CN107846159A

CN107846159A - Control method, device, storage medium, equipment and the pulse extraction circuit of motor

Info

Publication number: CN107846159A
Application number: CN201710789290.6A
Authority: CN
Inventors: 张统世; 李燕; 牛高产; 张良浩
Original assignee: Zhuhai Gree Energy Saving Environmental Protection Refrigeration Technology Research Center Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2017-09-05
Filing date: 2017-09-05
Publication date: 2018-03-27
Anticipated expiration: 2037-09-05
Also published as: CN107846159B

Abstract

The invention discloses a kind of control method of motor, device, storage medium, equipment and pulse extraction circuit, this method includes：Determine the running down frequency during motor running down；Determine whether the running down frequency is reduced to setpoint frequency；When the running down frequency is reduced to the setpoint frequency, the motor is carried out axle and stop floating.The solution of the present invention, prior art axis can be overcome to stop floating unpunctual, the defects of axle collision easily occurs and influences motor safety, realize axle stop it is floating it is punctual, be not susceptible to axle collision and do not influence the beneficial effect of motor safety.

Description

Control method, device, storage medium, equipment and the pulse extraction circuit of motor

Technical field

The invention belongs to motor control technology field, and in particular to a kind of control method of motor, device, storage medium, Equipment and pulse extraction circuit；More particularly to it is a kind of based on the magnetic suspension compressor halt control method without sensor, with the party Device corresponding to method, the storage medium of instruction corresponding to this method is stored with, there is the device or be able to carry out this method correspondingly Instruction equipment, and for extracting the circuit of pulse signal corresponding to the running down rotating speed of motor in the equipment.

Background technology

Compressor, it is a kind of driven fluid machinery that low-pressure gas is promoted to gases at high pressure, is the heart of refrigeration system It is dirty；It is operated after being compressed with piston to it, to row from the refrigerant gas of air intake duct suction low-temp low-pressure by motor Tracheae discharges the refrigerant gas of HTHP, and power is provided for kind of refrigeration cycle.Traditional compressor, the bearing of use is machinery Bearing；Magnetic suspension compressor, the bearing of use is magnetic suspension bearing.

The difference of magnetic suspension compressor and traditional compressor is：During starting up, magnetic suspension compressor first floats axle Rise, then motor rotates again；During shutdown, first stall and again fall on axle on bearing；After axle has fallen, stopping process is just completed. During orderly closedown, rotor initially enters inertia rotation, and being compressed in running down based on the magnetic suspension without sensor, (i.e. inertia is revolved Turn) during, can not be by the rotating speed without position detection device acquisition motor, so shutdown control process is accordingly：Halt instruction After sending, bearing controller falls axle on bearing after default delay.

Following defect be present in this halt mode：Initial speed (i.e. halt instruction sends the rotating speed of front motor) differs When, after frequency converter sends halt instruction, the coasting time (closes PWM from inverter and is output to the time that motor speed is zero) It is corresponding different；That is, different initial speeds, corresponding different coasting time.If during the default delay of bearing controller Between be longer than the coasting time, although then axle has stopped operating, still can not in time stop floating and fall, it is necessary to consume bus capacitor The electric energy of middle storage, with the consumption of electric energy, busbar voltage will be reduced constantly, when busbar voltage is less than certain value, bearing Controller will power off suddenly, influence the normal work of bearing controller, the problem of some are unpredictable occurs.If bearing control The default delay time of device is shorter than the coasting time, then axle is also just fallen on bearing without entirely off, if now rotating speed is higher, Bearing collision may occur, serious possibility causes compressor to be damaged, and consequence is serious.

In the prior art, axle be present and stop the defects of floating unpunctual, easily generation axle collides and influences motor safety.

The content of the invention

It is an object of the present invention to it is directed to drawbacks described above, there is provided a kind of control method of motor, device, storage medium, set Standby and pulse extraction circuit, with solve in the prior art magnetic suspension motor can not at the time of rotor is entirely off punctual control shaft Stop the problem of floating, reach axle and stop floating punctual effect.

The present invention provides a kind of control method of motor, including：Determine the running down frequency during motor running down；Determine institute State whether running down frequency is reduced to setpoint frequency；When the running down frequency is reduced to the setpoint frequency, enter the motor Row axle stops floating.

Optionally it is determined that the running down frequency during motor running down, including：Obtain anti-electronic produced by the motor running down The initial AC signal of gesture；From extraction pulse signal corresponding with the running down rotating speed of the motor in the initial AC signal； The pulse signal is converted to the running down frequency of the motor；And/or the motor is carried out axle and stop floating, including：To described The bearing controller of motor, which is sent, stops buy stop order, so that the bearing controller is incited somebody to action when receiving the stopping buy stop order Axle is fallen on bearing.

Alternatively, from extraction pulse signal corresponding with the running down rotating speed of the motor, bag in the initial AC signal Include：The processing of proportional zoom and summation is carried out to the initial AC signal, obtains that there is setting voltage range, Yi Jishe Determine the first AC signal of bias voltage；Processing is filtered to first AC signal, obtains the second required exchange letter Number；By second AC signal compared with the setting bias voltage, obtain corresponding with the running down rotating speed of the motor Pulse signal；And/or the pulse signal is converted to the running down frequency of the motor, including：Capture the pulse signal Same polarity edge；Calculate a same polarity edge currently capturing and the preceding same polarity edge once captured it is current when Between be spaced；According to setting clock frequency and setting time interval between corresponding relation, it is determined that with the current time interval pair The clock frequency answered is the running down frequency；And/or sent to the bearing controller of the motor and stop buy stop order, including： The frequency-variable controller of the motor is controlled, the frequency-variable controller is sent to bearing controller and stops buy stop order.

Alternatively, wherein, processing is filtered to first AC signal, including：With the motor in halt instruction Rotating speed before sending is fundamental wave, filters out other harmonic waves in addition to the fundamental wave in first AC signal；And/or the arteries and veins Signal is rushed, including：High level signal and/or low level signal；Second AC signal and the setting biased electrical are pressed into Row compares, including：By amplitude, the part in second AC signal higher than the setting bias voltage is set to form the high electricity Ordinary mail number, and/or the part in second AC signal less than the setting bias voltage is formed the low level signal； And/or the pulse signal, including：Square-wave pulse signal；And/or the same polarity edge, including：Rising edge or decline Edge；And/or the corresponding relation, including：Proportionate relationship.

Alternatively, in addition to：Determine rotating speed of the motor before halt instruction is sent；And/or determine that the motor is No running down；When the motor running down, just to be obtained to the running down frequency；And/or to the running down frequency, described Setpoint frequency, the axle stop rotating speed before halt instruction is sent of floating situation, the motor, the motor whether the feelings of running down At least one of shape, shown, printed, being sent at least one of setting client output control；It is and/or described Motor, including：Magnetic suspension motor.

Optionally it is determined that the motor whether running down, including：Determine whether the halt instruction of the motor sends；When true When the fixed halt instruction is sent, it is determined whether receive the halt instruction；When it is determined that receiving the halt instruction, really Whether the pwm signal of the fixed motor closes；When it is determined that the pwm signal is closed, determine that the motor starts running down；With/ Or, when it is determined that the halt instruction sends and when determining not receive the halt instruction, initiating fault cues；And/or when It is determined that when receiving the halt instruction and determining that the pwm signal is not turned off, continue whether to close the pwm signal into Row determines or initiated fault cues.

Matching with the above method, another aspect of the present invention provides a kind of control device of motor, including：Determining unit, Running down frequency during for determining the motor running down；The determining unit, it is additionally operable to determine whether the running down frequency reduces To setpoint frequency；Control unit, stop for when the running down frequency is reduced to the setpoint frequency, making the motor carry out axle It is floating.

Alternatively, the running down frequency when determining unit determines the motor running down, is specifically included：Obtain the motor The initial AC signal of counter electromotive force produced by running down；From extraction and the running down rotating speed of the motor in the initial AC signal Corresponding pulse signal；The pulse signal is converted to the running down frequency of the motor；And/or described control unit makes institute State motor progress axle to stop floating, specifically include：Sent to the bearing controller of the motor and stop buy stop order, so that the bearing Controller falls on axle on bearing when receiving the stopping buy stop order.

Alternatively, the determining unit is corresponding with the running down rotating speed of the motor from extraction in the initial AC signal Pulse signal, specifically include：The processing of proportional zoom and summation is carried out to the initial AC signal, obtains that there is setting Voltage range and the first AC signal for setting bias voltage；Processing is filtered to first AC signal, obtains institute The second AC signal needed；By second AC signal compared with the setting bias voltage, obtain and the motor Running down rotating speed corresponding to pulse signal；And/or the determining unit is converted to the pulse signal running down of the motor Frequency, specifically include：Capture the same polarity edge of the pulse signal；The same polarity edge currently captured is calculated with before The current time interval at the same polarity edge once captured；According to corresponding between setting clock frequency and setting time interval Relation, it is determined that clock frequency corresponding with the current time interval is the running down frequency；And/or described control unit to The bearing controller of the motor, which is sent, stops buy stop order, specifically includes：The frequency-variable controller of the motor is controlled, is made described Frequency-variable controller is sent to bearing controller stops buy stop order.

Alternatively, wherein, the determining unit is filtered processing to first AC signal, specifically includes：With institute It is fundamental wave to state rotating speed of the motor before halt instruction is sent, and is filtered out other humorous in addition to the fundamental wave in first AC signal Ripple；And/or the pulse signal, including：High level signal and/or low level signal；The determining unit is handed over described second Signal is flowed compared with the setting bias voltage, is specifically included：By amplitude, make in second AC signal higher than described The part of setting bias voltage forms the high level signal, and/or makes inclined less than the setting in second AC signal The part for putting voltage forms the low level signal；And/or the pulse signal, including：Square-wave pulse signal；And/or institute Same polarity edge is stated, including：Rising edge or trailing edge；And/or the corresponding relation, including：Proportionate relationship.

Alternatively, in addition to：The determining unit, it is additionally operable to determine rotating speed of the motor before halt instruction is sent； And/or the determining unit, be additionally operable to determine the motor whether running down；With when the motor running down, just to the running down Frequency is obtained；And/or described control unit, it is additionally operable to that the running down frequency, the setpoint frequency, the axle are stopped floating Rotating speed before halt instruction is sent of situation, the motor, the motor whether at least one of the situation of running down, carry out It has been shown that, printing, send at least one of setting client output control；And/or the motor, including：Magnetic suspension electricity Machine.

Alternatively, the determining unit determine the motor whether running down, specifically include：Determine that the shutdown of the motor refers to Whether order sends；When it is determined that the halt instruction is sent, it is determined whether receive the halt instruction；When it is determined that receiving institute When stating halt instruction, determine whether the pwm signal of the motor closes；When it is determined that the pwm signal is closed, the electricity is determined Machine starts running down；And/or when it is determined that the halt instruction sends and when determining not receive the halt instruction, initiating failure Prompting；And/or when it is determined that receiving the halt instruction and when determining that the pwm signal is not turned off, continuing to believe the PWM Number whether close and to be determined or initiate fault cues.

Matching with the above method, further aspect of the present invention provides a kind of storage medium, including：Deposited in the storage medium Contain a plurality of instruction；Wherein, a plurality of instruction, for being loaded by processor and being performed the controlling party of above-described motor Method.

Matching with the above method or device, another aspect of the present invention provides a kind of equipment, including：Above-described motor Control device；Or processor, for performing a plurality of instruction；Memory, for storing a plurality of instruction；Wherein, it is described a plurality of Instruction, for by the memory storage, and loaded by processor and perform the control method of above-described motor.

Alternatively, the equipment includes：Compressor or unit；Wherein, the unit, including：Screw chiller, photovoltaic frequency changer At least one of group, magnetic suspension unit.

Matching with the said equipment, further aspect of the present invention provides a kind of pulse extraction circuit, including：For extract with Pulse signal, the circuit include corresponding to the running down rotating speed of motor in upper described equipment：Obtain circuit, filter circuit and compare Circuit；Wherein, the acquisition circuit, the initial AC signal of counter electromotive force during for the motor running down carry out ratio contracting The processing put and summed, obtain with setting voltage range and set the first AC signal of bias voltage；The filter Wave circuit, for using rotating speed of the motor before halt instruction is sent as fundamental wave, filtering out and institute being removed in first AC signal Other harmonic waves outside fundamental wave are stated, obtain the second required AC signal；The comparison circuit, for by second AC signal Compared with the setting bias voltage, pulse signal corresponding with the running down rotating speed of the motor is obtained.

Alternatively, wherein, the acquisition circuit, including：First comparator, and it is adapted to setting with the first comparator First resistor module, and/or the first capacitance module；And/or the filter circuit, including：Capacitance-resistance filter；And/or institute Comparison circuit is stated, including：Second comparator, and it is adapted to second comparator second resistance module set, and/or the Two capacitance modules.

At the time of the solution of the present invention by being just motor speed at the time of doffing is zero, avoid stop it is floating not In time or stop it is floating bring too early touch axle accident, reliability is high, and security is good.

Further, the solution of the present invention, by the way that the pulse signal of input to be converted to the frequency values of motor, and then it is control Magnetic suspension compressor doffing provides reliable foundation, is advantageous to lift shaft and stops floating accuracy and security.

Further, the solution of the present invention, during by by orderly closedown, included in electromotive force caused by the rotation of motor inertia Rotary speed information effectively uses, and really realizes the real-time of magnetic suspension doffing, avoids doffing not in time or even touches The problem of axle.

Further, the solution of the present invention, by capture input all same polarity edge in square-wave signal (such as：This is same Polarity edge can be rising edge or trailing edge), and the time interval for calculating the adjacent edge of same polarity twice (captures counter Numerical value), according to system clock frequency and capture counter numerical value proportionate relationship, calculate counter electromotive force of motor frequency Value, detection mode is reliable, safety, and testing result accuracy is good.

Further, the solution of the present invention, it is corresponding by the way that counter electromotive force during motor running down is converted into motor running down rotating speed Digital pulse signal, the pulse signal of input is converted to the frequency values of motor, and whether be zero as control using the frequency values The order of magnetic suspension compressor doffing processed；During so that stopping floating execution based on the magnetically suspended bearing control shaft without sensor Carve, no longer according to delay time, good reliability.

Thus, the solution of the present invention, by obtaining counter electromotive force during motor running down, motor is determined according to the counter electromotive force Frequency values, the controlled motor doffing when the frequency values are zero, solve magnetic suspension motor can not be complete in rotor in the prior art Punctual control shaft stops the problem of floating at the time of stalling, so as to, overcome prior art axis stop it is floating it is unpunctual, easily occur axle collision and The defects of influenceing motor safety, realize axle stop it is floating punctual, be not susceptible to axle collision and do not influence the beneficial effect of motor safety Fruit.

Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification Obtain it is clear that or being understood by implementing the present invention.

Below by drawings and examples, technical scheme is described in further detail.

Brief description of the drawings

Fig. 1 is the schematic flow sheet of an embodiment of the control method of the motor of the present invention；

Fig. 2 is the flow signal of an embodiment of the running down frequency when motor running down is determined in the method for the present invention Figure；

Fig. 3 is corresponding with the running down rotating speed of the motor from extraction in the initial AC signal in method of the invention The schematic flow sheet of one embodiment of pulse signal；

Fig. 4 is an embodiment of the running down frequency that the pulse signal is converted to the motor in the method for the present invention Schematic flow sheet；

Fig. 5 be the present invention method in judge motor whether the schematic flow sheet of an embodiment of running down；

Fig. 6 be the present invention method in determine the motor whether the schematic flow sheet of an embodiment of running down；

Fig. 7 is the structural representation of an embodiment of the control device of the motor of the present invention；

Fig. 8 is that the software of an embodiment of motor stopping process in equipment of the invention calculates frequency and shuts down logic flow Figure；

Fig. 9 be the present invention pulse extraction circuit (such as：Motor running down frequency detection circuit) an embodiment structure Schematic diagram；

Figure 10 is the structural representation for the embodiment that circuit is obtained in the circuit of the present invention；

Figure 11 is the structural representation of an embodiment of filter circuit in circuit of the invention；

Figure 12 is the structural representation of an embodiment of comparison circuit in circuit of the invention.

With reference to accompanying drawing, reference is as follows in the embodiment of the present invention：

10- obtains circuit；20- filter circuits；30- comparison circuits；102- determining units；104- control units.

Embodiment

To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and Technical solution of the present invention is clearly and completely described corresponding accompanying drawing.Obviously, described embodiment is only the present invention one Section Example, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing Go out under the premise of creative work all other embodiment obtained, belong to the scope of protection of the invention.

In traditional refrigeration compressor, mechanical bearing is required part, and needs lubricating oil and lubricating oil The circulatory system ensures the work of mechanical bearing.In all compressors burnt, actually only 90% is due to the mistake of lubrication Caused by effect；And mechanical bearing not only produces friction loss, lubricating oil is entered with kind of refrigeration cycle in heat exchanger, is being passed The oil film that hot surface is formed turns into thermal resistance, influences efficiency of heat exchanger, and excessive lubricating oil is present in system to refrigeration Efficiency brings very big influence.

And magnetic suspension bearing be it is a kind of utilize magnetic field, make rotor suspension, connect so that machinery will not be produced when rotated Touch, mechanical friction will not be produced, it is no longer necessary to lubricating system necessary to mechanical bearing and mechanical bearing.In refrigeration compressor It is middle to use magnetic suspension bearing, the hidden danger that mechanical bearing be avoided to be brought because of lubricating oil.

According to an embodiment of the invention, a kind of motor control method is additionally provided, as shown in Figure 1 the one of the method for the present invention The schematic flow sheet of embodiment.The motor control method can include：

At step S110, the running down frequency during motor running down is determined.

Wherein, the motor, can include：Magnetic suspension motor.Such as：Pass through magnetcisuspension between the axle and bearing of the motor Floating synergy.

Thus, floating opportunity is stopped by the axle of running down FREQUENCY CONTROL magnetic suspension motor, accuracy is good, shuts down reliability and safety Property can be guaranteed.

It is alternatively possible to one of running down frequency when the motor running down is determined in method of the invention with reference to shown in Fig. 2 The schematic flow sheet of embodiment, further illustrate the specific mistake of the running down frequency when motor running down is determined in step S110 Journey.

Step S210, counter electromotive force produced by obtaining the motor running down initial AC signal (such as：Amplitude it is larger and The counter electromotive force ac voltage signal of positive negative variation).

Step S220, from extraction pulse signal corresponding with the running down rotating speed of the motor in the initial AC signal.

Such as：Counter electromotive force during motor running down can be converted to by electricity by the hardware circuit as shown in Fig. 9 to Figure 12 Digital pulse signal corresponding to machine running down rotating speed.

Such as：Running down (i.e. inertia rotate) to motor caused counter electromotive force in the stator windings, by ratio and is asked Digital pulse forms are changed to being walked around after circuit, low-pass filter circuit and comparison circuit, the example as shown in Fig. 9 to Figure 12.

Wherein, the pulse signal, can include：Square-wave pulse signal.

Such as：Using the capturing unit in MCU, the square-wave signal of input is captured.

Thus, pass through square-wave pulse signal, it is easier to determine rising edge and under by edge, and then can be lifted to running down frequency The accuracy and reliability of determination.

More it is alternatively possible to which the motor is carried out axle in method of the invention with reference to shown in Fig. 3 stops a floating embodiment Schematic flow sheet, further illustrate in step S220 from extraction and the running down rotating speed of the motor in the initial AC signal The detailed process of corresponding pulse signal.

Step S310, the initial AC signal is carried out proportional zoom and summation processing (such as：By setting ratio The initial ac voltage signal is zoomed in and out example and summation process), obtain that there is setting voltage range and setting biasing First AC signal of voltage.

Wherein, proportional zoom, summing circuit are all handled, and are the characteristics of signal after processing：Using bias voltage as Center, inlet wire fluctuate up and down, and the scope between the maximum and minimum value of fluctuation is exactly voltage range.

Such as：Referring to the example shown in Fig. 9 and Figure 10, first order circuit is ratio and summing circuit, by amplitude it is larger and The counter electromotive force ac voltage signal of positive negative variation, is converted to the AC signal that voltage range is 0~Vp, the AC signal it is inclined It is Vref to put voltage.The zoom ranges of this grade of circuit and the value of offset voltage, the letter that can be directly handled according to the MCU used Number scope be adjusted.Wherein, the resistance of resistance can determine according to counter electromotive force amplitude and DSP sample range, Electric capacity can be adjusted according to the interference in system.

Step S320, processing is filtered to first AC signal, obtains the second required AC signal.

In a more optional specific example, processing is filtered to first AC signal in step S320, can be with Including：Using rotating speed of the motor before halt instruction (even if halt instruction that the motor itself is shut down) is sent as fundamental wave, Filter out other harmonic waves in addition to the fundamental wave in first AC signal.

Such as：Referring to the example shown in Fig. 9 and Figure 11, second level circuit is low-pass filter circuit, (is stopped with initial speed Machine instructs the rotating speed for sending front motor) it is fundamental wave, other harmonic components are filtered out, obtain more pure AC signal.Resistance and The resistance of electric capacity the cut-off frequency value of LPF can adjust according to corresponding to the initial speed of maximum.

Thus, by carrying out harmonic filtration by fundamental wave of rotating speed of the motor before halt instruction is sent, lifting the is advantageous to The purity of two AC signals, and then lift accuracy and reliability that pair pulse signal corresponding with running down rotating speed determines.

Step S330, by second AC signal compared with the setting bias voltage, obtain and the motor Running down rotating speed corresponding to pulse signal.

Wherein, the bias voltage used in first order circuit and tertiary circuit, can be same bias voltage.

Such as：Referring to the example shown in Fig. 9 and Figure 12, tertiary circuit is comparison circuit, by AC signal and Vref (i.e. Through ratio and summing circuit conversion gained AC signal bias voltage) reference voltage be compared, the part more than Vref Vcc positive level (i.e. high level corresponding to MCU) is formed, and (i.e. MCU is corresponding for the low level of the part formation Vss less than Vref Low level).By the processing of this grade of circuit, the signal of simulation is converted into MCU ECAP (enhanced seizure peripheral hardware) mould The pulse digit level signal that block can be handled directly, the input as ECAP pins.

Thus, by extracting pulse signal corresponding with running down rotating speed from counter electromotive force caused by motor running down so that Stop floating be controlled to axle based on running down rotating speed to be possibly realized, so as to realize the accuracy for stopping axle floating opportunity control.

In a more optional specific example, the pulse signal, it can include：High level signal and/or low level letter Number.

Thus, by plurality of level form, be advantageous to lift flexibility and the convenience that pulse signals determine.

In a more optional specific example, by second AC signal and the setting bias voltage in step S330 It is compared, can includes：By amplitude, the part in second AC signal higher than the setting bias voltage is set to form institute High level signal is stated, and/or the part in second AC signal less than the setting bias voltage is formed the low electricity Ordinary mail number.

Thus, determine that pulse is believed by way of being contrasted by amplitude to the second AC signal with setting bias voltage Number, determination mode is easy, determines result reliability height.

Step S230, the pulse signal is converted to the running down frequency of the motor.

Such as：Pulse signal is input to MCU ECAP pins, believed the pulse of input by software algorithm in MCU Number be converted to the frequency values of motor.

Thus, by extracting corresponding with running down rotating speed pulse signal from counter electromotive force caused by motor running down, then should Pulse signal is converted to running down frequency, the rotary speed information that will be included in electromotive force caused by motor inertia rotation during orderly closedown Effectively use, be advantageous to veritably realize the real-time of magnetic suspension doffing, to avoid doffing not in time or even touch axle The problem of.

More it is alternatively possible to which the pulse signal is converted into the motor in method of the invention with reference to shown in Fig. 4 The schematic flow sheet of one embodiment of running down frequency, further illustrate in step S230 and the pulse signal is converted into the electricity The detailed process of the running down frequency of machine.

Step S410, capture the same polarity edge of the pulse signal.

Such as：After the pwm signal of the inverter controller of magnetic suspension motor rotation is closed, make MCU ECAP function ons, The impulse level of ECAP pins input carries out capture operation.

Such as：Using the capturing unit in MCU, all same polarity edges in capture input square-wave signal.

Step S420, the same polarity edge that calculating currently captures are worked as with the preceding same polarity edge once captured Preceding time interval.

Wherein, capture a same polarity edge every time, MCU will calculate with the same polarity edge of upper one capture when Between be spaced.The running down frequency of motor is always calculated in program with newest time interval.

Such as：Calculate the time interval of the adjacent same polarity porch captured twice.

Wherein, the same polarity edge, can include：Rising edge or trailing edge.

Such as：The same polarity edge can be rising edge or trailing edge.

Thus, by the same polarity edge of diversified forms, the flexibility that is obtained to same polarity edge and convenient can be lifted Property.

Step S430, according to the corresponding relation between setting clock frequency and setting time interval, it is determined that with it is described current Clock frequency corresponding to time interval be the running down frequency (such as：Counter electromotive force of motor frequency values).

Such as：The time interval numerical value of counter (capture) at the adjacent edge of same polarity twice is calculated, during according to system The proportionate relationship of the numerical value of clock frequency and capture counter, calculates counter electromotive force of motor frequency values.

Such as：With reference to system clock frequency, you can the rotating speed of the running down of current motor must be tried to achieve.

Thus, by capturing the same polarity edge in pulse signal, and running down frequency is determined based on same polarity edge so that Running down frequency is determined accuracy is good, reliability is high.

Wherein, the corresponding relation, can include：Proportionate relationship.

Such as：The proportionate relationship of the numerical value of system clock frequency and capture counter.

Thus, by that using proportionate relationship as corresponding relation, can make it that the processing based on corresponding relation is simpler, and Reliably, safety.

At step S120, determine the running down frequency whether be reduced to setpoint frequency (such as：Determine the running down frequency Whether it is zero).

At step S130, when the running down frequency is reduced to the setpoint frequency, the motor is carried out axle and stop floating.

Such as：The rotating speed gradually reduces, and when rotating speed is zero, frequency-variable controller sends stopping suspension to bearing controller and referred to Order, with falling on axle on bearing, the stopping process of whole safety terminates bearing controller.

Such as：Whether it is zero order as control magnetic suspension compressor doffing using the frequency values (i.e. running down frequency).Make Doffing at the time of at the time of just be motor speed be zero, avoid stop it is floating not in time or stop floating bring too early touch axle thing Therefore；Stop the floating execution moment based on the magnetically suspended bearing control shaft without sensor it is thus possible to realize, no longer foundation is prolonged When the time.

Thus, determine that the axle of the motor stops floating opportunity by running down frequency so that motor shaft stops the accuracy on floating opportunity It is good, and then can make motor is punctual, is reliably achieved axle to stop floating, and security is good.

Alternatively, make the motor carry out axle in step S130 to stop floating, can include：To the bearing controller of the motor Send stop buy stop order so that the bearing controller receive it is described stopping buy stop order when by axle fall on bearing (such as： Magnetic suspension bearing) on.

Thus, motor shaft is made to stop floating by way of being sent to the bearing controller of motor and stopping buy stop order, Ke Yiti Lifting shaft stops floating reliability and security.

More alternatively, sent to the bearing controller of the motor and stop buy stop order, can included：Control the motor Frequency-variable controller, make the frequency-variable controller to bearing controller (such as：Magnetically suspended bearing without sensor) hair Send stopping buy stop order.

Wherein, frequency-variable controller and bearing controller are the two of which parts in whole control system, are sent each other Order, is automatically performed, it is not necessary to extra client.

Certainly, can also be controlled when needed by client.Such as：Sent to the bearing controller of the motor Stop buy stop order, can also include：Stopping suspension being sent by the client of setting to the bearing controller of the motor to refer to Order.

Thus, sent by the controller of motor in itself to itself and stop buy stop order or peripheral control unit to motor hair Send and stop the various ways such as buy stop order, be advantageous to flexibility and convenience that lifting stops floating control to motor shaft.

In an optional embodiment, it can also include：Rotating speed of the motor before halt instruction is sent is determined Process.

It is alternatively possible to determine rotating speed of the motor before halt instruction is sent.

Such as：Only it is determined that the rotating speed before shutting down is zero, just sends halt instruction.

Such as：Its rotating speed can be recorded before the halt instruction of motor is sent.

Thus, by the rotating speed of the determination motor before halt instruction is sent, fundamental wave can be used as in filtering, and then The purity for filtering out result can be lifted, is advantageous to the accuracy that lifting stops floating opportunity to motor shaft and determined, and then lifting motor axle Stop floating reliability and security.

In an optional embodiment, it can also include：Judge motor whether the process of running down.

It is alternatively possible to judge in method of the invention with reference to shown in Fig. 5 motor whether the flow of an embodiment of running down Schematic diagram, further explanation judge motor whether the detailed process of running down.

Step S510, it is determined that before running down frequency during the motor running down, determine the motor whether running down.

More it is alternatively possible to determined in method of the invention with reference to shown in Fig. 6 the motor whether an embodiment of running down Schematic flow sheet, further illustrate determined in step S510 the motor whether the detailed process of running down.

Step S610, it is determined that the motor sent in halt instruction before rotating speed after, determine that the shutdown of the motor refers to Make (such as：May be used to the halt instruction of the motor stopping) whether send.

Step S620, when it is determined that the halt instruction is sent, it is determined whether receive the halt instruction.

Step S630, when it is determined that receiving the halt instruction, determine the motor pwm signal (such as：It can use In the pwm signal for the inverter controller for controlling the motor rotation) whether close.

Such as：After controller sends halt instruction, the pwm signal of the inverter controller of control magnetic suspension motor rotation closes Close.

Step S640, when it is determined that the pwm signal is closed, determine that the motor starts running down.

Such as：After the pwm signal closing for controlling the inverter controller of magnetic suspension motor rotation, motor is according to inertial rotation Go down, until entirely off.

Thus, after by determining that the pwm signal of motor is closed under the control of halt instruction, motor running down is just determined, Running down frequency is obtained, is advantageous to accuracy of the lifting to running down frequency acquisition opportunity, and then can be lifted and axle is stopped floating The accuracy that opportunity determines.

More alternatively, determined in step S510 the motor whether the detailed process of running down, can also include：When it is determined that institute When stating halt instruction and sending and determine not receive the halt instruction, fault cues are initiated.

Thus, by when halt instruction is sent but does not receive halt instruction, initiating fault cues, lifting pair is advantageous to The reliability and security of motor control.

More alternatively, determined in step S510 the motor whether the detailed process of running down, can also include：When it is determined that connecing When receiving the halt instruction and determining that the pwm signal is not turned off, continue to be determined to whether the pwm signal closes, Or initiate fault cues.

Thus, by when receiving halt instruction but pwm signal is not turned off, being further turned off or initiating fault cues, Motor running down is just determined during ensuring that PWM is closed, or initiates fault cues so that staff safeguards in time, is advantageous to lifting pair The reliability and security of motor control.

Step S520, when the motor running down, just the running down frequency is obtained.

Thus, by the way that to motor, whether running down is determined, with it is determined that just being obtained to running down frequency during motor running down Take, and then can avoid obtaining running down frequency during the non-running down of motor and waste time and energy and can avoid determining during running down non-with motor Running down frequency carry out the potential safety hazard that axle stops floating control and brought, be advantageous to lifting to the accuracy of running down frequency acquisition and can By property.

In an optional embodiment, it can also include：The process of output control is carried out to relevant parameter or state.

It is alternatively possible to floating situation is stopped to the running down frequency, the setpoint frequency, the axle, the motor is stopping Machine instruction send before rotating speed, the motor whether at least one of the situation of running down, shown, printed, being sent to setting Determine at least one of client output control.

Thus, output control is carried out by the relevant parameter to motor or state, in order to user it is a variety of using or with When check, and then user is preferably grasped the running situation of motor, be advantageous to lifting to the reliability of motor control and precisely Property, and hommization is good.

Through substantial amounts of verification experimental verification, using technical scheme, by just turning at the time of doffing for motor At the time of speed is zero, avoid stop it is floating not in time or stop it is floating bring too early touch axle accident, reliability is high, and security is good.

According to an embodiment of the invention, a kind of motor control assembly corresponding to detection circuit is additionally provided.Referring to Fig. 7 institutes Show the structural representation of an embodiment of the device of the present invention.The motor control assembly can include：Determining unit 102 and control Unit 104.

In an optional example, determining unit 102, the running down frequency during motor running down is determined for.Should The concrete function of determining unit 102 and processing are referring to step S110.

Alternatively, the running down frequency when determining unit 102 determines the motor running down, can specifically include：Obtain Counter electromotive force produced by the motor running down initial AC signal (such as：Amplitude is larger and the counter electromotive force of positive negative variation is handed over Flow voltage signal).The concrete function of the determining unit 102 and processing are referring further to step S210.

Alternatively, the running down frequency when determining unit 102 determines the motor running down, can also specifically include：From Extraction pulse signal corresponding with the running down rotating speed of the motor in the initial AC signal.The determining unit 102 it is specific Function and processing are referring further to step S220.

Wherein, the pulse signal, can include：Square-wave pulse signal.

More alternatively, the determining unit 102 extracts the running down rotating speed with the motor from the initial AC signal Corresponding pulse signal, it can specifically include：Processing (the example of proportional zoom and summation is carried out to the initial AC signal Such as：The initial ac voltage signal is zoomed in and out by setting ratio and summation process), obtain having setting voltage range, And the first AC signal of setting bias voltage.The concrete function of the determining unit 102 and processing are referring further to step S310.

More alternatively, the determining unit 102 extracts the running down rotating speed with the motor from the initial AC signal Corresponding pulse signal, it can also specifically include：Processing is filtered to first AC signal, required second is obtained and hands over Flow signal.The concrete function of the determining unit 102 and processing are referring further to step S320.

In a more optional specific example, the determining unit 102 is filtered processing to first AC signal, It can specifically include：With rotating speed of the motor before halt instruction (even if halt instruction that the motor itself is shut down) is sent For fundamental wave, other harmonic waves in addition to the fundamental wave in first AC signal are filtered out.

More alternatively, the determining unit 102 extracts the running down rotating speed with the motor from the initial AC signal Corresponding pulse signal, it can also specifically include：By second AC signal compared with the setting bias voltage, obtain To the corresponding pulse signal of running down rotating speed with the motor.The concrete function of the determining unit 102 and processing are referring further to step S330。

In a more optional specific example, the determining unit 102 is inclined by second AC signal and the setting Put voltage to be compared, can specifically include：By amplitude, make in second AC signal higher than the setting bias voltage Part forms the high level signal, and/or makes in second AC signal less than the part shape of the setting bias voltage Into the low level signal.

Alternatively, the running down frequency when determining unit 102 determines the motor running down, can also specifically include：Will The pulse signal is converted to the running down frequency of the motor.The concrete function of the determining unit 102 and processing are referring further to step S230。

More alternatively, the determining unit 102 is converted to the pulse signal running down frequency of the motor, specifically may be used With including：Capture the same polarity edge of the pulse signal.The concrete function of the determining unit 102 and processing are referring further to step S410。

More alternatively, the determining unit 102 is converted to the pulse signal running down frequency of the motor, specific to go back It can include：Between the current time for calculating the same polarity edge currently captured and the preceding same polarity edge once captured Every.The concrete function of the determining unit 102 and processing are referring further to step S420.

Wherein, the same polarity edge, can include：Rising edge or trailing edge.

Such as：The same polarity edge can be rising edge or trailing edge.

More alternatively, the determining unit 102 is converted to the pulse signal running down frequency of the motor, specific to go back It can include：According to setting clock frequency and setting time interval between corresponding relation, it is determined that with the current time interval Corresponding clock frequency be the running down frequency (such as：Counter electromotive force of motor frequency values).The concrete function of the determining unit 102 And processing is referring further to step S430.

Wherein, the corresponding relation, can include：Proportionate relationship.

In an optional example, the determining unit 102, it can be also used for determining whether the running down frequency is reduced to Setpoint frequency (such as：Determine zero) whether the running down frequency is.The concrete function of the determining unit 102 and processing are referring further to step Rapid S120.

In an optional example, control unit 104, it can be used for when the running down frequency is reduced to the setpoint frequency When, the motor is carried out axle and stop floating.The concrete function of the control unit 104 and processing are referring to step S130.

Alternatively, described control unit 104 makes the motor progress axle stop floating, and can specifically include：To the motor Bearing controller, which is sent, stops buy stop order, so that the bearing controller falls on axle when receiving the stopping buy stop order Bearing (such as：Magnetic suspension bearing) on.

More alternatively, described control unit 104 is sent to the bearing controller of the motor stops buy stop order, specifically may be used With including：Control the frequency-variable controller of the motor, make the frequency-variable controller to bearing controller (such as：Without sensor Magnetically suspended bearing) send stopping buy stop order.

Certainly, can also be controlled when needed by client.Such as：Described control unit 104 is to the motor Bearing controller send stop buy stop order, can also specifically include：Bearing by from the client of setting to the motor Controller, which is sent, stops buy stop order.

Alternatively, the determining unit 102, can be also used for determining rotating speed of the motor before halt instruction is sent.

Alternatively, the determining unit 102, can be also used for it is determined that before running down frequency during the motor running down, really The fixed motor whether running down.The concrete function of the determining unit 102 and processing are referring further to step S510.

More alternatively, the determining unit 102 determine the motor whether running down, can specifically include：It is determined that described Motor after the rotating speed before halt instruction is sent, determine the motor halt instruction (such as：The motor is may be used to stop The halt instruction of machine) whether send.The concrete function of the determining unit 102 and processing are referring further to step S610.

More alternatively, the determining unit 102 determine the motor whether running down, can also specifically include：When it is determined that institute When stating halt instruction and sending, it is determined whether receive the halt instruction.The concrete function of the determining unit 102 and processing are also joined See step S620.

More alternatively, the determining unit 102 determine the motor whether running down, can also specifically include：When it is determined that connecing When receiving the halt instruction, determine the motor pwm signal (such as：It can be used for the inversion for controlling the motor rotation The pwm signal of controller) whether close.The concrete function of the determining unit 102 and processing are referring further to step S630.

More alternatively, the determining unit 102 determine the motor whether running down, can also specifically include：When it is determined that institute When stating pwm signal closing, determine that the motor starts running down.The concrete function of the determining unit 102 and processing are referring further to step S640。

More alternatively, the determining unit 102 determine the motor whether running down, can also specifically include：When it is determined that institute When stating halt instruction and sending and determine not receive the halt instruction, fault cues are initiated.

More alternatively, the determining unit 102 determine the motor whether running down, can also specifically include：When it is determined that connecing When receiving the halt instruction and determining that the pwm signal is not turned off, continue to be determined to whether the pwm signal closes, Or initiate fault cues.

Alternatively, the determining unit 102, can be also used for, when the motor running down, just entering the running down frequency Row obtains.The concrete function of the determining unit 102 and processing are referring further to step S520.

Alternatively, described control unit 104, can be also used for stopping the running down frequency, the setpoint frequency, the axle Rotating speed of the floating situation, the motor before halt instruction is sent, the motor whether at least one of the situation of running down, enter Row display, printing, send at least one of setting client output control.

The processing and function realized by the device of the present embodiment essentially correspond to earlier figures 1 to the method shown in Fig. 6 Embodiment, principle and example, therefore not detailed part in the description of the present embodiment may refer to mutually speaking on somebody's behalf in previous embodiment It is bright, it will not be described here.

Through substantial amounts of verification experimental verification, using technical scheme, by the way that the pulse signal of input is converted into motor Frequency values, and then for control magnetic suspension compressor doffing reliable foundation is provided, be advantageous to lift shaft stop floating accuracy with Security.

According to an embodiment of the invention, a kind of storage medium corresponding to motor control method is additionally provided.The storage is situated between Matter can include：A plurality of instruction is stored with the storage medium.

Wherein, a plurality of instruction, it can be used for the control method for being loaded by processor and being performed above-described motor.

The processing and function realized by the storage medium of the present embodiment essentially correspond to earlier figures 1 to shown in Fig. 6 Embodiment, principle and the example of method, therefore not detailed part in the description of the present embodiment, may refer to the phase in previous embodiment Speak on somebody's behalf bright, will not be described here.

Through substantial amounts of verification experimental verification, using technical scheme, during by by orderly closedown, the rotation production of motor inertia The rotary speed information included in raw electromotive force effectively uses, and really realizes the real-time of magnetic suspension doffing, avoids The problem of doffing even touches axle not in time.

According to an embodiment of the invention, the one kind additionally provided corresponding to motor control assembly or motor control method is set It is standby.The equipment can include：The control device of above-described motor；Or processor, it can be used for performing a plurality of instruction； Memory, it can be used for storing a plurality of instruction.

Wherein, a plurality of instruction, can be used for by the memory storage, and is loaded by processor and perform above institute The control method for the motor stated.

Alternatively, the equipment can include：Compressor or unit.

Wherein, the unit, can include：At least one of Screw chiller, photovoltaic frequency converter sets, magnetic suspension unit.

Such as：This programme is applied to the compressor or unit (such as Screw chiller, light that various uses are driven without sensor Lie prostrate frequency converter sets, magnetic suspension unit etc.) in, the detection of rotating speed during motor running down, and need to carry out phase according to the rotating speed Close the occasion of operation (such as doffing, Valve controlling, guide vane opening control etc.).

It can be seen that above-mentioned compressor or unit, can be stopped floating based on the magnetically suspended bearing control shaft without sensor The moment is performed, no longer according to delay time, but counter electromotive force during motor running down is converted to by electricity by hardware circuit first Digital pulse signal corresponding to machine running down rotating speed, and MCU ECAP pins are input to, it will be inputted by software algorithm in MCU Pulse signal be converted to the frequency values of motor, and whether be zero life as control magnetic suspension compressor doffing using the frequency values Order.At the time of so as to be just motor speed at the time of doffing be zero, avoid stop it is floating not in time or stop it is floating bring too early touch Axle accident.

In an optional embodiment, the scheme of the application, based on the magnetically suspended bearing control without sensor Axle stops the floating execution moment, no longer according to delay time, but first by hardware circuit by counter electromotive force during motor running down Be converted to digital pulse signal corresponding to motor running down rotating speed；And MCU ECAP pins are input to, calculated in MCU by software Method is converted to the pulse signal of input the frequency values of motor；And using the frequency values whether be zero as control magnetic suspension compressor The order of doffing.At the time of so as to be just motor speed at the time of doffing be zero, avoid stop it is floating not in time or stop it is floating too early That brings touches axle accident.

Wherein, motor rotates the running down for being industrially referred to as motor after stopping transmitting electricity, and is inertia phenomena, its energy source The kinetic energy that the front motor for being exactly rotates.

Alternatively, the pulse signal of input is converted to the frequency values of motor in MCU by software algorithm, specifically can be with Including：Using the capturing unit in MCU, all same polarity edges in capture input square-wave signal (such as：The same polarity edge Can be rising edge or trailing edge), and the time interval (numerical value for capturing counter) at the adjacent edge of same polarity twice is calculated, According to the proportionate relationship of system clock frequency and the numerical value of capture counter, counter electromotive force of motor frequency values are calculated.

Wherein, there are two kinds of rising edge and trailing edge in edge.Same polarity edge is that the multiple edges detected are same sides Edge.It during programming, rising edge can be selected, can also select trailing edge, but it is once it is determined that every with which kind of edge, MCU All it is this edge of detection during secondary detection edge.

Such as：Adjacent same polarity edge twice, all it is same edge, otherwise it is rising edge, otherwise it is trailing edge.

Such as：The proportionate relationship of the numerical value of system clock frequency and capture counter, has with the frequency of the processor of selection Close, when such as selecting DSP28335, system clock 150Mhz；And if select DSP28035, system clock frequency 60Mhz. And the time interval at two same polarity edges, also relevant with the setting in program, the different group of value of corresponding capture counter Conjunction just has different proportionate relationships, it can be provided is a variety of proportionate relationships.But once set, will be according to only One proportionate relationship carrys out computing.

In an optional embodiment, the scheme of the application, from hardware circuit and software program jointly with complete.Firmly As shown in Figure 9, software control flow is as shown in Figure 8 for part circuit.

, can be by the combination of hardware and software, during by orderly closedown in an optional example, the rotation production of motor inertia The rotary speed information included in raw electromotive force effectively uses, and really realizes the real-time of magnetic suspension doffing, avoids The problem of doffing even touches axle not in time.

Alternatively, the hardware circuit course of work in this programme, can include：The running down (i.e. inertia rotates) of motor is fixed Caused counter electromotive force in sub- winding, walked around after ratio and summing circuit, low-pass filter circuit and comparison circuit and be changed to number Word pulse waveform, the example as shown in Fig. 9 to Figure 12.

Wherein, obtain the running down (i.e. inertia rotate) of motor in the stator windings caused counter electromotive force when, can be from electricity Lead comes out in the three-phase terminal block of machine input, and during running down, the voltage between any both threads is exactly counter electromotive force, this two Signal wire is connected to the input of the ratio summing circuit (the ratio summing circuit in the circuit i.e. in the application) of controller phase.

In an optional specific example, first order circuit is ratio and summing circuit, by amplitude is larger and positive negative variation Counter electromotive force ac voltage signal, be converted to the AC signal that voltage range is 0~Vp, the bias voltage of the AC signal is Vref.The zoom ranges of this grade of circuit and the value of offset voltage, can be according to the scope of the MCU used the signals that can directly handle It is adjusted.Wherein, the resistance of resistance can determine that electric capacity can root according to counter electromotive force amplitude and DSP sample range It is adjusted according to the interference in system.

Such as：According to the scope of the MCU used the signals that can directly handle, the scaling model of adjustment ratio and summing circuit Enclose and during the value of offset voltage, it is different for the scope of the different MCU signals handled, such as scopes of 28035 processing for 0~ 3.3V, the scope of 28335 processing is 0~3V.Exemplified by 28335, by adjusting ratio and summing circuit, it is therefore an objective to which ensureing will be compared with Big AC signal (such as -300V~+300V) adjustment turns into the signal in the range of 0~3V；This scope can neither be exceeded, if super Crossing this scope, then MCU results can malfunction；Also should not be too small, the degree of accuracy of processing is influenceed if too small.

Such as：Offset voltage, can be bias voltage Vref.

Such as：Many of system operation switching signal, electromagnetic radiation can be caused, to circuit produce interference, it is necessary to Pass through the parameter that specifically test is held come economize on electricity of setting the tone such as electromagnetic radiation and set-up mode.

In an optional specific example, second level circuit is low-pass filter circuit, and with initial speed, (i.e. halt instruction is sent out Go out the rotating speed of front motor) it is fundamental wave, other harmonic components are filtered out, obtain more pure AC signal.The resistance of resistance and electric capacity Value the cut-off frequency value of LPF can adjust according to corresponding to the initial speed of maximum, such as can select voltage comparator It is adjusted.

In an optional specific example, tertiary circuit is comparison circuit, by AC signal and Vref (i.e. through ratio and The bias voltage of summing circuit conversion gained AC signal) reference voltage be compared, part more than Vref forms Vcc's Positive level (i.e. high level corresponding to MCU), and the part less than Vref forms Vss low level (i.e. low level corresponding to MCU). By the processing of this grade of circuit, ECAP (enhanced seizure peripheral hardware) module that the signal of simulation is converted into MCU can be direct The pulse digit level signal of processing, the input as ECAP pins.

Such as：Vref is exactly the value of reference voltage；It can be understood as the voltage on the basis of Vref.Power supply electricity on controller Road can obtain by partial pressure.

Such as：When comparing, voltage magnitude can be compared.

Such as：Counter electromotive force is one after processing, to AC signal here and sine is fluctuated centered on reference voltage Ripple signal, it is the signal of change, is pointed out now in reference voltage identical, and when low and high level switching, is specifically changed into high Level or low level, just see that this point signal below is increase or diminution, the corresponding high level of increase reduces pair Answer low level.

Alternatively, the software work process in this programme, can be as follows：

After controller sends halt instruction, the pwm signal of the inverter controller of control magnetic suspension motor rotation is closed；This When ECAP function ons, ECAP pins input impulse level carry out capture operation.By calculating the adjacent homopolarity captured twice The time interval of property porch, with reference to system clock frequency, you can the rotating speed of the running down of current motor must be tried to achieve.The rotating speed by Gradually reduce, when rotating speed is zero, frequency-variable controller sends stopping buy stop order to bearing controller, and bearing controller is with i.e. by axle Fall on bearing, the stopping process of whole safety terminates, as shown in Figure 8.Wherein, the inversion control of magnetic suspension motor rotation is controlled After the pwm signal of device is closed, motor goes down according to inertial rotation, until entirely off.

It can be seen that the present invention relative to traditional based on the magnetic suspension compressor closing method without sensor, solve magnetcisuspension Floating compressor can not stop the problem of floating in correct time (at the time of i.e. rotor is entirely off) control shaft, can avoid compressor Bearing collision problem during shutdown, security, reliability when being shut down so as to improve based on the magnetic suspension compressor without sensor And real-time.

The processing and function realized by the equipment of the present embodiment essentially correspond to earlier figures 1 to the method shown in Fig. 6 Or embodiment, principle and the example of the device shown in Fig. 7, therefore not detailed part in the description of the present embodiment, it may refer to foregoing Related description in embodiment, will not be described here.

Through substantial amounts of verification experimental verification, using technical scheme, by capture input it is all same in square-wave signal Polarity edge (such as：The same polarity edge can be rising edge or trailing edge), and calculate the adjacent edge of same polarity twice when Between the interval numerical value of counter (capture), according to the proportionate relationship of system clock frequency and the numerical value of capture counter, calculate Go out counter electromotive force of motor frequency values, detection mode is reliable, safety, and testing result accuracy is good.

According to an embodiment of the invention, there is provided a kind of pulse extraction circuit, the one of the circuit of the present invention is real as shown in Figure 9 Apply the structural representation of example.The pulse extraction circuit, it can be used for extraction and the running down rotating speed of motor in the apparatus described above Corresponding pulse signal, the circuit can include：Obtain circuit 10, filter circuit 20 and comparison circuit 30.

In an optional example, the acquisition circuit 10, it can be used for counter electromotive force during to the motor running down The processing of initial AC signal progress proportional zoom and summation (such as：By setting ratio to the initial ac voltage signal Zoom in and out and summation process), obtain with setting voltage range and set bias voltage the first AC signal.

Such as：Counter electromotive force when receiving the motor running down initial AC signal (such as：Amplitude is larger and positive negative wave Dynamic counter electromotive force ac voltage signal), the initial AC signal is carried out proportional zoom and summation process (such as：By setting The initial ac voltage signal is zoomed in and out certainty ratio and summation process), obtain that there is setting voltage range and setting First AC signal of bias voltage.

Alternatively, the acquisition circuit 10, can include：First comparator, and be adapted to and set with the first comparator The first resistor module put, and/or the first capacitance module.Such as：The acquisition circuit 10, may refer to the example shown in Figure 10.

Thus, set, can be lifted to the by the adaptation of first comparator, first resistor module, the first capacitance module The flexibility and reliability that one AC signal obtains.

In an optional example, the filter circuit 20, it can be used for the motor in halt instruction (even if described Motor itself shut down halt instruction) send before rotating speed be fundamental wave, filter out in first AC signal in addition to the fundamental wave Other harmonic waves, obtain the second required AC signal.

Alternatively, the filter circuit 20, can include：Capacitance-resistance filter.Such as：The filter circuit 20, may refer to Example shown in Figure 11.

In an optional example, the comparison circuit 30, it can be used for second AC signal and the setting Bias voltage is compared, and obtains pulse signal corresponding with the running down rotating speed of the motor.

Such as：The pulse signal (i.e. pulse digit level signal), can include：High level signal and/or low level Signal.By second AC signal compared with the setting bias voltage, it can include：By amplitude, make described second Part in AC signal higher than the setting bias voltage forms the high level signal, and/or makes the second exchange letter Part in number less than the setting bias voltage forms the low level signal.

Alternatively, the comparison circuit 30, can include：Second comparator, and be adapted to and set with second comparator The second resistance module put, and/or the second capacitance module.Such as：The comparison circuit 30, may refer to the example shown in Figure 12.

Thus, set, can be lifted to arteries and veins by the adaptation of the second comparator, second resistance module, the second capacitance module Rush the convenience and reliability of signal formation.

The processing and function realized by the circuit of the present embodiment essentially correspond to the implementation of the equipment shown in earlier figures 8 Example, principle and example, therefore not detailed part in the description of the present embodiment, may refer to the related description in previous embodiment, This is not repeated.

Through substantial amounts of verification experimental verification, using the technical scheme of the present embodiment, by the way that counter electromotive force during motor running down is turned Digital pulse signal corresponding to being changed to motor running down rotating speed, the pulse signal of input is converted to the frequency values of motor, and should Whether frequency values are zero order as control magnetic suspension compressor doffing；So that based on the magnetic suspension bearing control without sensor Device control shaft stops the floating execution moment, no longer according to delay time, good reliability.

To sum up, it will be readily appreciated by those skilled in the art that on the premise of not conflicting, above-mentioned each advantageous manner can be certainly Combined, be superimposed by ground.

Embodiments of the invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made, Equivalent substitution, improvement etc., should be included within scope of the presently claimed invention.

Claims

A kind of 1. control method of motor, it is characterised in that including：

Determine the running down frequency during motor running down；

Determine whether the running down frequency is reduced to setpoint frequency；

When the running down frequency is reduced to the setpoint frequency, the motor is carried out axle and stop floating.
2. according to the method for claim 1, it is characterised in that

The running down frequency during motor running down is determined, including：

The initial AC signal of counter electromotive force produced by obtaining the motor running down；

From extraction pulse signal corresponding with the running down rotating speed of the motor in the initial AC signal；

The pulse signal is converted to the running down frequency of the motor；

And/or

Make the motor carry out axle to stop floating, including：

Sent to the bearing controller of the motor and stop buy stop order, so that the bearing controller receives the stopping and hanged Axle is fallen on bearing during floating instruction.
3. according to the method for claim 2, it is characterised in that

From extraction pulse signal corresponding with the running down rotating speed of the motor in the initial AC signal, including：

The processing of proportional zoom and summation is carried out to the initial AC signal, obtains that there is setting voltage range, Yi Jishe Determine the first AC signal of bias voltage；

Processing is filtered to first AC signal, obtains the second required AC signal；

By second AC signal compared with the setting bias voltage, obtain corresponding with the running down rotating speed of the motor Pulse signal；

And/or

The pulse signal is converted to the running down frequency of the motor, including：

Capture the same polarity edge of the pulse signal；

Calculate the current time interval at a same polarity edge and preceding same polarity edge once captured currently captured；

According to the corresponding relation between setting clock frequency and setting time interval, it is determined that corresponding with the current time interval Clock frequency is the running down frequency；

And/or

Sent to the bearing controller of the motor and stop buy stop order, including：

The frequency-variable controller of the motor is controlled, the frequency-variable controller is sent to bearing controller and stops buy stop order.
4. according to the method for claim 3, it is characterised in that wherein,

Processing is filtered to first AC signal, including：

Using rotating speed of the motor before halt instruction is sent as fundamental wave, filter out in first AC signal in addition to the fundamental wave Other harmonic waves；

And/or

The pulse signal, including：High level signal and/or low level signal；

By second AC signal compared with the setting bias voltage, including：

By amplitude, the part in second AC signal higher than the setting bias voltage is set to form the high level signal, And/or the part in second AC signal less than the setting bias voltage is set to form the low level signal；

And/or

The pulse signal, including：Square-wave pulse signal；And/or

The same polarity edge, including：Rising edge or trailing edge；And/or

The corresponding relation, including：Proportionate relationship.
5. according to the method described in one of claim 1-4, it is characterised in that also include：

Determine rotating speed of the motor before halt instruction is sent；

And/or

Determine the motor whether running down；

When the motor running down, just to be obtained to the running down frequency；

And/or

Stop floating situation, the motor to the running down frequency, the setpoint frequency, the axle before halt instruction is sent to turn Fast, described motor whether at least one of the situation of running down, shown, printed, being sent into setting client at least A kind of output control；

And/or

The motor, including：Magnetic suspension motor.
6. according to the method for claim 5, it is characterised in that determine the motor whether running down, including：

Determine whether the halt instruction of the motor sends；

When it is determined that the halt instruction is sent, it is determined whether receive the halt instruction；

When it is determined that receiving the halt instruction, determine whether the pwm signal of the motor closes；

When it is determined that the pwm signal is closed, determine that the motor starts running down；

And/or

When it is determined that the halt instruction sends and when determining not receive the halt instruction, initiating fault cues；

And/or

When it is determined that receiving the halt instruction and when determining that the pwm signal is not turned off, continue to the pwm signal whether Closing is determined or initiated fault cues.
A kind of 7. control device of motor, it is characterised in that including：

Determining unit, running down frequency during for determining the motor running down；

The determining unit, it is additionally operable to determine whether the running down frequency is reduced to setpoint frequency；

Control unit, stop floating for when the running down frequency is reduced to the setpoint frequency, making the motor carry out axle.
8. device according to claim 7, it is characterised in that

The determining unit determines the running down frequency during motor running down, specifically includes：

The initial AC signal of counter electromotive force produced by obtaining the motor running down；

From extraction pulse signal corresponding with the running down rotating speed of the motor in the initial AC signal；

The pulse signal is converted to the running down frequency of the motor；

And/or

Described control unit makes the motor progress axle stop floating, and specifically includes：

Sent to the bearing controller of the motor and stop buy stop order, so that the bearing controller receives the stopping and hanged Axle is fallen on bearing during floating instruction.
9. device according to claim 8, it is characterised in that

The determining unit has from extraction pulse signal corresponding with the running down rotating speed of the motor in the initial AC signal Body includes：

The processing of proportional zoom and summation is carried out to the initial AC signal, obtains that there is setting voltage range, Yi Jishe Determine the first AC signal of bias voltage；

Processing is filtered to first AC signal, obtains the second required AC signal；

By second AC signal compared with the setting bias voltage, obtain corresponding with the running down rotating speed of the motor Pulse signal；

And/or

The determining unit is converted to the pulse signal running down frequency of the motor, specifically includes：

Capture the same polarity edge of the pulse signal；

Calculate the current time interval at a same polarity edge and preceding same polarity edge once captured currently captured；

According to the corresponding relation between setting clock frequency and setting time interval, it is determined that corresponding with the current time interval Clock frequency is the running down frequency；

And/or

Described control unit is sent to the bearing controller of the motor stops buy stop order, specifically includes：

The frequency-variable controller of the motor is controlled, the frequency-variable controller is sent to bearing controller and stops buy stop order.
10. device according to claim 9, it is characterised in that wherein,

The determining unit is filtered processing to first AC signal, specifically includes：

Using rotating speed of the motor before halt instruction is sent as fundamental wave, filter out in first AC signal in addition to the fundamental wave Other harmonic waves；

And/or

The pulse signal, including：High level signal and/or low level signal；

The determining unit compared with the setting bias voltage, specifically includes second AC signal：

By amplitude, the part in second AC signal higher than the setting bias voltage is set to form the high level signal, And/or the part in second AC signal less than the setting bias voltage is set to form the low level signal；

And/or

The pulse signal, including：Square-wave pulse signal；And/or

The same polarity edge, including：Rising edge or trailing edge；And/or

The corresponding relation, including：Proportionate relationship.
11. according to the device described in one of claim 7-10, it is characterised in that also include：

The determining unit, it is additionally operable to determine rotating speed of the motor before halt instruction is sent；

And/or

The determining unit, be additionally operable to determine the motor whether running down；

When the motor running down, just to be obtained to the running down frequency；

And/or

Described control unit, it is additionally operable to stop floating situation, the motor to the running down frequency, the setpoint frequency, the axle Rotating speed, the motor before halt instruction is sent whether at least one of the situation of running down, shown, printed, sent To at least one of setting client output control；

And/or

The motor, including：Magnetic suspension motor.
12. device according to claim 11, it is characterised in that the determining unit determine the motor whether running down, Specifically include：

Determine whether the halt instruction of the motor sends；

When it is determined that the halt instruction is sent, it is determined whether receive the halt instruction；

When it is determined that receiving the halt instruction, determine whether the pwm signal of the motor closes；

When it is determined that the pwm signal is closed, determine that the motor starts running down；

And/or

When it is determined that the halt instruction sends and when determining not receive the halt instruction, initiating fault cues；

And/or

When it is determined that receiving the halt instruction and when determining that the pwm signal is not turned off, continue to the pwm signal whether Closing is determined or initiated fault cues.
A kind of 13. storage medium, it is characterised in that including：A plurality of instruction is stored with the storage medium；

Wherein, a plurality of instruction, for being loaded by processor and performing the control of the motor as described in claim 1-6 is any Method.
A kind of 14. equipment, it is characterised in that including：

The control device of motor as described in claim 7-12 is any；

Or

Processor, for performing a plurality of instruction；

Memory, for storing a plurality of instruction；

Wherein, a plurality of instruction, for by the memory storage, and loaded by processor and performed such as claim 1-6 The control method of any described motor.
15. equipment according to claim 14, it is characterised in that the equipment includes：Compressor or unit；Wherein,

The unit, including：At least one of Screw chiller, photovoltaic frequency converter sets, magnetic suspension unit.
16. a kind of pulse signal extracts circuit, it is characterised in that for extracting and setting as described in claim 14-15 is any Pulse signal corresponding to the running down rotating speed of standby middle motor, the circuit include：Obtain circuit (10), filter circuit (20) and more electric Road (30)；Wherein,

The acquisition circuit (10), the initial AC signal of counter electromotive force during for the motor running down carry out ratio contracting The processing put and summed, obtain with setting voltage range and set the first AC signal of bias voltage；

The filter circuit (20), for using rotating speed of the motor before halt instruction is sent as fundamental wave, filtering out described first Other harmonic waves in AC signal in addition to the fundamental wave, obtain the second required AC signal；

The comparison circuit (30), for by second AC signal with it is described setting bias voltage compared with, obtain with Pulse signal corresponding to the running down rotating speed of the motor.
17. circuit according to claim 16, it is characterised in that wherein,

The acquisition circuit (10), including：First comparator, and the first resistor mould set is adapted to the first comparator Block, and/or the first capacitance module；

And/or

The filter circuit (20), including：Capacitance-resistance filter；

And/or

The comparison circuit (30), including：Second comparator, and the second resistance mould set is adapted to second comparator Block, and/or the second capacitance module.