an embodiment of the invention provides a brushless dc motor control device 100. The brushless dc motor control device 100 includes an operating condition determining module 110 and a processing module 120.
And the working condition judging module 110 is used for judging whether the brushless direct current motor enters a low-speed heavy-load working condition or not.
In an embodiment of the present invention, the operating condition determining module 110 may be configured to execute the method for controlling the brushless dc motor according to the second embodiment.
The processing module 120 may be an integrated circuit chip having signal processing capabilities. The Processing module 120 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processing module 120 may be any conventional processor or the like.
Specifically, the processing module 120 is configured to control the brushless dc motor to turn on or turn off the corresponding power tube by using the comparison result between the current set value of the brushless dc motor and the current average value of the brushless dc motor after determining that the brushless dc motor enters the low-speed heavy-load working condition.
In an embodiment of the present invention, the processing module 120 may be configured to execute the method for controlling the low-speed and heavy-load of the brushless dc motor according to the first embodiment after determining that the brushless dc motor enters the low-speed and heavy-load condition.
Referring to FIG. 6, the condition determination module 110 includes a detection submodule 111 and a determination submodule 112.
A detection submodule 111 for detecting the output voltage V of the speed-regulating rotating handleoAnd a brushless dc motor speed S.
In the embodiment of the present invention, the detection sub-module 111 may be configured to perform step S310.
A decision submodule 112 for deciding if the output voltage V isoDuration T at maximumoIs not less than 3S, and the rotating speed S of the brushless DC motor is not more than the rated rotating speed N of the brushless DC motoreWhen the speed is 10 percent, judging that the brushless direct current motor enters a low-speed heavy-load working condition; otherwise, judging that the brushless direct current motor does not enter a low-speed heavy-load working condition.
In this embodiment of the present invention, the determining submodule 112 may be configured to execute step S320.
Referring to fig. 7, the processing module 120 includes a first setting submodule 121, a second setting submodule 122 and a comparison submodule 123.
A first setting submodule 121 for setting said given current value Iset。
In the embodiment of the present invention, the first setting sub-module 121 may be configured to execute step S210.
A second setting submodule 122 for setting said current average value Ip。
In the embodiment of the present invention, the second setting sub-module 122 may be configured to execute step S220.
A specific pair submodule 123 for setting the current to a given value IsetAnd the average value of the current IpComparing, if the current is given value IsetGreater than or equal to the average value of current IpThen, corresponding power tubes are switched on according to the Hall signal combination of the brushless direct current motor; if the given value of current IsetLess than the current average value IpAnd all power tubes are turned off.
In the embodiment of the present invention, the sub-sub module 123 may be used to execute step S230.
In summary, the present invention provides a method and an apparatus for controlling a brushless dc motor and a method for controlling a low-speed heavy load thereof, wherein the method for controlling a low-speed heavy load of a brushless dc motor controls a hall signal combination of the brushless dc motor to turn on or off a corresponding power tube according to a comparison result between a current set value of the brushless dc motor and a current average value of the brushless dc motor. The brushless direct current motor can still output and provide torque as much as possible for a long time under the working condition of low speed and heavy load, the switching frequency of the power tube is effectively reduced, the heating of a control system is reduced, and the electric energy utilization efficiency is improved.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. A low-speed heavy-load control method for a brushless DC motor is characterized by comprising the following steps
Controlling the Hall signal combination of the brushless DC motor to open or close the corresponding power tube according to the comparison result of the current set value of the brushless DC motor and the current average value of the brushless DC motor;
the method for obtaining the comparison result comprises the following steps:
setting the given value of current Iset；
Setting the current average value Ip；
Setting the current to a given value IsetAnd the average value of the current IpThe comparison is carried out, and the comparison is carried out,if the given value of current IsetGreater than or equal to the average value of current IpThen, corresponding power tubes are switched on according to the Hall signal combination of the brushless direct current motor; if the given value of current IsetLess than the current average value IpAnd all power tubes are turned off.
2. The method for controlling the low speed and heavy load of the brushless DC motor according to claim 1,
given value of current IsetThe obtaining method comprises the following steps:
obtaining the average value S of the rotating speed of the brushless DC motor in the electric time period from the initial moment when the brushless DC motor enters the low-speed heavy-load working conditionp；
According to the average value S of the rotating speedpCalculating the given value of current Iset。
3. The method according to claim 2, wherein said average value S is based on said rotation speedpCalculating the given value of current IsetComprises the following steps:
adjusting rated working current I of power tubee；
Adjusting the rated speed N of the brushless DC motore(ii) a And
given value of current Iset＝(-5Ie*Sp/Ne)+IeAnd S ispIs initially set to 0.1Ne。
4. A brushless DC motor control method is characterized by comprising the following steps:
after determining that the brushless DC motor enters the low-speed heavy-load working condition, performing low-speed heavy-load control on the brushless DC motor by the low-speed heavy-load control method of the brushless DC motor according to any one of claims 1 to 3.
5. The brushless DC motor control method according to claim 4,
the method for judging the brushless direct current motor to enter the low-speed heavy-load working condition comprises the following steps:
detecting output voltage V of speed-regulating rotating handleoAnd the rotating speed S of the brushless DC motor;
if the output voltage V isoDuration T at maximumoIs not less than 3S, and the rotating speed S of the brushless DC motor is not more than the rated rotating speed N of the brushless DC motoreWhen the speed is 10 percent, judging that the brushless direct current motor enters a low-speed heavy-load working condition; otherwise, judging that the brushless direct current motor does not enter a low-speed heavy-load working condition.
6. A brushless DC motor control device, comprising:
the working condition judging module is used for judging whether the brushless direct current motor enters a low-speed heavy-load working condition or not;
the processing module is used for controlling the Hall signal combination of the brushless DC motor to open or close the corresponding power tube according to the comparison result of the current given value of the brushless DC motor and the current average value of the brushless DC motor after judging that the brushless DC motor enters the low-speed heavy-load working condition;
the operating condition determining module includes:
a detection submodule for detecting the output voltage V of the speed-regulating rotating handleoAnd the rotating speed S of the brushless DC motor;
a determination submodule for determining if the output voltage V is loweroDuration T at maximumoIs not less than 3S, and the rotating speed S of the brushless DC motor is not more than the rated rotating speed N of the brushless DC motoreWhen the speed is 10 percent, judging that the brushless direct current motor enters a low-speed heavy-load working condition; otherwise, judging that the brushless direct current motor does not enter a low-speed heavy-load working condition;
the processing module comprises:
a first setting submodule for setting the current setpoint Iset；
A second setting submodule for setting the current average value Ip；
A comparison submodule for setting the current to a given value IsetAnd the average value of the current IpThe comparison is carried out, and the comparison is carried out,if the given value of current IsetGreater than or equal to the average value of current IpThen, corresponding power tubes are switched on according to the Hall signal combination of the brushless direct current motor; if the given value of current IsetLess than the current average value IpAnd all power tubes are turned off.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710685125.6A CN107508509B (en) | 2017-08-11 | 2017-08-11 | Brushless direct current motor control method and device and low-speed heavy-load control method thereof |
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| CN201710685125.6A CN107508509B (en) | 2017-08-11 | 2017-08-11 | Brushless direct current motor control method and device and low-speed heavy-load control method thereof |
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| CN107508509B true CN107508509B (en) | 2019-12-31 |
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Families Citing this family (2)
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| 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 |
| CN108266364B (en) * | 2017-12-30 | 2020-03-10 | 盛瑞传动股份有限公司 | Electric pump load over-low fault diagnosis method and device |
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| CN1787359A (en) * | 2004-12-08 | 2006-06-14 | Lg电子株式会社 | Method of controlling motor drive speed |
| 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 |
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| US7602139B2 (en) * | 2006-07-13 | 2009-10-13 | International Rectifier Corporation | Signal conditioning apparatus and method for determination of permanent magnet motor rotor position |
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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 |
| 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 |
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