CN107544022A - A kind of detection method and device of motor status - Google Patents
A kind of detection method and device of motor status Download PDFInfo
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- CN107544022A CN107544022A CN201610487430.XA CN201610487430A CN107544022A CN 107544022 A CN107544022 A CN 107544022A CN 201610487430 A CN201610487430 A CN 201610487430A CN 107544022 A CN107544022 A CN 107544022A
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Abstract
The embodiment of the invention discloses a kind of detection method and device of motor status.Present invention method includes：Applied to electric system, methods described includes：In motor operation, motor direction of rotation is judged；If motor to be rotated clockwise, according to default rotating forward electrical angle calibration scale, carries out electrical angle detection；If motor is counterclockwise rotates, according to default reversion electrical angle calibration scale, electrical angle detection is carried out.The embodiment of the present invention can detect motor position, speed, the real-time change of angle in the case where motor is without encoder, provide feedback information for system closed-loop control, ensure the operating of motor normal table.
Description
Technical field
The present invention relates to electric machines test field, more particularly to a kind of detection method and device of motor status.
Background technology
In industrial automation, in order that electric system can stable operation, it is necessary to form closed-loop control
System, this requires the current electrical angle of motor physical location, speed, motor to measure in real time.
Measuring method generally use photoelectric encoder etc., the signal measured is pulse signal.Pulse signal passes
Digital processing unit is given, is controlled function and algorithm computing.In production application, encoder is usual
Certain locus is occupied, encoder occupies certain cost, needs to follow coding when parsing encoder
The analysis protocol that device is supported.
In the prior art, the position detecting device of brushless, permanently excited direct current motor has：Discrete hall sensing
Device, photoelectric encoder and rotary transformer.Discrete Hall sensor provides six an electrical angle cycle
Position, positional precision is low, and using this position detecting device, motor torque ripple is big, Accuracy of Velocity Calculation
It is low.Although photoelectric encoder positional precision is high, expensive, and is had a great influence by application environment, no
Electric automobiles properly high to reliability requirement and that cost is low.Rotary transformer reliability and position detection
Precision is all very high, but its same price is expensive, and decoding algorithm complexity is, it is necessary to using hardware chip solution
Code, although circuit is simple, decoding chip is expensive.
The content of the invention
, can need not in motor the embodiments of the invention provide a kind of detection method and device of motor status
In the case of encoder, motor position, speed, the real-time change of angle are detected, is system closed loop control
System provides feedback information, ensures the operating of motor normal table.
In a first aspect, the embodiment of the present invention provides a kind of detection method of motor status, applied to department of electrical engineering
System, methods described include：
In the motor operation, motor direction of rotation is judged；
If the motor to be rotated clockwise, according to default rotating forward electrical angle calibration scale, is carried out
Electrical angle detects；
If the motor is counterclockwise rotates, according to default reversion electrical angle calibration scale, carry out
Electrical angle detects.
Optionally, in the motor operation, default encoder code disc value is read, determines the motor
Position.
Optionally, the encoder position of motor unit interval internal rotation is detected；
Changed according to the encoder position of the motor unit interval internal rotation, calculate motor operation speed.
Optionally, in the motor operation, before judging motor direction of rotation, methods described also includes:
Formulate and rotate forward electrical angle calibration scale and reversion electrical angle calibration scale.
Optionally, described formulate rotates forward electrical angle calibration scale and reversion electrical angle calibration scale, including：
According to formula θE=P* θMCalculate motor rotate a circle corresponding to edge electrical angle；
According to edge electrical angle, according to formula θAmong E=(θE left margins+θEdge on the right of E)/2, ask among each sector
The electrical angle of position correspondence；
Since initial electrical angle, it is incremented by according to electrical angle, formulates and rotate forward electrical angle calibration scale；
Since the maximum electrical angle of demarcation, successively decrease according to electrical angle, formulate reversion electrical angle calibration scale.
Second aspect, the embodiment of the present invention provides a kind of device of the detection of motor status, applied to motor
System, described device include：
Judging unit, in the motor operation, judging motor direction of rotation；
Electrical angle detection unit, for the motor for be rotated clockwise when, according to it is default just
Turn electrical angle calibration scale, carry out electrical angle detection；When the motor is counterclockwise rotates, according to
Default reversion electrical angle calibration scale, carries out electrical angle detection.
Optionally, described device also includes：
Determining unit, in the motor operation, reading default encoder code disc value, determine institute
State the position of rotor.
Optionally, described device also includes；
Speed detection unit, for detecting the encoder position of motor unit interval internal rotation；According to described
The encoder position change of motor unit interval internal rotation, calculates motor operation speed.
Optionally, described device also includes：
Unit is formulated, in the motor operation, before judging motor direction of rotation, formulating and rotating forward
Electrical angle calibration scale and reversion electrical angle calibration scale.
Optionally, the formulation unit is specifically used for：
According to formula θE=P* θMCalculate motor rotate a circle corresponding to edge electrical angle；
According to edge electrical angle, according to formula θAmong E=(θE left margins+θEdge on the right of E)/2, ask among each sector
The electrical angle of position correspondence；
Since initial electrical angle, it is incremented by according to electrical angle, formulates and rotate forward electrical angle calibration scale；
Since the maximum electrical angle of demarcation, successively decrease according to electrical angle, formulate reversion electrical angle calibration scale.
The embodiment of the present invention can detect motor position, speed in the case where motor is without encoder
Degree, the real-time change of angle, feedback information is provided for system closed-loop control, ensures motor normal table
Operating.
Brief description of the drawings
Fig. 1 is motor stator winding and Hall sensor scheme of installation in the embodiment of the present invention；
Fig. 2 is the first embodiment schematic diagram of the detection method of motor status in the embodiment of the present invention；
Fig. 3 is that rotor initial angle schematic diagram is intended in the embodiment of the present invention；
Fig. 4 is that motor electrical angle demarcates schematic flow sheet in the embodiment of the present invention；
Fig. 5 is one embodiment schematic diagram of the detection means of motor status in the embodiment of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, is shown
So, described embodiment only a part of embodiment of the present invention, rather than whole embodiments.
Based on the embodiment in the present invention, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, should all belong to the scope of protection of the invention.
Term " first " in description and claims of this specification and above-mentioned accompanying drawing, " second "
It is for distinguishing similar object, without for describing specific order or priority etc. (if present)
Order.It should be appreciated that the data so used can exchange in the appropriate case, so as to reality described herein
Applying example can be implemented with the order in addition to the content for illustrating or describing herein.In addition, term " bag
Include " and " having " and their any deformation, it is intended that cover it is non-exclusive include, for example,
Process, method, system, product or the equipment for containing series of steps or unit are not necessarily limited to clearly
Those steps or unit listed, but may include not list clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
The embodiment of the present invention is applied to electric system, and the electric system includes DC brushless motor, described
The rotor of motor is permanent magnet, stator is armature winding, is provided with the DC brushless motor for examining
Survey three Hall sensors in sine space magnetic field caused by the permanent magnet, each Hall sensor interval
120 degree, if Fig. 1 is motor stator winding and Hall sensor scheme of installation in the embodiment of the present invention.
The embodiment of the detection method of motor status is introduced first below, the detection method of the motor status
Executive agent is the detection means of motor status.
Referring to Fig. 2, the detection method first embodiment of motor status includes in the embodiment of the present invention：
201st, in the motor operation, motor direction of rotation is judged；
If the 202nd, the motor is (forward direction) rotation clockwise, according to default rotating forward electrical angle
Calibration scale, carry out electrical angle detection；
If the 203rd, the motor is counterclockwise (reverse) rotation, according to default reversion electrical angle
Calibration scale, carry out electrical angle detection.
Can be with by default rotating forward electrical angle calibration scale, reversion electrical angle calibration scale in the embodiment of the present invention
Electrical angle detection is carried out to the motor of different motor direction of rotation, and then motor position, speed can be detected
Degree, the real-time change of angle, feedback information is provided for system closed-loop control, ensures motor normal table
Operating.
Optionally, on the basis of first embodiment, the second embodiment of the embodiment of the present invention is further wrapped
Include：
In the motor operation, default encoder code disc value is read, determines the position of the motor.
Optionally, on the basis of first embodiment or second embodiment, in third embodiment of the invention,
Including：
Detect the encoder position of motor unit interval internal rotation；
Changed according to the encoder position of the motor unit interval internal rotation, calculate motor operation speed.
Optionally, on the basis of first embodiment, second embodiment or 3rd embodiment, in the present invention
In fourth embodiment, in the motor operation, before judging motor direction of rotation, methods described is also wrapped
Include:
Formulate and rotate forward electrical angle calibration scale and reversion electrical angle calibration scale.
Optionally, described formulate rotates forward electrical angle calibration scale and reversion electrical angle calibration scale, including：
According to formula θE=P* θMCalculate motor rotate a circle corresponding to edge electrical angle；
According to edge electrical angle, according to formula θAmong E=(θE left margins+θEdge on the right of E)/2, ask among each sector
The electrical angle of position correspondence；
Since initial electrical angle, it is incremented by according to electrical angle, formulates and rotate forward electrical angle calibration scale；
Since the maximum electrical angle of demarcation, successively decrease according to electrical angle, formulate reversion electrical angle calibration scale.
Illustrate motor status Cleaning Principle by taking threephase armature winding electric machine figure as an example below.
Hall element output voltage size is：UH=RH×I×B/d(mV)
In formula：RH- hall constant, d-component thickness, B-magnetic induction intensity, I-control electricity
Stream
If control electric current keeps constant, hall sensing voltage will change with external magnetic field intensity, according to
This principle, motor three-phase windings A, B, C are passed into electric current respectively, stator is produced rotation magnetic linkage,
Rotor is permanent magnet, and in the presence of stator selects magnetic linkage, rotor follows stator to rotate, when rotor rotates
During, Hall element is influenceed by magnetic field caused by magnet steel, output pulse signal, Hall sensor
Inductiopn rotor position.
Its realization principle is as follows：
120 degree of three-phase windings AX, BY, CZ intervals are positioned on stator, Hall sensor H1, H2, H3
It is positioned on BZ, CX, AY angular bisector, each 120 degree of Hall sensor interval.Schematic diagram is installed
As shown in Figure 1.
Positive and negative being determined by the position of rotor magnetic pole of Hall sensor output, when the N levels of rotor press close to Hall
During sensor, Hall sensor output be on the occasion of 1, conversely, when the S levels of rotor press close to Hall sensor,
Hall sensor output is negative value 0.Combined with this according to the output of Hall sensor, can be by rotor fixed position
To in the range of 60 °, 6 regions, Hall sensor output and rotor N poles location are divided the plane into
The physical relationship in domain is shown in Table 1.Rotor initial angle schematic diagram is illustrated in figure 3 to be intended to,
Fig. 4 is that motor electrical angle demarcates schematic flow sheet, and the calibration process includes：
401st, controlled motor rotates a circle；
402nd, mechanical angle during Hall output saltus step is recorded；
403rd, the electrical angle of Hall saltus step is calculated；
404th, electrical angle among each sector is calculated.
Specifically, for example, after rotor N poles are navigated into 60 ° of section, its section angular bisector institute is taken
Corresponding angle is the initial mechanical angle, θ of rotor, according to motor number of pole-pairs, calculates corresponding electrical angle.
Controlled motor is rotated a circle with extremely slow speed, records the electrical angle of different Hall output combination saltus step moments
Value, obtain motor and rotate a circle Hall edge switching electrical angle, and then calculate the electric angle in each sector
Angle value.
Table 1
Because motor positive and inverse, the Hall output combination of process is different, so increase motor positive and inverse judges,
According to judged result, the switching of electrical angle is carried out, realizes that angle detects.It is right because motor rotates a circle
The electrical angle change answered is definite value, it is possible to is considered as encoder, encoder line number is one week electric angle
Spend change frequency, using Software for Design into encoder, realize position detect.It is detected as relying on position,
Detection contraposition yardage switching time, realize velocity measuring.
With reference to concrete application scene, the present invention will be described in further detail.
Three Hall sensors produce three hall signals in the embodiment of the present invention, export 6 kinds of states, with
Exemplified by P=4 is to pole motor, motor rotates a circle, and mechanical angle when saltus step is combined in Hall output has 6,
Respectively θMA、θMB、θMC、θMD、θME、θMF.According to formula θE=P* θMCalculate motor rotation
Edge electrical angle corresponding to one week, according to edge electrical angle, according to formula
Among θ E=(θ ELeft margin+θEdge on the right of E)/2, seek electrical angle corresponding to each sector centre position.During P=4, side
It it is 24 along electrical angle corresponding to electrical angle and each sector centre position.P is motor number of pole-pairs, side
Determined along electrical angle number corresponding to electrical angle and each sector centre position by selected motor.From initial electricity
Angle starts, and is incremented by according to electrical angle, formulates and rotates forward electrical angle calibration scale.From the maximum electrical angle of demarcation
Start, successively decrease according to electrical angle, formulate reversion electrical angle calibration scale.Because sector number is definite value, each
Sector corresponds to a line of encoder, then it is definitely encoder 4 pairs of pole motors to be invented into 24 lines.
Three hall signals H1, H2, H3 combination 6 kinds of different conditions of output, during rotating forward, Hall output according to
Secondary is 010,011,001,101,100,110, and the corresponding decimal system is 2,3,1,5,4,6.Instead
When turning, Hall output is followed successively by 010,110,100,101,001,011, the corresponding decimal system be 2,6,
4、5、1、3.Loop direction is exported by Hall, it can be determined that go out motor direction of rotation.
When motor operation, motor direction of rotation is first determined whether, if rotating forward, then according to rotating forward electrical angle
Calibration scale, carry out electrical angle detection.If reversion, then according to reversion electrical angle calibration scale, electric angle is carried out
Degree detection.In motor rotary course, virtual encoder code-disc value is read, realizes that position is detected.Detection electricity
The encoder position of machine unit interval internal rotation, realize that motor speed detects.
The embodiment of the device of the detection of motor status in the embodiment of the present invention is described below.
Referring to Fig. 5, one embodiment signal for the device of the detection of motor status in the embodiment of the present invention
Figure, the device 500 of the detection of the motor status include：
Judging unit 501, in the motor operation, judging motor direction of rotation；
Electrical angle detection unit 502, for the motor for be rotated clockwise when, according to default
Electrical angle calibration scale is rotated forward, carries out electrical angle detection；When the motor is counterclockwise rotates, root
According to default reversion electrical angle calibration scale, electrical angle detection is carried out.
Optionally, described device also includes determining unit 503, pre- in the motor operation, reading
If encoder code disc value, determine the position of the rotor.
Optionally, described device also includes speed detection unit 504, for detecting motor unit interval inward turning
The encoder position turned；Changed according to the encoder position of the motor unit interval internal rotation, calculate electricity
The machine speed of service.
Optionally, described device also includes formulating unit 505, in the motor operation, judging electricity
Before machine direction of rotation, formulate and rotate forward electrical angle calibration scale and reversion electrical angle calibration scale.
Optionally, the formulation unit 505 is specifically used for：
According to formula θE=P* θMCalculate motor rotate a circle corresponding to edge electrical angle；
According to edge electrical angle, according to formula θAmong E=(θE left margins+θEdge on the right of E)/2, ask among each sector
The electrical angle of position correspondence；During P=4, electrical angle corresponding to edge electrical angle and each sector centre position is equal
For 24.P is motor number of pole-pairs, electrical angle corresponding to edge electrical angle and each sector centre position
Number is determined by selected motor.
Since initial electrical angle, it is incremented by according to electrical angle, formulates and rotate forward electrical angle calibration scale；
Since the maximum electrical angle of demarcation, successively decrease according to electrical angle, formulate reversion electrical angle calibration scale.
It is apparent to those skilled in the art that for convenience and simplicity of description, it is above-mentioned to retouch
The specific work process for the system, apparatus, and unit stated, it may be referred to the correspondence in preceding method embodiment
Process, it will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, device and
Method, it can realize by another way.For example, device embodiment described above is only to show
Meaning property, for example, the division of the unit, only a kind of division of logic function can when actually realizing
To there is other dividing mode, such as multiple units or component can combine or be desirably integrated into another
System, or some features can be ignored, or not perform.Another, shown or discussed is mutual
Coupling or direct-coupling or communication connection can be INDIRECT COUPLING by some interfaces, device or unit
Or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, make
It can be for the part that unit is shown or may not be physical location, you can with positioned at a place,
Or it can also be distributed on multiple NEs.Can select according to the actual needs part therein or
Person's whole unit realizes the purpose of this embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit
In or unit be individually physically present, can also two or more units be integrated in one
In individual unit.Above-mentioned integrated unit can both be realized in the form of hardware, can also use software work(
The form of energy unit is realized.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing
Or in use, it can be stored in a computer read/write memory medium.Based on such understanding, sheet
Part that the technical scheme of invention substantially contributes to prior art in other words or the technical scheme
It can completely or partially be embodied in the form of software product, the computer software product is stored in one
In storage medium, including some instructions to cause a computer equipment (can be personal computer,
Server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention
Suddenly.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD
Etc. it is various can be with the medium of store program codes.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；
Although the present invention is described in detail with reference to the foregoing embodiments, one of ordinary skill in the art should
Work as understanding：It can still modify to the technical scheme described in foregoing embodiments, or to it
Middle some technical characteristics carry out equivalent substitution；And these modifications or replacement, do not make appropriate technical solution
Essence depart from various embodiments of the present invention technical scheme spirit and scope.
Claims (10)
1. a kind of detection method of motor status, it is characterised in that applied to electric system, methods described
Including：
In the motor operation, motor direction of rotation is judged；
If the motor to be rotated clockwise, according to default rotating forward electrical angle calibration scale, is carried out
Electrical angle detects；
If the motor is counterclockwise rotates, according to default reversion electrical angle calibration scale, carry out
Electrical angle detects.
2. according to the method for claim 1, it is characterised in that methods described also includes：
In the motor operation, default encoder code disc value is read, determines the position of the motor.
3. method according to claim 1 or 2, it is characterised in that methods described also includes：
Detect the encoder position of motor unit interval internal rotation；
Changed according to the encoder position of the motor unit interval internal rotation, calculate motor operation speed.
4. according to the method for claim 1, it is characterised in that in the motor operation, judge
Before motor direction of rotation, methods described also includes:
Formulate and rotate forward electrical angle calibration scale and reversion electrical angle calibration scale.
5. according to the method for claim 4, it is characterised in that described formulate rotates forward electrical angle demarcation
Table and reversion electrical angle calibration scale, including：
According to formula θE=P* θMCalculate motor rotate a circle corresponding to edge electrical angle；
According to edge electrical angle, according to formula θAmong E=(θE left margins+θEdge on the right of E)/2, ask among each sector
The electrical angle of position correspondence；
Since initial electrical angle, it is incremented by according to electrical angle, formulates and rotate forward electrical angle calibration scale；
Since the maximum electrical angle of demarcation, successively decrease according to electrical angle, formulate reversion electrical angle calibration scale.
A kind of 6. device of the detection of motor status, it is characterised in that applied to electric system, the dress
Put including：
Judging unit, in the motor operation, judging motor direction of rotation；
Electrical angle detection unit, for the motor for be rotated clockwise when, according to it is default just
Turn electrical angle calibration scale, carry out electrical angle detection；When the motor is counterclockwise rotates, according to
Default reversion electrical angle calibration scale, carries out electrical angle detection.
7. device according to claim 6, it is characterised in that described device also includes：
Determining unit, in the motor operation, reading default encoder code disc value, determine institute
State the position of rotor.
8. the device according to claim 6 or 7, it is characterised in that described device also includes；
Speed detection unit, for detecting the encoder position of motor unit interval internal rotation；According to described
The encoder position change of motor unit interval internal rotation, calculates motor operation speed.
9. device according to claim 6, it is characterised in that described device also includes：
Unit is formulated, in the motor operation, before judging motor direction of rotation, formulating and rotating forward
Electrical angle calibration scale and reversion electrical angle calibration scale.
10. device according to claim 9, it is characterised in that the formulation unit is specifically used for：
According to formula θE=P* θMCalculate motor rotate a circle corresponding to edge electrical angle；
According to edge electrical angle, according to formula θAmong E=(θE left margins+θEdge on the right of E)/2, ask among each sector
The electrical angle of position correspondence；
Since initial electrical angle, it is incremented by according to electrical angle, formulates and rotate forward electrical angle calibration scale；
Since the maximum electrical angle of demarcation, successively decrease according to electrical angle, formulate reversion electrical angle calibration scale.
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| CN110133499A (en) * | 2019-04-30 | 2019-08-16 | 固安华电天仁控制设备有限公司 | A kind of method that wind power pitch motor is tested automatically |
| CN111645484A (en) * | 2020-05-21 | 2020-09-11 | 泰铂（上海）环保科技股份有限公司 | Self-adaptive control method for vehicle air conditioner air door actuator |
| CN113345030A (en) * | 2021-06-17 | 2021-09-03 | 三一重机有限公司 | Calibration method and device for sensor of working machine, working machine and electronic equipment |
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| CN111645484A (en) * | 2020-05-21 | 2020-09-11 | 泰铂（上海）环保科技股份有限公司 | Self-adaptive control method for vehicle air conditioner air door actuator |
| CN113345030A (en) * | 2021-06-17 | 2021-09-03 | 三一重机有限公司 | Calibration method and device for sensor of working machine, working machine and electronic equipment |
| CN113345030B (en) * | 2021-06-17 | 2024-01-02 | 三一重机有限公司 | Calibration method and device for working machine sensor, working machine and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107544022B (en) | 2020-02-07 |
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