CN107592053A - The terminal voltage measurement apparatus and measuring method of motor - Google Patents

The terminal voltage measurement apparatus and measuring method of motor Download PDF

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Publication number
CN107592053A
CN107592053A CN201710914715.1A CN201710914715A CN107592053A CN 107592053 A CN107592053 A CN 107592053A CN 201710914715 A CN201710914715 A CN 201710914715A CN 107592053 A CN107592053 A CN 107592053A
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motor
mrow
msub
voltage
phase
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CN201710914715.1A
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Chinese (zh)
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双波
秦向南
龚黎明
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广东威灵电机制造有限公司
美的威灵电机技术（上海）有限公司
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Priority to CN201710914715.1A priority Critical patent/CN107592053A/en
Publication of CN107592053A publication Critical patent/CN107592053A/en

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Abstract

The present invention relates to Motor Control Field, disclose the terminal voltage measurement apparatus and measuring method of a kind of motor, wherein, the motor is connected with motor drive module, the motor drive module is used to export PWM (pulsewidth modulation) voltage drive signals to the motor to drive the motor operation, and the terminal voltage measurement apparatus includes：Busbar voltage detection module, the busbar voltage VDC of the input side for detecting the motor drive module；Dutycycle detection module, for detecting the dutycycle of the PWM voltage drive signals；Terminal voltage computing module, for calculating the terminal voltage of the motor according to the busbar voltage VDC and the dutycycle.Technical scheme provided by the invention is capable of the terminal voltage of the more efficient motor of acquisition exactly, may advantageously facilitate the large-area applications of position-sensor-free technology.

Description

The terminal voltage measurement apparatus and measuring method of motor

Technical field

The present invention relates to technical field of motors, terminal voltage measurement apparatus and a kind of motor more particularly to a kind of motor Terminal voltage measuring method.

Background technology

With the rapid development of Power Electronic Technique, alternating-current variable frequency motor is widely applied in industrial quarters.Exchanging In the control system of variable-frequency motor, control algolithm is to determine the core of control system performance.Sensor is accurate in control system Degree will directly affect the effect of control algolithm.For the variable-frequency motor using the control of PWM (pulsewidth modulation) signal, on its stator Voltage is the PWM forms of high frequency, and sensor can not measure in real time.Industrial quarters often combines control with the busbar voltage of inverter at present The built-in command of chip calculates the terminal voltage of motor.This method can not accurately consider the non-linear voltage damage brought of inverter Lose, generate larger error.

The terminal voltage measurement of alternating-current variable frequency motor not only influences motor control performance, and to position Sensorless Control skill The development of art has great importance.Sensorless Control Technique refers to utilize the relevant electric signal in machine winding to include Motor terminal voltage signal etc., electrically and mechanically position and rotating speed of rotor etc. are estimated by proper method, passed so as to substitute Sensor, realize the closed-loop control of motor.In the not high application scenario of reliability requirement, can be saved using position-sensor-free technology About cost, save purchase, the work of rotor-position sensor is installed；In the high occasion of reliability requirement, position-sensor-free skill Art can cause system worked well as the backup of position sensor in the case of the sensor failure of position.The end of motor Voltage measurement be influence position-sensor-free technology at present can not large-area applications a key factor.

The content of the invention

The invention aims to overcome above mentioned problem existing for prior art, there is provided one kind can be more efficient accurate Ground obtains the terminal voltage of motor, to promote the technical scheme of the large-area applications of position-sensor-free technology.

To achieve these goals, first aspect present invention provides a kind of terminal voltage measurement apparatus of motor, the motor It is connected with motor drive module, the motor drive module is used to export PWM voltage drive signals to the motor to drive Motor operation is stated, the terminal voltage measurement apparatus includes：

Busbar voltage detection module, the busbar voltage VDC of the input side for detecting the motor drive module；

Dutycycle detection module, for detecting the dutycycle of the PWM voltage drive signals；

Terminal voltage computing module, for calculating the end electricity of the motor according to the busbar voltage VDC and the dutycycle Pressure.

Preferably, the motor is three phase electric machine, and the motor drive module is three-phase inverter, the three phase electric machine Three-phase terminal is connected respectively the three-phase output end of described three-phase inverter.

Preferably, the dutycycle detection module includes：

Voltage reduction module, for the PWM voltage drive signals to be reduced into predetermined amplitude；

Duty ratio measuring unit, for measuring the dutycycle for the PWM voltage drive signals for being reduced to predetermined amplitude.

Preferably, the voltage reduction module includes：

First pressure unit, for the PWM voltage drive signals of the first output end of the three-phase inverter to be reduced to Predetermined amplitude；

Second pressure unit, for the PWM voltage drive signals of the second output end of the three-phase inverter to be reduced to Predetermined amplitude；

3rd pressure unit, for the PWM voltage drive signals of the 3rd output end of the three-phase inverter to be reduced to Predetermined amplitude.

Preferably, each in first pressure unit, second pressure unit and the 3rd pressure unit Unit includes first resistor unit and second resistance unit；Wherein, one end of the first resistor unit and corresponding motor Terminal is connected, and the other end connects one end of the second resistance unit and an input of the duty ratio measuring unit respectively End, the other end ground connection of the second resistance unit.

Preferably, each in first pressure unit, second pressure unit and the 3rd pressure unit Unit also includes diode, and the anode of the diode connects the public of the first resistor unit and the second resistance unit End, negative electrode connect the control power output end of the duty ratio measuring unit.

Preferably, the first resistor unit and the second resistance unit meet following relation：

Wherein, R1 be first resistor unit resistance, R2 be second resistance unit resistance, VDCminMould is driven for motor The minimum bus voltage that block motor allows when running, VthresholdFor the threshold value of duty ratio measuring unit high level.

Preferably, the terminal voltage computing module calculates the terminal voltage of the motor according to below equation：

Wherein, VanFor the terminal voltage of the A phase terminals of motor；VbnFor the terminal voltage of the B phase terminals of motor；VcnFor the C of motor The terminal voltage of phase terminal；Ton1For input to motor A phase terminals PWM voltage drive signals in a cycle high level Duration；Ton2For input to motor B phase terminals PWM voltage drive signals in a cycle high level it is lasting when Between；Ton3To input the duration of PWM voltage drive signals high level in a cycle to the C phase terminals of motor；Tpwm For the cycle of PWM voltage drive signals.

Second aspect of the present invention provides a kind of terminal voltage measuring method of motor, the motor and motor drive module phase Even, the motor drive module is used to export PWM voltage drive signals to the motor to drive the motor operation, the end Voltage measurement method includes：

Detect the busbar voltage VDC of the input side of the motor drive module and the duty of the PWM voltage drive signals Than；

The terminal voltage of the motor is calculated according to the busbar voltage VDC and the dutycycle.

Preferably, the motor is three phase electric machine, and the motor drive module is three-phase inverter, the three phase electric machine Three-phase terminal is connected respectively the three-phase output end of described three-phase inverter.

Preferably, the terminal voltage of the motor is calculated by equation below：

Wherein, VanFor the terminal voltage of the A phase terminals of motor；VbnFor the terminal voltage of the B phase terminals of motor；VcnFor the C of motor The terminal voltage of phase terminal；Ton1For input to motor A phase terminals PWM voltage drive signals in a cycle high level Duration；Ton2For input to motor B phase terminals PWM voltage drive signals in a cycle high level it is lasting when Between；Ton3To input the duration of PWM voltage drive signals high level in a cycle to the C phase terminals of motor；Tpwm For the cycle of PWM voltage drive signals.

Technical scheme provided by the invention has the advantages that：

Technical scheme provided by the invention detects the mother of the input side of motor drive module by busbar voltage detection module Line voltage, the dutycycle of the PWM voltage drive signals of the outlet side of motor drive module is detected by dutycycle detection module, by In PWM voltage drive signals obtained from the outlet side of motor drive module, taken into full account the non-linear of motor drive module The loss of voltage that factor is brought, so as to the more efficient terminal voltage for obtaining motor exactly, it may advantageously facilitate no position and pass The large-area applications of sensor technology.

Brief description of the drawings

Fig. 1 is the structured flowchart of the terminal voltage measurement apparatus for the motor that one embodiment of the invention provides；

Fig. 2 is the circuit theory diagrams of the terminal voltage measurement apparatus for the motor that another embodiment of the present invention provides；

Fig. 3 is the oscillogram of the PWM voltage drive signals in a cycle in the embodiment of the present invention；

Fig. 4 is the structured flowchart of electric machine control system provided in an embodiment of the present invention.

Description of reference numerals

1- motor 2- three-phase inverters

10- busbar voltage detection module 20- voltage reduction modules

30- duty ratio measuring unit 40- terminal voltage computing modules

The terminal voltage measurement apparatus of 50- dutycycle detection module 100- motors

200- electric machine control systems the first pressure units of 201-

The pressure units of the second pressure units of 202- 203- the 3rd

204- diodes

Embodiment

The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.

Refering to Fig. 1, first aspect of the embodiment of the present invention provides a kind of terminal voltage measurement apparatus 100 of motor 1, the motor 1 is connected with motor drive module, and the motor drive module is used to export PWM voltage drive signals to the motor 1 so as to drive Move the motor 1 to run, the terminal voltage measurement apparatus 100 includes busbar voltage detection module 10, dutycycle detection module 50 With terminal voltage computing module 40.

From figure 1 it appears that the input of the motor drive module is connected with both positive and negative polarity bus, its output end and electricity Machine 1 is connected, and the voltage signal VDC for both positive and negative polarity bus to be inputted is exported to motor 1 after being converted into PWM voltage signals；It is described The input of busbar voltage detection module 10 is connected with the both positive and negative polarity bus of the input of motor drive module, its output end and end One input of voltage computing module 40 is connected, for detecting the busbar voltage VDC on both positive and negative polarity bus, and by the busbar voltage VDC is transferred to terminal voltage computing module 40；The input of the dutycycle detection module 50 and the output end of motor drive module It is connected, its output end is connected with another input of the terminal voltage computing module 40, for detecting motor drive module output PWM voltage drive signals dutycycle, and the dutycycle detected is exported to the terminal voltage computing module 40；The end Voltage computing module 40 calculates the terminal voltage of the motor 1 according to the dutycycle received and the busbar voltage VDC.Its In, the terminal voltage of the motor 1 refers to the voltage-to-ground of each input terminal of motor 1 or the voltage to negative electrode bus.

The motor 1 for example can be monophase machine 1 or three phase electric machine 1, and the present embodiment will be carried out by taking three phase electric machine 1 as an example Explanation.

As shown in figure 1, the motor 1 is three phase electric machine 1, the motor drive module is three-phase inverter 2.Three-phase inversion Device 2 has three-phase output end, and its first output end is connected with the A phase terminals of motor 1, the second output end and the B phase terminals of motor 1 It is connected, the 3rd output end is connected with the C phase terminals of motor 1；This three-phase output end exports three road PWM voltage drive signals extremely respectively Corresponding motor terminal；The cycle phase of three road PWM voltage drive signals is same, is the switch periods of inverter, three road PWM voltages The dutycycle of drive signal is not necessarily identical.

With continued reference to Fig. 1, in one embodiment, the dutycycle detection module 50 includes voltage reduction module 20 and duty Than measuring unit 30, the input of the voltage reduction module 20 is connected with the output end of motor drive module, its output end and duty It is connected than measuring unit 30, the PWM voltage drive signals for motor drive module to be exported are reduced to defeated after predetermined amplitude Go out to duty ratio measuring unit 30, the PWM voltages that predetermined amplitude is reduced to for the measurement of duty ratio measuring unit 30 drive letter Number dutycycle.

Specifically, limited, the excessive input voltage of duty ratio measuring unit 30 usually can be born input voltage size The scaling loss of duty ratio measuring unit 30 may be caused and cisco unity malfunction, therefore, being inputted by PWM voltage drive signals to duty Before measuring unit 30, generally require that be reduced to the size of PWM voltage drive signals suitably can be by duty ratio measuring Within the amplitude range that unit 30 receives, such as PWM voltage drive signals are reduced between 0V~+3.3V.

Duty ratio measuring unit 30 includes a timer units and three hopping edge capturing units, for tracer signal by High jumping moment on earth and from low to high, and calculate high level duration Ton, obtain accounting for for PWM voltage drive signals Empty ratio,Wherein, TpwmFor the cycle of PWM voltage drive signals.Or duty ratio measuring unit 30 directly will The high level lasting time T measuredonSend to terminal voltage computing module 40, above-mentioned public affairs are passed through by terminal voltage computing module 40 Formula further calculates the dutycycle of PWM voltage drive signals.

For three phase electric machine 1, three-phase inverter 2 exports the PWM voltage drive signals for having three tunnels, therefore, it is necessary to right respectively The PWM voltage drive signals on this three tunnel carry out decompression processing, therefore, the voltage reduction module 20 includes the first pressure unit 201, the Two pressure units 202 and the 3rd pressure unit 203；Wherein, the A phase terminals of the input of the first pressure unit 201 and motor 1 (i.e. the first output end of three-phase inverter 2) is connected, and its output end is connected with an input of duty ratio measuring unit 30, is used for Sent after the PWM voltage drive signals of first output end of three-phase inverter 2 to be reduced to predetermined amplitude to duty ratio measuring list Member 30；The input of second pressure unit 202 is connected with the B phase terminals (i.e. the second output end of three-phase inverter 2) of motor 1, Its output end is connected with another input of duty ratio measuring unit 30, for by the PWM of the second output end of three-phase inverter 2 Voltage drive signals are reduced to predetermined amplitude；The input of 3rd pressure unit 203 and C phase terminals (i.e. three contraries of motor 1 Become the 3rd output end of device 2) it is connected, its output end is connected with the another input of duty ratio measuring unit 30, for by three-phase The PWM voltage drive signals of 3rd output end of inverter 2 are reduced to predetermined amplitude.It should be noted that above-mentioned first drop Unit 201, the second pressure unit 202 and the 3rd pressure unit 203 is pressed only to be carried out to the amplitude of corresponding PWM voltage drive signals Limitation, do not change the phase of PWM voltage drive signals.

Refering to Fig. 2, in one embodiment, the first pressure unit 201, the second pressure unit 202 and the 3rd decompression are single Each unit in member 203 includes first resistor unit R 1 and second resistance unit R 2；Wherein, first resistor unit R 1 One end is connected with corresponding motor terminal, and the other end connects one end and the duty ratio measuring unit of second resistance unit R 2 respectively 30 input, the other end ground connection of second resistance unit R 2.Specifically, the first resistor unit of the first pressure unit 201 R1 one end is connected with the A phase terminals of motor 1, and the other end connects the second resistance unit R 2 of the first pressure unit 201 and accounted for respectively The empty first input end than measuring unit 30, the second resistance unit R 2 of the first pressure unit 201 are grounded；Second pressure unit One end of 202 first resistor unit R 1 is connected with the B phase terminals of motor 1, and the other end connects the second pressure unit 202 respectively One end of second resistance unit R 2 and the second input of duty ratio measuring unit 30, the second resistance of the second pressure unit 202 Unit R 2 is also grounded；One end of the first resistor unit R 1 of 3rd pressure unit 203 is connected with the C phase terminals of motor 1, the other end One end of second resistance unit R 2 and the 3rd input of duty ratio measuring unit 30 of the 3rd pressure unit 203 are connected respectively, The second resistance unit R 2 of 3rd pressure unit 203 is equally grounded.

, can be by the amplitude of original PWM voltage drive signals by the antihypertensive effect of above-mentioned pressure unitWherein, R1 is the resistance of first resistor unit R 1, and R2 is the resistance of second resistance unit R 2 The resistance of value, regulation first resistor unit R 1 and second resistance unit R 2, thus it is possible to vary Amplitude of Hypotensive.

With continued reference to Fig. 2, in a preferred embodiment, in order to prevent the PWM voltages for being reduced to predetermined amplitude from driving letter Number size bear voltage still above the maximum of duty ratio measuring unit 30, first pressure unit 201, second drop Each in pressure unit 202 and the 3rd pressure unit 203 also includes diode 204, and the anode of the diode 204 connects The common port of the first resistor unit R 1 and the second resistance unit R 2, negative electrode connect the control of the duty ratio measuring unit 30 Power output end processed, control power output end export predetermined voltage, and the size of the voltage is generally equivalent to duty ratio measuring unit 30 maximum bears voltage, such as 3.3V voltages.By taking the first pressure unit 201 as an example, when the first pressure unit 201 is exported to accounting for When the empty voltage than measuring unit 30 is more than 3.3V, diode 204 turns on, first input of the electric current from duty ratio measuring unit 30 End flow to the control power output end of duty ratio measuring unit 30, inputs the electricity of the first input end to duty ratio measuring unit 30 Pressure reduces, and plays a part of overvoltage protection.

In a preferred embodiment, in order to ensure reliable detection of the duty ratio measuring unit 30 to PWM voltage drive signals,Wherein, R1 is the resistance of first resistor unit R 1, and R2 is the resistance of second resistance unit R 2 Value, VDCminThe minimum bus voltage allowed when being run for motor drive module motor 1, VthresholdFor duty ratio measuring list The threshold value of first 30 high level.In one embodiment, the left side of above-mentioned inequality is worth general 0.5V higher than right side value.

According to one embodiment of the invention, the terminal voltage computing module 40 can calculate the motor 1 according to below equation Terminal voltage：

Wherein, VanFor the terminal voltage of the A phase terminals of motor 1；VbnFor the terminal voltage of the B phase terminals of motor 1；VcnFor motor 1 C phase terminals terminal voltage；Ton1To input the high electricity in a cycle of the PWM voltage drive signals to the A phase terminals of motor 1 The flat duration；Ton2Held to input the high level in a cycle of the PWM voltage drive signals to the B phase terminals of motor 1 The continuous time；Ton3For input to motor 1 C phase terminals PWM voltage drive signals in a cycle high level it is lasting when Between；TpwmFor the cycle of PWM voltage drive signals；To input accounting for the PWM voltage drive signals of the A phase terminals of motor 1 Empty ratio；To input the dutycycle of the PWM voltage drive signals to the B phase terminals of motor 1；To input to the C of motor 1 The dutycycle of the PWM voltage drive signals of phase terminal.

After the terminal voltage of three-phase terminal of motor 1 has been calculated by above-mentioned formula, it can also further pass through following public affairs Formula calculates the phase voltage of the three-phase terminal of motor 1：

Wherein, VapFor the phase voltage of the A phase terminals of motor 1；VbpFor the phase voltage of the B phase terminals of motor 1；VcpFor motor 1 C phase terminals phase voltage.

Specifically, so that motor 1 is three phase electric machine 1 as an example, the terminal voltage of the three-phase terminal of motor 1 is respectively three-phase terminal Voltage-to-ground, the neutral point of three phase electric machine 1 is designated as P, and the neutral point voltage-to-ground of three phase electric machine 1 is designated as Vpn, then have：

Van=Vap+Vpn；

Vbn=Vbp+Vpn； (1)

Vcn=Vcp+Vpn；

In 1 normal work of motor, the three-phase equilibrium of motor 1, i.e.,：

Vap+Vbp+Vcp=0； (2)

Obtained according to above-mentioned formula (1) and (2)：

Formula (3) is obtained into the calculation formula of phase voltage with people's formula (1)：

According to the impulse equivalency principle of vector controlled, as shown in figure 3, Van, Vbn, VcnAverage value in a PWM cycle Equal to it to time integral value divided by PWM cycle：

Wherein, VupperIGBTnoTo make the voltage that the upper bridge arm of inverter turns on, VlowerIBGTnoTo make the lower bridge arm of inverter The voltage of conducting, TonFor the duration of high level in a PWM cycle, ToffFor in a PWM cycle it is low level continue when Between；TpwmFor the cycle (i.e. the switch periods of inverter) of PWM voltage drive signals.

According to above-mentioned formula (5), ignore the pipe pressure of voltage pulsation and inverter of the busbar voltage in a PWM cycle Drop, is just obtained：

Bring the terminal voltage of motor 1 into above-mentioned formula (6), you can the terminal voltage for obtaining the three-phase terminal of motor 1 calculates public affairs Formula：

The terminal voltage measurement apparatus 100 of the above-mentioned motor 1 provided according to embodiments of the present invention, the device pass through closed loop Measure and calculate the terminal voltage of motor 1, although the pressure drop of the power device of inverter is not taken into account, effectively avoid It is simple in construction due to error caused by dead band and delay when especially electric current is smaller during open loop estimation terminal voltage, it is easily real It is existing, it can be applied to engineering practice.

Second aspect of the embodiment of the present invention provides a kind of terminal voltage measuring method of motor 1, and the motor 1 drives with motor Module is connected, and the motor drive module is used to export PWM voltage drive signals to the motor 1 to drive the motor 1 to transport OK, the terminal voltage measuring method includes：

Step 1, the busbar voltage VDC of the input side of the motor drive module and the PWM voltage drive signals are detected Dutycycle；

Step 2, the terminal voltage of the motor 1 is calculated according to the busbar voltage VDC and the dutycycle.

Wherein, the motor 1 for example can be monophase machine 1 or three phase electric machine 1, and the present embodiment will be with three phase electric machine 1 Example illustrates.

As shown in figure 1, the motor 1 is three phase electric machine 1, the motor drive module is three-phase inverter 2, the three-phase The three-phase terminal of motor 1 is connected respectively the three-phase output end of described three-phase inverter 2.

In methods described, the terminal voltage of the motor 1 can be calculated by equation below：

Wherein, VanFor the terminal voltage of the A phase terminals of motor 1；VbnFor the terminal voltage of the B phase terminals of motor 1；VcnFor motor 1 C phase terminals terminal voltage；Ton1To input the high electricity in a cycle of the PWM voltage drive signals to the A phase terminals of motor 1 The flat duration；Ton2Held to input the high level in a cycle of the PWM voltage drive signals to the B phase terminals of motor 1 The continuous time；Ton3For input to motor 1 C phase terminals PWM voltage drive signals in a cycle high level it is lasting when Between；TpwmFor the cycle of PWM voltage drive signals；To input accounting for the PWM voltage drive signals of the A phase terminals of motor 1 Empty ratio；To input the dutycycle of the PWM voltage drive signals to the B phase terminals of motor 1；To input to the C of motor 1 The dutycycle of the PWM voltage drive signals of phase terminal.

Refering to Fig. 4, the embodiment of the present invention also provides a kind of electric machine control system 200, and the electric machine control system 200 includes root According to the terminal voltage measurement apparatus 100 of the motor 1 described in first aspect of the embodiment of the present invention.Due to electricity provided in an embodiment of the present invention The terminal voltage measurement apparatus 100 of machine 1 has beneficial effect as described above, therefore, motor control provided in an embodiment of the present invention System 200 has more excellent control performance.

The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited thereto.At this In the range of the technology design of invention, a variety of simple variants can be carried out to technical scheme.Including each particular technique Feature is combined in any suitable manner.In order to avoid unnecessary repetition, the present invention is to various combinations of possible ways No longer separately illustrate.But these simple variants and combination should equally be considered as content disclosed in this invention, belong to the present invention Protection domain.

Claims (11)

1. the terminal voltage measurement apparatus of a kind of motor, it is characterised in that the motor is connected with motor drive module, the motor Drive module is used to export PWM voltage drive signals to the motor to drive the motor operation, the terminal voltage measurement dress Put including：
Busbar voltage detection module, the busbar voltage VDC of the input side for detecting the motor drive module；
Dutycycle detection module, for detecting the dutycycle of the PWM voltage drive signals；
Terminal voltage computing module, for calculating the terminal voltage of the motor according to the busbar voltage VDC and the dutycycle.
2. the terminal voltage measurement apparatus of motor according to claim 1, it is characterised in that the motor is three phase electric machine, The motor drive module is three-phase inverter, and the three-phase terminal of the three phase electric machine is connected respectively described three-phase inversion The three-phase output end of device.
3. the terminal voltage measurement apparatus of motor according to claim 2, it is characterised in that the dutycycle detection module bag Include：
Voltage reduction module, for the PWM voltage drive signals to be reduced into predetermined amplitude；
Duty ratio measuring unit, for measuring the dutycycle for the PWM voltage drive signals for being reduced to predetermined amplitude.
4. the terminal voltage measurement apparatus of motor according to claim 3, it is characterised in that the voltage reduction module includes：
First pressure unit, it is predetermined for the PWM voltage drive signals of the first output end of the three-phase inverter to be reduced to Amplitude；
Second pressure unit, it is predetermined for the PWM voltage drive signals of the second output end of the three-phase inverter to be reduced to Amplitude；
3rd pressure unit, it is predetermined for the PWM voltage drive signals of the 3rd output end of the three-phase inverter to be reduced to Amplitude.
5. the terminal voltage measurement apparatus of motor according to claim 4, it is characterised in that first pressure unit, institute Each unit stated in the second pressure unit and the 3rd pressure unit includes first resistor unit and second resistance list Member；Wherein, one end of the first resistor unit is connected with corresponding motor terminal, and the other end connects the second resistance respectively One end of unit and an input of the duty ratio measuring unit, the other end ground connection of the second resistance unit.
6. the terminal voltage measurement apparatus of motor according to claim 5, it is characterised in that first pressure unit, institute Stating each unit in the second pressure unit and the 3rd pressure unit also includes diode, and the anode of the diode connects The common port of the first resistor unit and the second resistance unit, negative electrode connect the control power supply of the duty ratio measuring unit Output end.
7. the terminal voltage measurement apparatus of motor according to claim 5, it is characterised in that the first resistor unit and institute State second resistance unit and meet following relation：
<mrow> <mfrac> <mrow> <mi>R</mi> <mn>1</mn> </mrow> <mrow> <mi>R</mi> <mn>1</mn> <mo>+</mo> <mi>R</mi> <mn>2</mn> </mrow> </mfrac> <mo>&amp;times;</mo> <msub> <mi>VDC</mi> <mrow> <mi>m</mi> <mi>i</mi> <mi>n</mi> </mrow> </msub> <mo>&gt;</mo> <msub> <mi>V</mi> <mrow> <mi>t</mi> <mi>h</mi> <mi>r</mi> <mi>e</mi> <mi>s</mi> <mi>h</mi> <mi>o</mi> <mi>l</mi> <mi>o</mi> </mrow> </msub> <mo>;</mo> </mrow>
Wherein, R1 be first resistor unit resistance, R2 be second resistance unit resistance, VDCminDriven for motor drive module The minimum bus voltage allowed during dynamic motor operation, VthresholdFor the threshold value of duty ratio measuring unit high level.
8. the terminal voltage measurement apparatus of the motor according to any one in claim 2-7, it is characterised in that the end electricity Computing module is pressed to calculate the terminal voltage of the motor according to below equation：
<mrow> <msub> <mi>V</mi> <mrow> <mi>a</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mfrac> <msub> <mi>T</mi> <mrow> <mi>o</mi> <mi>n</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>p</mi> <mi>w</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&amp;times;</mo> <mi>V</mi> <mi>D</mi> <mi>C</mi> <mo>;</mo> </mrow>
<mrow> <msub> <mi>V</mi> <mrow> <mi>b</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mfrac> <msub> <mi>T</mi> <mrow> <mi>o</mi> <mi>n</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>p</mi> <mi>w</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&amp;times;</mo> <mi>V</mi> <mi>D</mi> <mi>C</mi> <mo>;</mo> </mrow>
<mrow> <msub> <mi>V</mi> <mrow> <mi>c</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mfrac> <msub> <mi>T</mi> <mrow> <mi>o</mi> <mi>n</mi> <mn>3</mn> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>p</mi> <mi>w</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&amp;times;</mo> <mi>V</mi> <mi>D</mi> <mi>C</mi> <mo>;</mo> </mrow>
Wherein, VanFor the terminal voltage of the A phase terminals of motor；VbnFor the terminal voltage of the B phase terminals of motor；VcnHeld for the C phases of motor The terminal voltage of son；Ton1Continue to input the high level in a cycle of the PWM voltage drive signals to the A phase terminals of motor Time；Ton2To input the duration of PWM voltage drive signals high level in a cycle to the B phase terminals of motor； Ton3To input the duration of PWM voltage drive signals high level in a cycle to the C phase terminals of motor；TpwmFor The cycle of PWM voltage drive signals.
9. the terminal voltage measuring method of a kind of motor, it is characterised in that the motor is connected with motor drive module, the motor Drive module is used to export PWM voltage drive signals to the motor to drive the motor operation, the terminal voltage measurement side Method includes：
Detect the busbar voltage VDC of the input side of the motor drive module and the dutycycle of the PWM voltage drive signals；
The terminal voltage of the motor is calculated according to the busbar voltage VDC and the dutycycle.
10. the terminal voltage measuring method of motor according to claim 9, it is characterised in that the motor is three phase electric machine, The motor drive module is three-phase inverter, and the three-phase terminal of the three phase electric machine is connected respectively described three-phase inversion The three-phase output end of device.
11. the terminal voltage measuring method of motor according to claim 10, it is characterised in that institute is calculated by equation below State the terminal voltage of motor：
<mrow> <msub> <mi>V</mi> <mrow> <mi>a</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mfrac> <msub> <mi>T</mi> <mrow> <mi>o</mi> <mi>n</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>p</mi> <mi>w</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&amp;times;</mo> <mi>V</mi> <mi>D</mi> <mi>C</mi> <mo>;</mo> </mrow>
<mrow> <msub> <mi>V</mi> <mrow> <mi>b</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mfrac> <msub> <mi>T</mi> <mrow> <mi>o</mi> <mi>n</mi> <mn>2</mn> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>p</mi> <mi>w</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&amp;times;</mo> <mi>V</mi> <mi>D</mi> <mi>C</mi> <mo>;</mo> </mrow>
<mrow> <msub> <mi>V</mi> <mrow> <mi>c</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mfrac> <msub> <mi>T</mi> <mrow> <mi>o</mi> <mi>n</mi> <mn>3</mn> </mrow> </msub> <msub> <mi>T</mi> <mrow> <mi>p</mi> <mi>w</mi> <mi>m</mi> </mrow> </msub> </mfrac> <mo>&amp;times;</mo> <mi>V</mi> <mi>D</mi> <mi>C</mi> <mo>;</mo> </mrow>
Wherein, VanFor the terminal voltage of the A phase terminals of motor；VbnFor the terminal voltage of the B phase terminals of motor；VcnHeld for the C phases of motor The terminal voltage of son；Ton1Continue to input the high level in a cycle of the PWM voltage drive signals to the A phase terminals of motor Time；Ton2To input the duration of PWM voltage drive signals high level in a cycle to the B phase terminals of motor； Ton3To input the duration of PWM voltage drive signals high level in a cycle to the C phase terminals of motor；TpwmFor The cycle of PWM voltage drive signals.
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CN108777557A (en) * 2018-06-14 2018-11-09 广东威灵电机制造有限公司 The measurement method and device of motor terminal voltage
CN109995299A (en) * 2019-04-24 2019-07-09 阳光电源股份有限公司 A kind of electric machine controller and its microprocessor and control unit

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CN103018541A (en) * 2012-11-06 2013-04-03 中南林业科技大学 Counter-potential zero-crossing detection circuit and counter-potential zero-crossing detection method for brushless direct-current motor
CN104811119A (en) * 2015-04-24 2015-07-29 上海新时达电气股份有限公司 Frequency converter dead-band compensation voltage self-learning method
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CN103018541A (en) * 2012-11-06 2013-04-03 中南林业科技大学 Counter-potential zero-crossing detection circuit and counter-potential zero-crossing detection method for brushless direct-current motor
CN104811119A (en) * 2015-04-24 2015-07-29 上海新时达电气股份有限公司 Frequency converter dead-band compensation voltage self-learning method
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CN108777557A (en) * 2018-06-14 2018-11-09 广东威灵电机制造有限公司 The measurement method and device of motor terminal voltage
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