CN108053970A - Without the quick demagnetization control method of sensor trapezoidal wave motor commutation, device and motor - Google Patents
Without the quick demagnetization control method of sensor trapezoidal wave motor commutation, device and motor Download PDFInfo
- Publication number
- CN108053970A CN108053970A CN201711463959.9A CN201711463959A CN108053970A CN 108053970 A CN108053970 A CN 108053970A CN 201711463959 A CN201711463959 A CN 201711463959A CN 108053970 A CN108053970 A CN 108053970A
- Authority
- CN
- China
- Prior art keywords
- work
- switching tube
- present section
- bridge arm
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F13/00—Apparatus or processes for magnetising or demagnetising
- H01F13/006—Methods and devices for demagnetising of magnetic bodies, e.g. workpieces, sheet material
Abstract
The present invention is suitable for Motor Control Field, and providing a kind of quick demagnetization control method of no sensor trapezoidal wave motor commutation, device and motor, this method includes：When motor commutation, in a period of time started in work at present section, pwm signal is applied on the switching tube not switched during operation interval changes, and another switching tube in work at present section is made to be in normal open state, so that the reverse voltage increase on hanging phase winding, hanging phase winding during changing to operation interval is quickly demagnetized；If demagnetization terminates, pwm signal is applied on the upper bridge arm switching tube in work at present section, and the lower bridge arm switching tube in work at present section is made to be in normal open state.This method greatly shortens the demagnetization time, improves the accuracy that zero crossing judges, so as to which commutation is accurate, motor will not step-out；The reliability of no sensor trapezoidal wave control is substantially increased, while any hardware cost need not be increased, there is certain versatility and technical advantage.
Description
Technical field
It quickly demagnetizes control the invention belongs to Motor Control Field more particularly to a kind of no sensor trapezoidal wave motor commutation
Method, apparatus and motor.
Background technology
Brshless DC motor (Brushless DC Motor, BLDCM) is with Power Electronic Technique and novel permanent magnetic material
The development of material and a kind of New-type electric machine grown up rapidly.With its detent torque is big, good speed adjustment features, efficient, overload energy
The advantages that power is strong, performance is stable, control structure is simple, while the excellent mechanical property of common DC motor is also retained, extensively
Applied to fields such as SERVO CONTROL, numerically-controlled machine tool, robots.
In brshless DC motor, the back-emf of winding is typically positive and negative alternation, when the back-emf zero passage of certain phase winding
When, rotor d-axis overlaps just with the phase winding axis, as long as therefore detect the zero crossing of each opposite potential, so that it may know and turn
Several key positions of son so as to save rotor-position sensor, realize brushless DC motor without position sensor control.This
It is current most widely used sensorless brushless DC motor control method.
In the DC brushless motor of existing no sensor (i.e. position sensor) trapezoidal wave control, the counter electromotive force of motor
For typical trapezoidal wave, in this field, there is presently no the hanging method mutually quickly demagnetized for motor, for one
Bigger (hundreds of more than the mH) motor of a little winding inductance amounts or motor heavy service, the intrinsic demagnetization of when motor commutation show
As zero crossing can be flooded, it is made to cannot get normal location information, motor desynchronizing can be caused, the serious initiation overcurrent that is also possible to is burnt
Ruin metal-oxide-semiconductor or motor.
The content of the invention
The embodiment of the present invention provides control method, device and the electricity that a kind of no sensor trapezoidal wave motor commutation is quickly demagnetized
Machine, it is intended to solve no sensor trapezoidal wave control DC brushless motor field in there are no quickly moved back for hanging phase
The problem of method of magnetic.
The embodiment of the present invention is achieved in that the controlling party that a kind of no sensor trapezoidal wave motor commutation is quickly demagnetized
Method, the described method includes：
When motor commutation, in a period of time for starting in work at present section, pwm signal is applied in operation interval
On the switching tube not switched during changing, and another switching tube in work at present section is made to be in normal open shape
State, so that the reverse voltage increase on hanging phase winding, hanging phase winding during changing to operation interval carries out fast
Speed demagnetization；
If demagnetization terminates, pwm signal is applied on the upper bridge arm switching tube in work at present section, and makes work at present
The lower bridge arm switching tube in section is in normal open state.
The present invention also provides the control device that a kind of no sensor trapezoidal wave motor commutation is quickly demagnetized, described device bags
It includes：
Quick demagnetization unit, in a period of time for when motor commutation, starting in work at present section, PWM to be believed
It number is applied on the switching tube not switched during operation interval changes, and makes the another of work at present section
Switching tube is in normal open state, so that the reverse voltage increase on hanging phase winding, during changing to operation interval
Hanging phase winding is quickly demagnetized；
Pwm signal if terminating for demagnetizing, is applied to the upper bridge arm switching tube in work at present section by recovery unit
On, and the lower bridge arm switching tube in work at present section is made to be in normal open state.
The present invention also provides a kind of motor, including：Motor body；And
The control device quickly to demagnetize without sensor trapezoidal wave motor commutation described above.
By above-mentioned demagnetization mode, the demagnetization time of hanging phase, extends counter electromotive force zero passage during being substantially shorter commutation
Point judge time, improve zero crossing judge accuracy, so as to commutation it is accurate, motor will not step-out, make motor operation more flat
Surely；This method need not increase any hardware cost simultaneously, be realized completely by software, algorithm is simple, accurately, reliably, convenient for reality
Using substantially increasing the reliability of no sensor trapezoidal wave control, there is certain versatility and technical advantage.
Description of the drawings
Fig. 1 is the control method that a kind of no sensor trapezoidal wave motor commutation provided in an embodiment of the present invention is quickly demagnetized
Flow chart；
Fig. 2 is that the motor commutation that a kind of no sensor trapezoidal wave motor commutation provided in an embodiment of the present invention is quickly demagnetized is suitable
Sequence table；
Fig. 3 is a kind of no sensor trapezoidal wave motor-drive circuit provided in an embodiment of the present invention；
Current direction schematic diagram when Fig. 4 is T1, T4 pipe conducting provided in an embodiment of the present invention；
Fig. 5 is the current direction schematic diagram that PWM provided in an embodiment of the present invention is applied on switch on the bridge T1；
Current direction schematic diagram when Fig. 6 is T1, T6 pipe conducting provided in an embodiment of the present invention；
Fig. 7 is the current direction schematic diagram that PWM provided in an embodiment of the present invention is applied on bridge switch T6；
Fig. 8 is the oscillogram that demagnetization phenomenon provided in an embodiment of the present invention floods hanging phase zero crossing；
Fig. 9 is the oscillogram that demagnetization phenomenon provided in an embodiment of the present invention does not flood hanging phase zero crossing；
Figure 10 is the control device that a kind of no sensor trapezoidal wave motor commutation provided in an embodiment of the present invention is quickly demagnetized
Module map.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Intrinsic demagnetization phenomenon can flood zero crossing during due to motor commutation, so that motor cannot get normal position letter
Breath causes motor desynchronizing, serious to be also possible to that overcurrent is triggered to burn metal-oxide-semiconductor or motor.In order to solve this problem, the present invention provides
Scheme in motor commutation, pass through in a period of time before starting in work at present section adjust pwm signal input side
Formula accelerates the demagnetization speed of hanging phase, not only greatly shortens demagnetization time in motor commutation process, and commutation precision compared with
Height, the stability of motor control is significantly increased with security, and need not increase and decrease hardware cost.
Embodiment one：
In embodiments of the present invention, the shown a kind of commutations of no sensor trapezoidal wave motor control of Fig. 1 are quickly demagnetized
The flow chart of method hereafter and in figure only shows content related to the present invention, and details are as follows.
The present embodiment comprises the following steps：
Step S210, when motor commutation, i.e., when operation interval changes, at start in work at present section one section
In, pwm signal is applied on the switching tube not switched during operation interval changes, and makes current work
Another switching tube for making section is in normal open state, so that the reverse voltage increase on hanging phase winding, with to operation interval
Hanging phase winding when changing quickly is demagnetized；
If demagnetization terminates, pwm signal is applied on the upper bridge arm switching tube in work at present section by step S220, and
The lower bridge arm switching tube in work at present section is made to be in normal open state.
In one embodiment of the invention, brshless DC motor uses three phase full bridge main circuit structure, with six shape of three-phase
State square wave (i.e. trapezoidal wave) control is run, and has two switching tubes to be controlled by PWM under any state, PWM modulation mode and direct current
The H bridge PWM modulation of motor is similar, is all while two bridge arms are controlled.
DC brushless motor in the present embodiment, three-phase windings two or two turn on, and are 120 degree trapezoidal by phase difference
Ripple/square wave driving.
In embodiments of the present invention, each controlling cycle of motor is divided into 6 operation intervals, and each operation interval is 60 °
Electrical angle.Fig. 2 is that (form only makees example to a kind of full edition quickly to be demagnetized by step S210, S220 of the invention, does not have to
In limit protection scope of the present invention), the form first is classified as sequence number, from sequence number 1 to sequence number 6 with each controlling cycle of motor
In 6 operation intervals it is corresponding；Form second is classified as the conducting situation of switching tube in each operation interval；Form the 3rd, which is classified as, to move back
Magnetic current direction；4th is classified as in each operation interval, the application position of the quick PWM that demagnetizes.
Fig. 3 shows a kind of motor-drive circuit provided by the invention, wherein.Below based on above table and driving circuit
The specific embodiment of the present invention is illustrated.
As an example, Fig. 4 to Fig. 7 is shown from 2 sequence number of form, 1 corresponding operation interval (TI and T4 conductings) to sequence number 2
The transient process of corresponding operation interval (TI and T6 conductings) illustrates step S210, S220 of the present invention with the process below
Specific implementation process.
When motor commutation, operation interval is changed to from a upper operation interval (i.e. 1 corresponding operation interval of sequence number) works as
Preceding operation interval (i.e. 2 corresponding operation interval of sequence number), at this point, B phase windings turn off, demagnetization current flows through B phases.B phase voltage quilts
3 clamper of sustained diode is in+HV, and during PWM is turned on, neutral point (i.e. O points) voltage is HV/2；If PWM is applied to bridge
On T1 (switching tube not switched during operation interval changes), when PWM is closed, neutral point voltage quilt
2 clamper of sustained diode is in GND, and the equivalent PWM voltages of hanging phase winding B are between HV and HV/2；If PWM voltages apply
On lower bridge T6 (another switching tube in work at present section), when PWM is closed, neutral point voltage is by 5 clamper of sustained diode
In HV, the equivalent PWM voltages of hanging phase winding B are between HV/2 and GND, and backward voltage is lower than the first on winding.It can manage
Solution, if the backward voltage on a winding is bigger, then the demagnetization time is just shorter, therefore, to accelerate to demagnetize, in work at present
In a period of time that section starts, pwm signal is applied on T1, while T6 is allowed to be in normal open state, so that hanging phase
Reverse voltage increase on winding B, so that hanging phase winding B when changing to operation interval can quickly demagnetize.
It is the switching tube not switched from a upper operation interval to work at present section T1, i.e., quickly demagnetization PWM is applied
It is added on the switching tube (i.e. T1) not switched, while during above-mentioned demagnetization, another switching tube in work at present section
(i.e. T6) is in normal open state.
After demagnetization, then pwm signal is applied in the upper bridge arm switch transistor T 1 in work at present section, and makes to work as
The lower bridge arm switch transistor T 6 of preceding operation interval is in normal open state, so just completes the demagnetization process in work at present section.
In the form of Fig. 2, from sequence number 2 to 3, from sequence number 3 to 4, from sequence number 4 to 5, from sequence number 5 to 6, from sequence number 6 to 1
In the process, the analysis mode for PWM application positions of demagnetizing is similar with the analysis mode from sequence number 1 to 2 in the preceding paragraph, does not go to live in the household of one's in-laws on getting married here
State detailed process.It analyzes successively in a manner described, you can obtain the application position of the quick demagnetization PWM in Fig. 2 forms, refer to figure
Last row of 2 forms.
It is changed it should be noted that the zero crossing of the counter electromotive force on hanging phase winding is no sensor trapezoidal wave motor control
The foundation of phase, therefore the normal work of motor is directly affected to the accuracy that it judges.As shown in Figure 8, Figure 9, if without fast
Speed demagnetization, the intrinsic demagnetization phenomenon (as shown in the X in figure) of motor can flood zero crossing, so that it cannot get normal position
Information can cause motor desynchronizing, serious to be also possible to that overcurrent is triggered to burn metal-oxide-semiconductor or motor.
By way of the quick demagnetization that the above embodiment of the present invention provides, the demagnetization of hanging phase during being substantially shorter commutation
Time extends the time that back electromotive force zero-crossing judges, improves the accuracy that zero crossing judges, so as to which commutation is accurate, motor is not
Meeting step-out, motor operation are more steady；This method need not increase any hardware cost simultaneously, be realized completely by software, and algorithm is simple,
Accurately, reliably, convenient for practical application, substantially increase the reliability of no sensor trapezoidal wave control, have certain versatility and
Technical advantage.
Embodiment two：
In one embodiment of the invention, based on shown in the schematic diagram of Fig. 3, for step S210：
When operation interval is switched to work at present section from a upper operation interval, start in work at present section one
In the section time, if upper bridge arm switching tube switches, pwm signal is applied to the lower bridge arm switching tube in work at present section
On, and the upper bridge arm switching tube in work at present section is made to be in normally open；
If lower bridge arm switching tube switches, pwm signal is applied on the upper bridge arm switching tube in work at present section,
And the lower bridge arm in work at present section is made to be in normally open.
As a kind of embodiment of the present invention, such as exemplary scheme in embodiment one, when operation interval is from upper one work
Section (i.e. 1 corresponding operation interval of sequence number) changes to work at present section (i.e. 2 corresponding operation interval of sequence number), this process
In, it is that lower bridge arm switch switches, i.e., is switched to T6 from T4, then, it should be in work at present section (2 corresponding work of sequence number
Make section) in a period of time for starting, pwm signal is applied on upper bridge arm switch T1, and makes the lower bridge in work at present section
Arm switch T6 is in normally open.
As the present invention another embodiment, Fig. 2 forms from sequence number 2 into 3 corresponding two operation intervals of sequence number, when
Operation interval changes to work at present section (3 corresponding work of sequence number from a upper operation interval (2 corresponding operation interval of sequence number)
Make section), during this, it is that upper bridge arm switch switches, i.e., is switched to T3 from T1, then, should be in work at present area
Between (3 corresponding operation interval of sequence number) start one end time in, by pwm signal be applied to lower bridge arm switch T6 on, and make work as
The upper bridge arm switch T3 of preceding operation interval is in normally open.
From sequence number 3 to 4, from sequence number 4 to 5, from sequence number 5 to 6, from the situation of sequence number 6 to 1 and the principle of above-mentioned two situations
Similar, which is not described herein again.
The demagnetization time of quick demagnetization mode provided in an embodiment of the present invention hanging phase during being substantially shorter commutation, extend
Back electromotive force zero-crossing judge time, improve zero crossing judge accuracy, so as to commutation it is accurate, motor will not step-out, make
Motor operation is more steady；This method need not increase any hardware cost simultaneously, be realized completely by software, algorithm is simple, accurately, can
It leans on, convenient for practical application, substantially increases the reliability of no sensor trapezoidal wave control, it is excellent with certain versatility and technology
Gesture.
Embodiment three：
In embodiments of the present invention, during demagnetization, the terminal voltage of hanging phase winding can be arrived by fly-wheel diode clamper
The anode or cathode of bridge arm busbar；Then step S220 is specially：
Judge whether the terminal voltage of hanging phase winding exits clamping state；
If so, pwm signal is applied on the upper bridge arm switching tube in work at present section, and make work at present section
Lower bridge arm switching tube is in normal open state.
In one embodiment of the invention, as described in step S210, the process of demagnetization is happened at work at present section
In a period of time of beginning, in this period, the terminal voltage of hanging phase winding can be detected inside motor, and according to the end of hanging phase
Voltage condition is to determine whether terminate demagnetization process.
In the specific embodiment of the present invention, above-mentioned " judging whether the terminal voltage of hanging phase winding exits clamping state "
The step of be specially：
Detect the terminal voltage of hanging phase winding；
Judge the hanging phase terminal voltage whether between zero between busbar voltage；
If so, judge that the terminal voltage of the hanging phase exits clamping state.
The above-mentioned voltage for clamper is GND voltage and busbar voltage+HV, if detecting, hanging mutually its terminal voltage is GND
Voltage is+HV, illustrates demagnetization to terminate, and systems stay performs demagnetization operation；If detect the terminal voltage of hanging phase between
Between GND and+HV, i.e., the terminal voltage of hanging phase has logged out clamping state, then illustrates that demagnetization is completed, and can exit demagnetization behaviour
Make.
Example IV：
In order to realize above-described embodiment, the present invention also proposes the control that a kind of no sensor trapezoidal wave motor commutation is quickly demagnetized
Device processed.
In embodiments of the present invention, the shown a kind of commutations of no sensor trapezoidal wave motor control of Figure 10 are quickly demagnetized
The module map of device hereafter and in figure only shows content related to the present invention, and details are as follows.
The present apparatus includes such as lower unit：
Quick demagnetization unit 10, for working as motor commutation, i.e., when operation interval changes, is opened in work at present section
In a period of time of beginning, pwm signal is applied on the switching tube not switched during operation interval changes,
And another switching tube in work at present section is made to be in normal open state, so that the reverse voltage increase on hanging phase winding, with
Hanging phase winding when changing to operation interval is quickly demagnetized；
Pwm signal if terminating for demagnetizing, is applied to the upper bridge arm switching tube in work at present section by recovery unit 20
On, and the lower bridge arm switching tube in work at present section is made to be in normal open state.
In embodiments of the present invention, brshless DC motor generally use three phase full bridge main circuit structure, with six state of three-phase
Square wave (i.e. trapezoidal wave) control is run, and has two switching tubes to be controlled by PWM under any state, PWM modulation mode and direct current
The H bridge PWM modulation of machine is similar, is all while two bridge arms are controlled.In the DC brushless motor of the trapezoidal wave control of the present embodiment,
Motor three-phase windings two or two turn on, and are driven by the square wave that phase difference is 120 degree.
In embodiments of the present invention, each controlling cycle of motor is divided into 6 operation intervals, and each operation interval is 60 °
Electrical angle.Fig. 2 shows a kind of quick demagnetization unit 10 according to the present invention and recovery unit 20 be configured after quick move back
The applying mode form (form only makees example, is not intended to limit the scope of the invention) of magnetic PWM, the form is from sequence number 1
It is corresponding with 6 operation intervals in each controlling cycle of motor to sequence number 6；Form second, which is classified as in each operation interval, to be switched
The conducting situation of pipe；Form the 3rd is classified as demagnetization current direction；4th is classified as in each operation interval, the application of the quick PWM that demagnetizes
Position.
Fig. 3 shows a kind of motor-drive circuit provided by the invention, wherein.Below based on above table and driving circuit
The specific embodiment of the present invention is illustrated.
As an example, Fig. 4 to Fig. 7 is shown from 2 sequence number of form, 1 corresponding operation interval (TI and T4 conductings) to sequence number 2
The transient process of corresponding operation interval (TI and T6 conductings).
When operation interval changes to work at present section from a upper operation interval (i.e. 1 corresponding operation interval of sequence number)
(i.e. 2 corresponding operation interval of sequence number), at this point, B phase windings turn off, demagnetization current flows through B phases.B phase voltages are by fly-wheel diode
D3 clampers are in+HV, and during PWM is turned on, neutral point (i.e. O points) voltage is HV/2；If PWM is applied to bridge T1 (i.e. in work
As section change during the switching tube that does not switch) on, when PWM is closed, neutral point voltage is by two pole of afterflow
Pipe D2 clampers are in GND, and the equivalent PWM voltages of hanging phase winding B are between HV and HV/2；If PWM voltages are applied to lower bridge T6
On (another switching tube in work at present section), when PWM is closed, neutral point voltage in HV, is hanged by 5 clamper of sustained diode
The equivalent PWM voltages of Kongxiang winding B are between HV/2 and GND, and backward voltage is lower than the first on winding.If it should be understood that
Backward voltage on one winding is bigger, then the demagnetization time is just shorter.Therefore, to accelerate to demagnetize, opened in work at present section
In a period of time of beginning, pwm signal is applied on T1, while T6 is allowed to be in normal open state, so that on hanging phase winding B
Reverse voltage increase so that hanging phase winding B when changing to operation interval can quickly demagnetize.
It is the switching tube not switched from a upper operation interval to work at present section T1, i.e., quickly demagnetization PWM is applied
It is added on the switching tube (i.e. T1) not switched, while during above-mentioned demagnetization, another switching tube in work at present section
(i.e. T6) is in normal open state.
After demagnetization, then pwm signal is applied in the upper bridge arm switch transistor T 1 in work at present section, and makes to work as
The lower bridge arm switch transistor T 6 of preceding operation interval is in normal open state, so just completes the demagnetization process in work at present section.
In the form of Fig. 2, from sequence number 2 to 3, from sequence number 3 to 4, from sequence number 4 to 5, from sequence number 5 to 6, from sequence number 6 to 1
In the process, the analysis mode for PWM application positions of demagnetizing is similar with the analysis mode from sequence number 1 to 2 in the preceding paragraph, does not go to live in the household of one's in-laws on getting married here
State detailed process.It analyzes successively in a manner described, you can obtain the application position of the quick demagnetization PWM in Fig. 2 forms, refer to figure
Last row of 2 forms.
The zero crossing of counter electromotive force on hanging phase winding is the foundation of no sensor trapezoidal wave motor control commutation, is passed through
Above-mentioned this demagnetization mode, extends what back electromotive force zero-crossing judged at the demagnetization time of hanging phase during being substantially shorter commutation
Time, improve zero crossing judge accuracy, so as to commutation it is accurate, motor will not step-out, make motor operation more steady；Simultaneously should
Method need not increase any hardware cost, be realized completely by software, and algorithm is simple, accurately, reliably, convenient for practical application, significantly
The reliability of no sensor trapezoidal wave control is improved, there is certain versatility and technical advantage.
In one embodiment of the invention, quickly demagnetization unit 10 is additionally operable to：
When operation interval is switched to work at present section from a upper operation interval, start in work at present section one
In the section time, if upper bridge arm switching tube switches, pwm signal is applied to the lower bridge arm switching tube in work at present section
On, and the upper bridge arm switching tube in work at present section is made to be in normally open；
If lower bridge arm switching tube switches, pwm signal is applied on the upper bridge arm switching tube in work at present section,
And the lower bridge arm in work at present section is made to be in normally open.
As a kind of embodiment of the present invention, such as the scheme described in embodiment one, when operation interval is from upper one work
Section (i.e. 1 corresponding operation interval of sequence number) changes to work at present section (i.e. 2 corresponding operation interval of sequence number), this process
In, it is that lower bridge arm switch switches, i.e., is switched to T6 from T4, then, it should be in work at present section (2 corresponding work of sequence number
Make section) in a period of time for starting, pwm signal is applied on upper bridge arm switch T1, and makes the lower bridge in work at present section
Arm switch T6 is in normally open.
As the present invention another embodiment, Fig. 2 forms from sequence number 2 into 3 corresponding two operation intervals of sequence number, when
Operation interval changes to work at present section (3 corresponding work of sequence number from a upper operation interval (2 corresponding operation interval of sequence number)
Make section), during this, it is that upper bridge arm switch switches, i.e., is switched to T3 from T1, then, should be in work at present area
Between (3 corresponding operation interval of sequence number) start a period of time in, by pwm signal be applied to lower bridge arm switch T6 on, and make work as
The upper bridge arm switch T3 of preceding operation interval is in normally open.
From sequence number 3 to 4, from sequence number 4 to 5, from sequence number 5 to 6, it is similar with above-mentioned two situations from the situation of sequence number 6 to 1,
Which is not described herein again.
As shown in Figure 8, Figure 9, if without quickly demagnetizing, the intrinsic demagnetization phenomenon (as shown in the X in figure) of motor can flood
No zero crossing, so that it cannot get normal location information, motor desynchronizing can be caused, it is serious to be also possible to that overcurrent is triggered to burn
Metal-oxide-semiconductor or motor, and by demagnetization mode provided in an embodiment of the present invention, then it can avoid the generation of above-mentioned dangerous situation.
The demagnetization time of quick demagnetization mode provided in an embodiment of the present invention hanging phase during being substantially shorter commutation, extend
Back electromotive force zero-crossing judge time, improve zero crossing judge accuracy, so as to commutation it is accurate, motor will not step-out, make
Motor operation is more steady；This method need not increase any hardware cost simultaneously, be realized completely by software, algorithm is simple, accurately, can
It leans on, convenient for practical application, substantially increases the reliability of no sensor trapezoidal wave control, it is excellent with certain versatility and technology
Gesture.
In embodiments of the present invention, during demagnetization, the terminal voltage of hanging phase winding can be arrived by fly-wheel diode clamper
The anode or cathode of bridge arm busbar；Then recovery unit 20 is used for：
Judge whether the terminal voltage of hanging phase winding exits clamping state；
If so, pwm signal is applied on the upper bridge arm switching tube in work at present section, and make work at present section
Lower bridge arm switching tube is in normal open state.
In one embodiment of the invention, the process of demagnetization was happened in a period of time that work at present section starts,
It can detect the terminal voltage of hanging phase winding in this period, inside motor, and judge to be according to the terminal voltage situation of hanging phase
No end demagnetization process.
The present invention a specific embodiment in, above-mentioned recovery unit 20 also particularly useful for：
Detect the terminal voltage of hanging phase winding；
Judge the hanging phase terminal voltage whether between zero between busbar voltage；
If so, judge that the terminal voltage of the hanging phase exits clamping state.
As shown in figure 8, above-mentioned, the voltage for clamper is GND voltage and busbar voltage+HV, if detect it is hanging mutually its
Terminal voltage is GND voltage or is+HV, illustrates that demagnetization does not terminate, and systems stay performs demagnetization operation；If detect hanging phase
Terminal voltage between GND and+HV, i.e., the terminal voltage of hanging phase has logged out clamping state, then illustrates that demagnetization is completed, can be with
Exit demagnetization operation.
5th embodiment：
The present invention also propose a kind of motor, the motor include motor body and as described in example IV without sensing
The control device that device trapezoidal wave motor commutation is quickly demagnetized.
Motor provided in an embodiment of the present invention, the control device quickly to be demagnetized by no sensor trapezoidal wave motor commutation,
The demagnetization time of hanging phase during being substantially shorter commutation, extend the time that back electromotive force zero-crossing judges, improve zero crossing and sentence
Disconnected accuracy, so as to commutation it is accurate, motor will not step-out, make motor operation more steady；This method need not increase any simultaneously
Hardware cost is realized that algorithm is simple by software completely, accurately, reliably, convenient for practical application, substantially increases no sensor ladder
The reliability of shape ripple control, has certain versatility and technical advantage.
In the description of this specification, reference term " one/a little/kind/another embodiment ", " example ", " specifically show
The description of example ", " embodiment of the present invention " or " some examples " etc. means to combine the specific features that the embodiment or example describe, ties
Structure, material or feature are contained at least one embodiment of the present invention or example.In the present specification, to above-mentioned term
Schematic representation is necessarily directed to identical embodiment or example.Moreover, description specific features, structure, material or
Feature may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, in not conflicting situation
Under, those skilled in the art can be by the different embodiments described in this specification or example and different embodiments or example
Feature be combined and combine.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
Row system, device or equipment instruction fetch and the system executed instruction) it uses or combines these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
It puts.The more specific example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Connecting portion (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or if necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If for example, with hardware come realize in another embodiment, can be under well known in the art
Any one of row technology or their combination are realized：With for the logic gates to data-signal realization logic function
Discrete logic, have suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, one or a combination set of the step of including embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be employed in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and is independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although it has been shown and retouches above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as the limit to the present invention
System, those of ordinary skill in the art can be changed above-described embodiment, change, replace and become within the scope of the invention
Type.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (11)
1. a kind of quick demagnetization control method of no sensor trapezoidal wave motor commutation, which is characterized in that the described method includes：
When motor commutation, in a period of time for starting in work at present section, pwm signal is applied to and is occurred in operation interval
On the switching tube not switched during variation, and another switching tube in work at present section is made to be in normal open state, from
And increasing the reverse voltage on hanging phase winding, hanging phase winding during changing to operation interval is quickly moved back
Magnetic；
If demagnetization terminates, pwm signal is applied on the upper bridge arm switching tube in work at present section, and makes work at present section
Lower bridge arm switching tube be in normal open state.
2. the method as described in claim 1, which is characterized in that it is described when motor commutation, when operation interval changes,
In a period of time started in work at present section, pwm signal is applied to and is not sent out during control interval changes
On the switching tube of raw switching, and another switching tube in work at present section is made to be in normal open state, to become to operation interval
The step of hanging phase winding during change is carried out and quickly demagnetized be specially：
When motor commutation, operation interval from a upper operation interval be switched to work at present section when, in work at present section
In a period of time of beginning, if upper bridge arm switching tube switches, pwm signal is applied to the lower bridge arm in work at present section
On switching tube, and the upper bridge arm switching tube in work at present section is made to be in normally open；
If lower bridge arm switching tube switches, pwm signal is applied on the upper bridge arm switching tube in work at present section, and is made
The lower bridge arm in work at present section is in normally open.
3. the method as described in claim 1, which is characterized in that each motor controlling cycle is divided into 6 operation intervals, often
A operation interval is 60 electrical angles.
4. the method as described in claim 1, which is characterized in that during demagnetization, the terminal voltage of hanging phase winding can be continued
Diode clamp is flowed to the anode or cathode of bridge arm busbar；
If the demagnetization terminates, pwm signal is applied on the upper bridge arm switching tube in work at present section, and makes work at present
The lower bridge arm switching tube in section is in the step of normal open state and is specially：
Judge whether the terminal voltage of hanging phase winding exits clamping state；
If so, pwm signal is applied on the upper bridge arm switching tube in work at present section, and make the lower bridge in work at present section
Arm switch pipe is in normal open state.
5. method as claimed in claim 4, which is characterized in that whether the terminal voltage for judging hanging phase winding exits clamper
The step of state is specially：
Detect the terminal voltage of hanging phase winding；
Judge the hanging phase terminal voltage whether between zero between busbar voltage；
If so, judge that the terminal voltage of the hanging phase exits clamping state.
The control device 6. a kind of no sensor trapezoidal wave motor commutation is quickly demagnetized, which is characterized in that described device includes：
Quick demagnetization unit, in a period of time for when motor commutation, starting in work at present section, pwm signal to be applied
It is added on the switching tube not switched during operation interval changes, and makes another switch in work at present section
Pipe is in normal open state, hanging during changing to operation interval so that the reverse voltage increase on hanging phase winding
Phase winding is quickly demagnetized；
If terminating for demagnetizing, pwm signal is applied on the upper bridge arm switching tube in work at present section for recovery unit, and
The lower bridge arm switching tube in work at present section is made to be in normal open state.
7. device as claimed in claim 6, which is characterized in that the quick demagnetization unit is additionally operable to：
When operation interval is switched to work at present section from a upper operation interval, at start in work at present section one section
In, if upper bridge arm switching tube switches, pwm signal is applied on the lower bridge arm switching tube in work at present section, and
The upper bridge arm switching tube in work at present section is made to be in normally open；
If lower bridge arm switching tube switches, pwm signal is applied on the upper bridge arm switching tube in work at present section, and is made
The lower bridge arm in work at present section is in normally open.
8. device as claimed in claim 6, which is characterized in that each motor controlling cycle is divided into 6 operation intervals, often
A operation interval is 60 electrical angles.
9. device as claimed in claim 6, which is characterized in that during demagnetization, the terminal voltage of hanging phase winding can be continued
Diode clamp is flowed to the anode or cathode of bridge arm busbar；
The recovery unit is additionally operable to：
Judge whether the terminal voltage of hanging phase winding exits clamping state；
If so, pwm signal is applied on the upper bridge arm switching tube in work at present section, and make the lower bridge in work at present section
Arm switch pipe is in normal open state.
10. device as claimed in claim 9, which is characterized in that the recovery unit is specifically additionally operable to：
Detect the terminal voltage of hanging phase winding；
Judge the hanging phase terminal voltage whether between zero between busbar voltage；
If so, judge that the terminal voltage of the hanging phase exits clamping state.
11. a kind of motor, which is characterized in that including：Motor body；And
The control device quickly to demagnetize without sensor trapezoidal wave motor commutation as described in claim 6~10 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711463959.9A CN108053970B (en) | 2017-12-28 | 2017-12-28 | Sensorless trapezoidal wave motor commutation rapid demagnetization control method and device and motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711463959.9A CN108053970B (en) | 2017-12-28 | 2017-12-28 | Sensorless trapezoidal wave motor commutation rapid demagnetization control method and device and motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108053970A true CN108053970A (en) | 2018-05-18 |
| CN108053970B CN108053970B (en) | 2020-05-12 |
Family
ID=62128624
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711463959.9A Active CN108053970B (en) | 2017-12-28 | 2017-12-28 | Sensorless trapezoidal wave motor commutation rapid demagnetization control method and device and motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108053970B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2245783A1 (en) * | 1972-09-15 | 1974-03-28 | Licentia Gmbh | PROCEDURE FOR DEMAGNETIZING HYSTERESIS MOTORS |
| JP2012210069A (en) * | 2011-03-30 | 2012-10-25 | Hitachi Industrial Equipment Systems Co Ltd | Power conversion device |
| CN103475292A (en) * | 2013-08-13 | 2013-12-25 | 燕山大学 | Switch magnetic resistance generator system capable of realizing rapid excitation/demagnetization |
| CN103795033A (en) * | 2014-03-04 | 2014-05-14 | 东南大学 | Detecting and protecting circuit and method for inter-phase short circuit of switch reluctance motor |
| CN105322838A (en) * | 2014-07-01 | 2016-02-10 | 南京工业大学 | Three-level motor power converter achieving quick demagnetization |
-
2017
- 2017-12-28 CN CN201711463959.9A patent/CN108053970B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2245783A1 (en) * | 1972-09-15 | 1974-03-28 | Licentia Gmbh | PROCEDURE FOR DEMAGNETIZING HYSTERESIS MOTORS |
| JP2012210069A (en) * | 2011-03-30 | 2012-10-25 | Hitachi Industrial Equipment Systems Co Ltd | Power conversion device |
| CN103475292A (en) * | 2013-08-13 | 2013-12-25 | 燕山大学 | Switch magnetic resistance generator system capable of realizing rapid excitation/demagnetization |
| CN103795033A (en) * | 2014-03-04 | 2014-05-14 | 东南大学 | Detecting and protecting circuit and method for inter-phase short circuit of switch reluctance motor |
| CN105322838A (en) * | 2014-07-01 | 2016-02-10 | 南京工业大学 | Three-level motor power converter achieving quick demagnetization |
Non-Patent Citations (1)
| Title |
|---|
| 向加其等: "无位置传感器直流无刷电机的退磁控制", 《大电机技术》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108053970B (en) | 2020-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4956123B2 (en) | Motor control device | |
| CN102577086B (en) | For reducing the variable impulse width modulation of zero crossing granularity in non sensor brushless d.c. motor | |
| CN103825518B (en) | Three-phase permanent-magnetic synchronous motors Phase sequence detection and initial position of rotor navigation system and method | |
| JP5057661B2 (en) | Electric motor drive system | |
| JP2009055748A (en) | Current detector unit and motor control device | |
| JP2002095283A (en) | Apparatus and method for driving brushless motor | |
| CN101977001A (en) | Startup method and startup device of permanent magnet direct current brushless hall-less motor | |
| CN105191113A (en) | AC/AC converter for a brushless motor | |
| CN100420143C (en) | Control method and control circuit for brushless DC motor | |
| CN107154756A (en) | Brshless DC motor Hall phase sequence automatic identifying method | |
| CN103780170A (en) | Determining commutation position for a sensorless permanent magnet brushless motor at low or zero speed using an asymmetric drive pattern | |
| CN104734581B (en) | Driving method for position-sensorless of permanent magnet brushless direct current motor | |
| JP6002643B2 (en) | Control device and AC motor system using the same | |
| CN103780166A (en) | System and method for isolating the undriven voltage of permanent magnet brushless motor for detection of rotor position | |
| JP2010011540A (en) | Motor controller | |
| CN103780171A (en) | Method and system for switching between different types of operation of a sensorless permanent magnet brushless motor at low or zero speed to determine rotor position | |
| Pindoriya et al. | Analysis of position and speed control of sensorless BLDC motor using zero crossing back-EMF technique | |
| JP2009077503A (en) | Motor controller and controller for air conditioner | |
| Mousmi et al. | Trapezoidal control of Brushless DC motor based on DSP F28335 | |
| CN1684355A (en) | Circuit and method for controlling brushless DC motor | |
| CN108233792A (en) | BLDC motors and its back electromotive force zero-crossing acquisition method and driving device | |
| CN109981003A (en) | DC brushless motor, robot and the method for detecting direct current brushless motor speed | |
| Lai et al. | Assessment of pulse-width modulation techniques for brushless DC motor drives | |
| CN108053970A (en) | Without the quick demagnetization control method of sensor trapezoidal wave motor commutation, device and motor | |
| CN205792323U (en) | Brushless electric machine control circuit for electric tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |