CN108448984A - The phase change control method of dust catcher and brshless DC motor, device and control system - Google Patents
The phase change control method of dust catcher and brshless DC motor, device and control system Download PDFInfo
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- CN108448984A CN108448984A CN201810296762.9A CN201810296762A CN108448984A CN 108448984 A CN108448984 A CN 108448984A CN 201810296762 A CN201810296762 A CN 201810296762A CN 108448984 A CN108448984 A CN 108448984A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses the phase change control method of a kind of dust catcher and brshless DC motor, device and control system, wherein method includes the following steps：S1, when detecting the back-emf zero passage of brshless DC motor, vector is conducted to brshless DC motor progress commutation using three after being conducted vector to brshless DC motor progress commutation using two；S2 after first preset time that is delayed, uses two vectors that are conducted to carry out commutation, and obtains the current rotating speed of brshless DC motor, and according to the commutation current time of current rotating speed acquisition brshless DC motor again；S3 was delayed after the commutation current time, detected back-emf zero crossing, and after detecting the back-emf zero crossing of brshless DC motor, carried out commutation using three vectors that are conducted, cycle executes step S2 S3, to control brshless DC motor operation.This method makes the current transformation of brshless DC motor more smooth, effectively reduces torque pulsation, reduces noise, and it is horizontal to improve EMC.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of phase change control method of brshless DC motor, one
The commutation control device of kind brshless DC motor, a kind of control system of brshless DC motor and a kind of dust catcher.
Background technology
The presently commercially available dust suction using BLDC (Brushless Direct Current Motor, brshless DC motor)
Device generally has two big technical solutions：1) control technology with HALL position sensors；2) motor electrical parameter characteristic is utilized to realize
Sensorless strategy technology.Wherein, the control technology with HALL is to utilize HALL inductiopn rotor magnetic poles to determine rotor-position, into
And realize the commutation control of BLDC；The sensorless strategy technology realized using motor electrical parameter characteristic is mainly back-emf zero passage
Method, by acquiring the back-emf of the non-conduction phases of BLDC, when it is more than zero-point voltage, you can obtain rotor magnetic pole position, in turn
Realize the commutation control of BLDC.
In the related technology, the drive control of no sensor BLDC generally uses 6 step commutation methods, i.e., in a commutating period (0
~360 ° of electrical angles) in have 6 conducting states, each state is kept for 60 °, and the back-emf and electricity of 6 step commutations is connected in three-phase two-by-two
It is as shown in Figure 1 to flow waveform.Although the phase change method is widely used, it still has certain disadvantages, for example, torque arteries and veins
Dynamic big, current waveform has saltus step, EMC (Electro Magnetic Compatibility, the electromagnetic compatibility of electric machine control system
Property) and noise can increase, and when the counter potential waveform of the BLDC controlled levels off to sine wave, the efficiency of 6 step commutation methods
It is relatively low, the efficiency of motor cannot be played to greatest extent.
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, the present invention
First purpose be to propose a kind of phase change control method of brshless DC motor, and the electric current of brshless DC motor can be made to become
It changes more smooth, effectively reduces torque pulsation, reduce noise, it is horizontal to improve EMC.
Second object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
Third object of the present invention is to propose a kind of commutation control device of brshless DC motor.
Fourth object of the present invention is to propose a kind of control system of brshless DC motor.
The 5th purpose of the present invention is to propose a kind of dust catcher.
To achieve the above object, first aspect present invention embodiment proposes a kind of commutation controlling party of brshless DC motor
Method includes the following steps：S1, after being conducted vector to brshless DC motor progress commutation using two, when detecting
When stating the back-emf zero passage of brshless DC motor, vector is conducted to brshless DC motor progress commutation using three；S2 prolongs
When the first preset time after, commutation is carried out to the brshless DC motor using two vectors that are conducted again, and obtains the nothing
The current rotating speed of brushless motor, and obtain according to the current rotating speed commutation current time of the brshless DC motor；
S3 was delayed after the commutation current time, detected the back-emf zero crossing of the brshless DC motor, and detecting the nothing
After the back-emf zero crossing of brushless motor, vector is conducted to brshless DC motor progress commutation using three, and recycle
Step S2-S3 is executed, is run with controlling the brshless DC motor.
The phase change control method of brshless DC motor according to the ... of the embodiment of the present invention is being conducted vector to brushless using two
After direct current generator carries out commutation, when detecting the back-emf zero passage of brshless DC motor, vector is conducted to brushless using three
Direct current generator carries out commutation, and after first preset time that is delayed, again using two be conducted vector to brshless DC motor into
Row commutation, and the current rotating speed of brshless DC motor is obtained, and it is continuous according to the commutation of current rotating speed acquisition brshless DC motor
The time is flowed, and after the commutation current time that is delayed, detects the back-emf zero crossing of brshless DC motor, and brushless straight detecting
After the back-emf zero crossing of galvanic electricity machine, vector is conducted to brshless DC motor progress commutation using three, cycle executes, with control
Brshless DC motor is run.As a result, during controlling brshless DC motor, kept away after combining commutation in 6 step commutation methods
It opens time of afterflow and is inserted into the three intermediate vectors being conducted, enable to the current transformation of brshless DC motor more smooth, effectively
Reduce torque pulsation, reduce noise, it is horizontal to improve EMC.
In addition, the phase change control method of brshless DC motor according to the above embodiment of the present invention can also be with following attached
The technical characteristic added：
According to one embodiment of present invention, in step sl, in the back-emf mistake for detecting the brshless DC motor
When zero, second preset time that is first delayed is conducted vector to brshless DC motor progress commutation, and in step using three again
In S2, after the third preset time that is delayed, vector is conducted to brshless DC motor progress commutation using two again.
According to one embodiment of present invention, the commutation that the brshless DC motor is obtained according to the current rotating speed
Time of afterflow, including：N times back-emf zero passage interval time before obtaining, wherein the N is obtained according to the current rotating speed；According to
The preceding n times back-emf zero passage interval time obtains half of sector corresponding time under the current rotating speed；Described half is fanned
Area subtracts preset time allowance the corresponding time to obtain the commutation current time.
According to one embodiment of present invention, when being obtained by the following formula that half of sector is corresponding under the current rotating speed
Between：
Wherein, Ts0 is half of sector corresponding time under the current rotating speed, and Tzci is ith back-emf zero passage interval
Time, N are the integer more than or equal to 3.
To achieve the above object, second aspect of the present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, which realizes the commutation control of above-mentioned brshless DC motor when being executed by processor
Method.
Non-transitorycomputer readable storage medium according to the ... of the embodiment of the present invention, by executing above-mentioned brushless dc
The phase change control method of machine can make the current transformation of brshless DC motor more smooth, effectively reduce torque pulsation, reduce
It is horizontal to improve EMC for noise.
To achieve the above object, third aspect present invention embodiment proposes a kind of commutation control dress of brshless DC motor
It sets, including：Detection unit, the back-emf for detecting the brshless DC motor；Acquiring unit is described brushless straight for obtaining
The current rotating speed of galvanic electricity machine, and obtain according to the current rotating speed commutation current time of the brshless DC motor；Control is single
Member, for after being conducted vector to brshless DC motor progress commutation using two, being detected when by the detection unit
To the brshless DC motor back-emf zero passage when, using three be conducted vector to the brshless DC motor carry out commutation,
And after first preset time that is delayed, vector is conducted to brshless DC motor progress commutation using two again, and pass through
The acquiring unit obtains the commutation current time of the brshless DC motor, and after the commutation current time that is delayed, leads to
The back-emf zero crossing that the detection unit detects the brshless DC motor is crossed, and is detecting the brshless DC motor
After back-emf zero crossing, vector is conducted to brshless DC motor progress commutation using three, cycle executes, described in control
Brshless DC motor is run.
The commutation control device of brshless DC motor according to the ... of the embodiment of the present invention, control unit are conducted arrow using two
After amount carries out commutation to brshless DC motor, when detecting the back-emf zero passage of brshless DC motor by detection unit, adopt
Commutation is carried out to brshless DC motor with three vectors that are conducted, and after first preset time that is delayed, is conducted again using two
Vector carries out commutation to brshless DC motor, and the current rotating speed of brshless DC motor is obtained by acquiring unit, and according to
Current rotating speed obtains the commutation current time of brshless DC motor, and after the commutation current time that is delayed, is examined by detection unit
The back-emf zero crossing of brshless DC motor is surveyed, and after detection unit detects the back-emf zero crossing of brshless DC motor,
Vector is conducted to brshless DC motor progress commutation using three, and cycle executes, to control brshless DC motor operation.As a result,
During controlling brshless DC motor, is combined in 6 step commutation methods and avoid time of afterflow after commutation and be inserted into three to be conducted
Intermediate vector, enable to the current transformation of brshless DC motor more smooth, effectively reduce torque pulsation, reduce noise,
It is horizontal to improve EMC.
In addition, the commutation control device of brshless DC motor according to the above embodiment of the present invention can also be with following attached
The technical characteristic added：
According to one embodiment of present invention, described control unit is additionally operable to described in being detected by the detection unit
When the back-emf zero passage of brshless DC motor, second preset time that is first delayed is conducted vector to the brushless direct-current using three again
Motor carries out commutation, and after the third preset time that is delayed, again using two be conducted vector to the brshless DC motor into
Row commutation.
According to one embodiment of present invention, the acquiring unit obtains the brushless dc according to the current rotating speed
When the commutation current time of machine, wherein n times back-emf zero passage interval time before the acquiring unit obtains, and according to the preceding N
Secondary back-emf zero passage interval time obtains half of sector corresponding time under the current rotating speed, and by half of sector pair
The time answered subtracts preset time allowance to obtain the commutation current time, wherein the N is obtained according to the current rotating speed
It takes.
According to one embodiment of present invention, the acquiring unit is obtained by the following formula under the current rotating speed half
The sector corresponding time：
Wherein, Ts0 is half of sector corresponding time under the current rotating speed, and Tzci is ith back-emf zero passage interval
Time, N are the integer more than or equal to 3.
To achieve the above object, fourth aspect present invention embodiment proposes a kind of control system of brshless DC motor,
It includes the commutation control device of above-mentioned brshless DC motor.
The control system of brshless DC motor according to the ... of the embodiment of the present invention passes through the commutation of above-mentioned brshless DC motor
Control device enables to the current transformation of brshless DC motor more smooth, effectively reduces torque pulsation, reduces noise, carries
High EMC is horizontal.
To achieve the above object, fifth aspect present invention embodiment proposes a kind of dust catcher comprising above-mentioned is brushless
The control system of direct current generator.
Dust catcher according to the ... of the embodiment of the present invention enables to nothing by the control system of above-mentioned brshless DC motor
The current transformation of brushless motor is more smooth, effectively reduces torque pulsation, reduces noise, and it is horizontal to improve EMC.
Description of the drawings
Fig. 1 is the oscillogram of the back-emf of brshless DC motor and electric current in the related technology；
Fig. 2 is the flow chart of the phase change control method of brshless DC motor according to the ... of the embodiment of the present invention；
Fig. 3 is the schematic diagram of the control system of brshless DC motor according to an embodiment of the present invention；
Fig. 4 is the schematic diagram of the composite magnetic power polar plot of brshless DC motor according to an embodiment of the invention；
Fig. 5 is the flow chart of the phase change control method of brshless DC motor according to an embodiment of the invention；
Fig. 6 is the flow chart of the phase change control method of brshless DC motor in accordance with another embodiment of the present invention；
Fig. 7 is the block diagram of the commutation control device of brshless DC motor according to the ... of the embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the phase change control method, non-of the brshless DC motor proposed according to embodiments of the present invention described
Provisional computer readable storage medium, the commutation control device of brshless DC motor, brshless DC motor control system and
Dust catcher.
Fig. 2 is the flow chart of the phase change control method of brshless DC motor according to the ... of the embodiment of the present invention.As shown in Fig. 2,
The phase change control method of the brshless DC motor of the embodiment of the present invention includes the following steps：
S1 is conducted after vector carries out commutation to brshless DC motor using two, when detecting brshless DC motor
When back-emf zero passage, vector is conducted to brshless DC motor progress commutation using three.
Wherein, hardware principle schematic diagram according to Fig.3, listing two vectors that are conducted is：
Q1, Q4 conducting → A+B- (being denoted as AB), in other words, when switching tube Q1 and Q4 are connected, current direction is：DC bus
Positive voltage terminal P+ → switching tube Q1 → A phases stator winding → B phases stator winding → switching tube Q4 → DC bus-bar voltage negative terminal P-,
Corresponding vector A+B-, is denoted as the AB phase conductions of stator winding；
Q1, Q2 conducting → A+C- (being denoted as AC)；
Q3, Q2 conducting → B+C- (being denoted as BC)；
Q3, Q6 conducting → B+A- (being denoted as BA)；
Q5, Q6 conducting → C+A- (being denoted as CA)；
Q5, Q4 conducting → C+B- (being denoted as CB).
Three vectors that are conducted are：
Q1, Q4, Q2 conducting → A+B-C- (being denoted as A+), in other words, when switching tube Q1, Q4 and Q2 are connected, current direction is：
DC bus-bar voltage anode P+ → switching tube Q1 → A phases stator winding → B phases stator winding and C phases stator winding → switching tube Q4
It is denoted as the A+ phase conductions of stator winding with switching tube Q2 → DC bus-bar voltage negative terminal P-, corresponding vector A+B-C-；
Q3, Q6, Q2 conducting → B+A-C- (being denoted as B+)；
Q4, Q6, Q4 conducting → C+A-B- (being denoted as C+)；
Q6, Q3, Q5 conducting → A-B+C+ (being denoted as A-)；
Q4, Q1, Q5 conducting → B-A+C+ (being denoted as B-)；
Q2, Q1, Q3 conducting → C-A+B+ (being denoted as C-).
Specifically, during controlling brshless DC motor, vector first is conducted to brshless DC motor using two
Commutation is carried out, then in the back-emf zero crossing for detecting brshless DC motor, three is immediately inserted into and is conducted vector, reference chart
Shown in 4, it is assumed that the control vector of current brshless DC motor is CB, then when detecting back-emf zero crossing, commutation A+C+
B-.It is understood that usually after to brshless DC motor commutation, back-emf zero crossing is happened at 30 ° of electricity after commutation
Angle time, the vector so 30 ° of electrical angle times insertion three that can be after commutation is conducted.
S2 after first preset time that is delayed, uses two to be conducted vector to brshless DC motor progress commutation, and obtains again
The current rotating speed of brshless DC motor is taken, and obtains the commutation current time of brshless DC motor according to current rotating speed.Wherein,
First preset time is 30 ° of electrical angles corresponding time.
According to one embodiment of present invention, the commutation current time of brshless DC motor, packet are obtained according to current rotating speed
It includes：N times back-emf zero passage interval time before obtaining, wherein N is obtained according to current rotating speed；According to preceding n times back-emf zero passage interval
Time obtains half of sector corresponding time under current rotating speed；Half of sector corresponding time is subtracted into preset time allowance to obtain
Obtain the commutation current time.
In one embodiment of the invention, when corresponding by half of sector under following formula (1) acquisition current rotating speed
Between：
Wherein, Ts0 is half of sector corresponding time under current rotating speed, and Tzci is ith back-emf zero passage interval time,
N is the integer more than or equal to 3.
Specifically, after commutation is A+C+B- and the first preset time of delay, vector is conducted to nothing using two again
Brushless motor carries out commutation, i.e., commutation is A+B-, and the commutation current time is obtained after the completion of commutation, in commutation current
Between after carry out back-emf sampling again, to effectively prevent because being influenced to cause back-EMF determination inaccurate by the switch of switching tube
The problem of.
When obtaining the commutation current time, acquisition preceding n times back-emf zero passage interval time (the front and back zero passage of back-emf twice
Time interval), for example, obtain preceding n times back-emf zero passage interval time be respectively Tzc1, Tzc2, Tzc3, Tzc4 ...,
Then TzcN obtains half of sector (30 ° of electrical angle pair under current rotating speed according to the preceding n times back-emf zero passage interval time of acquisition
Answer half of sector) corresponding time Ts0, such as shown in following formula (2)：
Wherein, the value of N and the current rotating speed of brshless DC motor are related, in practical applications, can be turned according to motor
Speed carries out subsection setup to N.For example, the range of speeds of brshless DC motor is w0~wx(x is the integer more than or equal to 2), can incite somebody to action
The range of speeds of brshless DC motor is divided into w0~w1、w1~w2、…、wx-1~wxTotal x section, when brshless DC motor
Rotating speed is in w0~w1When in range, the value of corresponding N is N1；When the rotating speed of brshless DC motor is in w1~w2When in range,
The value of corresponding N is N2；…；When the rotating speed of brshless DC motor is in wx-1~wxWhen in range, the value of corresponding N is Nx。
Finally, preset time allowance is subtracted on the basis of the corresponding time Ts0 in half of the sector got can be obtained
The commutation current time, wherein preset time allowance can be set according to actual conditions.
For example, when brshless DC motor at the uniform velocity operates, it is corresponding by half of sector after brshless DC motor commutation
Time Ts0 is exactly the time of back-emf zero crossing, it is contemplated that in practice, the rotating speed of brshless DC motor has fluctuation, often
The time of a sector is non-uniform, and when load variation is very fast, the time of sector can also be fluctuated.So in order to
It can reliably detect that back-emf zero crossing, commutation current time need to be slightly smaller than half of sector corresponding time in time
Ts0 carries out back-emf zero passage detection, the commutation current time finally obtained in advance that is, before estimated back-emf zero crossing
Tfw=Ts0-Ta, wherein Ta is preset time allowance.
It should be noted that commutation current time Tfw needs to meet Tfw (min)≤Tfw≤Tfw (max), wherein Tfw
(min) it is the minimum value that the commutation current time obtained is calculated according to the maximum speed of brshless DC motor, Tfw (max) is root
The maximum value of the commutation current time obtained is calculated according to the minimum speed of brshless DC motor.
S3 was delayed after the commutation current time, detected the back-emf zero crossing of brshless DC motor, and brushless straight detecting
After the back-emf zero crossing of galvanic electricity machine, vector is conducted to brshless DC motor progress commutation using three, and recycle execution step
S2-S3, to control brshless DC motor operation.
Specifically, after the commutation current time Tfw that is delayed, start to detect brshless DC motor back-emf whether mistake
Zero is conducted vector to brshless DC motor progress commutation when the back-emf zero crossing of brshless DC motor using three.Example
Such as, it is A+B- in commutation and detects back-emf zero passage after being delayed commutation current time Tfw, uses A+B-C- to nothing at this time
Brushless motor carries out commutation, i.e. commutation is A+B-C-.Then, commutation is A+C- then after first preset time that is delayed, and is obtained
Take the corresponding commutation current time Tfw' of current rotating speed, and detect after the commutation current time Tfw' that is delayed back-emf whether mistake
Zero, if it is, commutation is C-A+B+ ..., so recycle, to control motor continuous service.
As the specific example of the present invention, as shown in figure 5, the commutation control of the brshless DC motor of the embodiment of the present invention
Method processed may include following steps：
S201, back-emf zero passage detection entrance.
S202, other operations.
S203 judges whether to detect back-emf zero passage.If so, executing step S204；If not, executing step
S205。
S204 is inserted into three and is conducted vector, and Tdelay delayed interrupts TP is arranged, that is, setting delay time is first pre-
If the Interruption of time Tdelay.
S205, the outlet of back-emf zero passage detection.
S206, after the time reaching the Tdelay times, into Tdelay delayed interrupts TP.
S207 switches to two and is conducted vector.
S208 avoids afterflow delayed interrupt TF according to current rotating speed setting.Continue that is, being calculated according to current rotating speed and obtaining commutation
Time Tfw is flowed, and the Interruption that delay time is Tfw is set.
S209 exits interruption.
S210, after the time reaching the Tfw times, into avoiding afterflow delayed interrupt TF.
S211, setting time of afterflow end mark position.
S212, other operations.
S213 exits interruption, and is again introduced into back-emf zero passage detection entrance, to carry out subsequent cycle.
The phase change control method of brshless DC motor according to the ... of the embodiment of the present invention as a result, is conducted vector using two
During controlling brshless DC motor, the commutation current time is adjusted in real time according to current rotating speed, and avoided after combining commutation
Time of afterflow is inserted into the three intermediate vectors being conducted, so that current transformation is more smooth, reduces torque pulsation, reduces
It is horizontal to improve EMC for noise.
According to another embodiment of the invention, in step sl, in the back-emf zero passage for detecting brshless DC motor
When, second preset time that is first delayed is conducted vector to brshless DC motor progress commutation using three again, and in step s 2, prolongs
When third preset time after, again using two be conducted vector to brshless DC motor carry out commutation.
Specifically, during controlling brshless DC motor, vector first is conducted to brushless dc using two
Machine carries out commutation, and then in the back-emf zero crossing for detecting brshless DC motor, second preset time that is first delayed is inserted into
Three are conducted vector.Refering to what is shown in Fig. 4, assuming that the control vector of current brshless DC motor is CB, then back-emf is being detected
The second preset time after zero crossing, commutation A+C+B-.Then, it is delayed after third preset time, is led again using two-phase
Logical vector carries out commutation to brshless DC motor, i.e., commutation is A+B-, and commutation current time Tfw is obtained after the completion of commutation.
Then, after the commutation current time Tfw that is delayed, start detect brshless DC motor back-emf whether zero crossing, when brushless
When the back-emf zero crossing of direct current generator, be delayed the second preset time after, using three be conducted vector to brshless DC motor into
Row commutation, i.e. commutation are A+B-C-.Then, it is delayed after third preset time, is conducted vector to brushless direct-current using two again
Motor carries out commutation, i.e. commutation is A+C- ..., is so recycled, to control motor continuous service.
As the specific example of the present invention, as shown in fig. 6, the commutation control of the brshless DC motor of the embodiment of the present invention
Method processed may include following steps：
S301, back-emf zero passage detection entrance.
S302, other operations.
S303 judges whether to detect back-emf zero passage.If so, executing step S304；If not, executing step
S305。
S304, setting Tdelay1 delayed interrupts TP, that is, the timing that setting delay time is the second preset time T delay1
It interrupts.
S305, the outlet of back-emf zero passage detection.
S306, after the time reaching the Tdelay1 times, into Tdelay1 delayed interrupts TP.
S307 is inserted into three and is conducted vector.
S308, setting Tdelay2 delayed interrupts TP, that is, the timing that setting delay time is third preset time T delay2
It interrupts.
S309 exits interruption.
S310, after the time reaching the Tdelay2 times, into Tdelay2 delayed interrupts TP.
S311 switches to two and is conducted vector.
S312 avoids afterflow delayed interrupt TS according to current rotating speed setting.Continue that is, being calculated according to current rotating speed and obtaining commutation
Time Tfw is flowed, and the Interruption that delay time is Tfw is set.
S313 exits interruption.
S314, after the time reaching the Tfw times, into avoiding afterflow delayed interrupt TS.
S315, setting time of afterflow end mark position.
S316, other operations.
S317 exits interruption, and is again introduced into back-emf zero passage detection entrance, to carry out subsequent cycle.
The phase change control method of brshless DC motor according to the ... of the embodiment of the present invention as a result, is conducted vector using two
During controlling brshless DC motor, the commutation current time is adjusted in real time according to current rotating speed, and avoided after combining commutation
Time of afterflow is inserted into the three intermediate vectors being conducted, so that current transformation is more smooth, reduces torque pulsation, reduces
It is horizontal to improve EMC for noise.
In conclusion the phase change control method of brshless DC motor according to the ... of the embodiment of the present invention, to brushless dc
During machine controls, the intermediate vectors that time of afterflow insertion three is conducted are avoided after commutation is combined in 6 step commutation methods, it can
So that the current transformation of brshless DC motor is more smooth, torque pulsation is effectively reduced, reduces noise, it is horizontal to improve EMC.
In addition, the embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium, it is stored thereon with
Computer program, the program realize the phase change control method of above-mentioned brshless DC motor when being executed by processor.
Non-transitorycomputer readable storage medium according to the ... of the embodiment of the present invention, by executing above-mentioned brushless dc
The phase change control method of machine can make the current transformation of brshless DC motor more smooth, effectively reduce torque pulsation, reduce
It is horizontal to improve EMC for noise.
Fig. 7 is the block diagram of the commutation control device of brshless DC motor according to the ... of the embodiment of the present invention.
As shown in fig. 7, the commutation control device 10 of the brshless DC motor of the embodiment of the present invention includes：Detection unit 100,
Acquiring unit 200 and control unit 300.
Wherein, detection unit 100 is used to detect the back-emf of brshless DC motor.Acquiring unit 200 is brushless for obtaining
The current rotating speed of direct current generator, and according to the commutation current time of current rotating speed acquisition brshless DC motor.Control unit 300 is used
It is conducted after vector carries out commutation to brshless DC motor in using two, when detecting brshless DC motor by detection unit
Back-emf zero passage when, commutation is carried out to brshless DC motor using three vectors that are conducted, and after first preset time that is delayed,
Vector is conducted to brshless DC motor progress commutation using two again, and changing for brshless DC motor is obtained by acquiring unit
Phase time of afterflow, and after the commutation current time that is delayed, the back-emf zero crossing of brshless DC motor is detected by detection unit,
And after detecting the back-emf zero crossing of brshless DC motor, brshless DC motor is changed using three vectors that are conducted
Phase, cycle execute, to control brshless DC motor operation.
According to one embodiment of present invention, control unit 300 be additionally operable to detected by detection unit 100 it is brushless straight
When the back-emf zero passage of galvanic electricity machine, second preset time that is first delayed again changes brshless DC motor using three vectors that are conducted
Phase, and after the third preset time that is delayed, vector is conducted to brshless DC motor progress commutation using two again.
According to one embodiment of present invention, acquiring unit 200 obtains the commutation of brshless DC motor according to current rotating speed
When time of afterflow, wherein acquiring unit 200 obtains preceding n times back-emf zero passage interval time, and according to preceding n times back-emf zero passage
Interval time obtains half of sector corresponding time under current rotating speed, and half of sector corresponding time is subtracted preset time
Allowance is to obtain the commutation current time, wherein N is obtained according to current rotating speed.
According to one embodiment of present invention, acquiring unit 200 is obtained by the following formula half of sector under current rotating speed
The corresponding time：
Wherein, Ts0 is half of sector corresponding time under current rotating speed, and Tzci is ith back-emf zero passage interval time,
N is the integer more than or equal to 3.
It should be noted that undisclosed details in the commutation control device of the brshless DC motor of the embodiment of the present invention,
The details disclosed in the phase change control method of the brshless DC motor of the embodiment of the present invention is please referred to, it is specifically no longer superfluous here
It states.
The commutation control device of brshless DC motor according to the ... of the embodiment of the present invention, control unit are conducted arrow using two
After amount carries out commutation to brshless DC motor, when detecting the back-emf zero passage of brshless DC motor by detection unit, adopt
Commutation is carried out to brshless DC motor with three vectors that are conducted, and after first preset time that is delayed, is conducted again using two
Vector carries out commutation to brshless DC motor, and the current rotating speed of brshless DC motor is obtained by acquiring unit, and according to
Current rotating speed obtains the commutation current time of brshless DC motor, and after the commutation current time that is delayed, is examined by detection unit
The back-emf zero crossing of brshless DC motor is surveyed, and after detection unit detects the back-emf zero crossing of brshless DC motor,
Vector is conducted to brshless DC motor progress commutation using three, and cycle executes, to control brshless DC motor operation.As a result,
During controlling brshless DC motor, is combined in 6 step commutation methods and avoid time of afterflow after commutation and be inserted into three to be conducted
Intermediate vector, enable to the current transformation of brshless DC motor more smooth, effectively reduce torque pulsation, reduce noise,
It is horizontal to improve EMC.
In addition, the embodiment of the present invention also proposed a kind of control system of brshless DC motor comprising above-mentioned nothing
The commutation control device of brushless motor.
The control system of brshless DC motor according to the ... of the embodiment of the present invention passes through the commutation of above-mentioned brshless DC motor
Control device enables to the current transformation of brshless DC motor more smooth, effectively reduces torque pulsation, reduces noise, carries
High EMC is horizontal.
In addition, the embodiment of the present invention also proposed a kind of dust catcher comprising the control of above-mentioned brshless DC motor
System.
Dust catcher according to the ... of the embodiment of the present invention enables to nothing by the control system of above-mentioned brshless DC motor
The current transformation of brushless motor is more smooth, effectively reduces torque pulsation, reduces noise, and it is horizontal to improve EMC.
It should be appreciated that each section 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 executed with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In addition, in the description of the present invention, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ",
"upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " clockwise ", " inverse time
The orientation or positional relationship of the instructions such as needle ", " axial direction ", " radial direction ", " circumferential direction " is to be based on the orientation or positional relationship shown in the drawings,
Be merely for convenience of description of the present invention and simplification of the description, do not indicate or imply the indicated device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (11)
1. a kind of phase change control method of brshless DC motor, which is characterized in that include the following steps：
S1 is conducted after vector carries out commutation to the brshless DC motor using two, when detecting the brushless dc
When the back-emf zero passage of machine, vector is conducted to brshless DC motor progress commutation using three；
S2 after first preset time that is delayed, uses two to be conducted vector to brshless DC motor progress commutation, and obtains again
Take the current rotating speed of the brshless DC motor, and obtained according to the current rotating speed brshless DC motor commutation it is continuous
Flow the time；
S3 was delayed after the commutation current time, detected the back-emf zero crossing of the brshless DC motor, and detecting
After the back-emf zero crossing for stating brshless DC motor, vector is conducted to brshless DC motor progress commutation using three, and
Cycle executes step S2-S3, is run with controlling the brshless DC motor.
2. the phase change control method of brshless DC motor as described in claim 1, which is characterized in that in step sl, examining
When measuring the back-emf zero passage of the brshless DC motor, second preset time that is first delayed is conducted vector to described using three again
Brshless DC motor carries out commutation, and in step s 2, after the third preset time that is delayed, is conducted vector to institute using two again
It states brshless DC motor and carries out commutation.
3. the phase change control method of brshless DC motor as claimed in claim 1 or 2, which is characterized in that described in the basis
Current rotating speed obtains the commutation current time of the brshless DC motor, including：
N times back-emf zero passage interval time before obtaining, wherein the N is obtained according to the current rotating speed；
Half of sector corresponding time under the current rotating speed is obtained according to the preceding n times back-emf zero passage interval time；
Half of sector corresponding time is subtracted into preset time allowance to obtain the commutation current time.
4. the phase change control method of brshless DC motor as claimed in claim 3, which is characterized in that be obtained by the following formula
Half of sector corresponding time under the current rotating speed：
Wherein, Ts0 is half of sector corresponding time under the current rotating speed, and Tzci is ith back-emf zero passage interval time,
N is the integer more than or equal to 3.
5. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
The phase change control method of the brshless DC motor as described in any one of claim 1-4 is realized when processor executes.
6. a kind of commutation control device of brshless DC motor, which is characterized in that including：
Detection unit, the back-emf for detecting the brshless DC motor；
Acquiring unit, the current rotating speed for obtaining the brshless DC motor, and the nothing is obtained according to the current rotating speed
The commutation current time of brushless motor；
Control unit, for being conducted after vector carries out commutation to the brshless DC motor using two, when passing through the inspection
When survey unit detects the back-emf zero passage of the brshless DC motor, vector is conducted to the brshless DC motor using three
Commutation is carried out, and after first preset time that is delayed, the brshless DC motor is changed using two vectors that are conducted again
Phase, and the commutation current time of the brshless DC motor is obtained by the acquiring unit, and in the commutation current that is delayed
After time, the back-emf zero crossing of the brshless DC motor is detected by the detection unit, and described brushless detecting
After the back-emf zero crossing of direct current generator, vector is conducted to brshless DC motor progress commutation using three, cycle executes,
To control the brshless DC motor operation.
7. the commutation control device of brshless DC motor as claimed in claim 6, which is characterized in that described control unit is also used
In when detecting the back-emf zero passage of the brshless DC motor by the detection unit, it is first delayed the second preset time again
Vector is conducted to brshless DC motor progress commutation using three, and after the third preset time that is delayed, uses two again
The vector that is conducted carries out commutation to the brshless DC motor.
8. the commutation control device of brshless DC motor as claimed in claims 6 or 7, which is characterized in that the acquiring unit
When obtaining the commutation current time of the brshless DC motor according to the current rotating speed, wherein
N times back-emf zero passage interval time before the acquiring unit obtains, and according to the preceding n times back-emf zero passage interval time
Half of sector corresponding time under the current rotating speed is obtained, and half of sector corresponding time is subtracted into preset time
Allowance is to obtain the commutation current time, wherein the N is obtained according to the current rotating speed.
9. the commutation control device of brshless DC motor as claimed in claim 8, which is characterized in that the acquiring unit passes through
Following formula obtains half of sector corresponding time under the current rotating speed：
Wherein, Ts0 is half of sector corresponding time under the current rotating speed, and Tzci is ith back-emf zero passage interval time,
N is the integer more than or equal to 3.
10. a kind of control system of brshless DC motor, which is characterized in that include as described in any one of claim 6-9
The commutation control device of brshless DC motor.
11. a kind of dust catcher, which is characterized in that include the control system of brshless DC motor as claimed in claim 10.
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| CN201810296762.9A CN108448984B (en) | 2018-03-30 | 2018-03-30 | Dust collector and phase change control method, device and control system of brushless direct current motor |
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| CN201810296762.9A CN108448984B (en) | 2018-03-30 | 2018-03-30 | Dust collector and phase change control method, device and control system of brushless direct current motor |
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| CN114844397A (en) * | 2022-05-19 | 2022-08-02 | 重庆中科芯亿达电子有限公司 | Control circuit and method for reducing phase-change degaussing time |
| CN117691897A (en) * | 2024-02-04 | 2024-03-12 | 杭州酷铂智能科技有限公司 | Brushless DC motor control system and method |
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| CN108448984B (en) | 2019-12-13 |
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