CN108599634A - Dust catcher, the control method of brshless DC motor, device and system - Google Patents
Dust catcher, the control method of brshless DC motor, device and system Download PDFInfo
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- CN108599634A CN108599634A CN201810294446.8A CN201810294446A CN108599634A CN 108599634 A CN108599634 A CN 108599634A CN 201810294446 A CN201810294446 A CN 201810294446A CN 108599634 A CN108599634 A CN 108599634A
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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
- H02P6/15—Controlling commutation time
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of dust catcher, the control method of brshless DC motor, device and system, wherein method includes the following steps：The offline temperature phase resistance table and temperature phase inductance table for obtaining motor；In the low speed operation phase of motor, in the high level time of each PWM controlling cycles, conducting mutually positive terminal voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and current winding temperature are obtained, and obtains any two moment corresponding phase current；The phase current change rate of motor is obtained according to any two moment phase current corresponding with its, and the phase resistance and phase inductance of motor are obtained according to current winding temperature and temperature phase resistance table, temperature phase inductance table；And the magnetic linkage value of motor is obtained according to above-mentioned parameter, and judge whether magnetic linkage value is more than commutation threshold value；If it is, carrying out commutation.Thereby, it is possible to realize the accurate commutation of motor in the motor low speed operation phase, ensure motor will not step-out, reliability is high.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of control method of brshless DC motor, Yi Zhongwu
The control device of brushless motor, a kind of control system of brshless DC motor and a kind of dust catcher.
Background technology
Currently, in brshless DC motor sensorless drive control technology field, the rotor position detecting method of motor
There are many, wherein simply, being effectively widely used with back-emf zero passage method.The basic principle of back-emf zero passage method is when brushless
When the back-emf zero passage of certain phase winding of direct current generator, rotor d-axis overlaps just with the phase winding axis, as long as therefore judging
The back-emf zero crossing for going out each phase winding just would know that the rotor-position of motor.However, when brshless DC motor low speed is run,
The back-emf very little of motor can not accurately collect back-emf zero crossing, thus can not obtain the position of rotor, to nothing
Method carries out accurately commutation, it is therefore desirable to use special start-up technique.
In the related technology, when starting by static in brshless DC motor, commutation technology is forced using open loop, according to journey
The preset pitch time of sequence (successively decreasing step by step) artificially applies a synchronous commutation signal to brshless DC motor, makes brushless straight
The rotating speed of galvanic electricity machine is continuously increased, and when the rotating speed of brshless DC motor is sufficiently large, is switched to back-EMF determination rotor-position
Commutation state.However, for control system, open loop forces commutation to belong to the blind area of control, in the low speed of brshless DC motor
Operation phase can not obtain the rotor-position of brshless DC motor, and the torque of generation is smaller, the phenomenon that being easy to happen step-out, can
It is relatively low by property.
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 control method of brshless DC motor, can realize that motor is accurate in the low speed operation phase
Commutation improves detent torque, ensure motor will not step-out, reliability is high.
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 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 control method of brshless DC motor,
Include the following steps：Temperature-phase resistance the table and temperature-phase inductance table of the brshless DC motor are obtained offline；In the nothing
The low speed operation phase of brushless motor, in the high level time of each PWM controlling cycles, the positive terminal voltage of acquisition conducting phase,
Phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and current winding temperature is connected, and obtains any two
The phase current of the moment corresponding brshless DC motor；It is corresponded to according to any two moment and any two moment
The phase current of the brshless DC motor obtain the phase current change rate of the brshless DC motor, and according to it is described currently around
Group temperature obtains the phase resistance and mutually electricity of the brshless DC motor with the temperature-phase resistance table, the temperature-phase inductance table
Sense；According to conducting phase positive terminal voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the busbar
Current instantaneous value, the phase current change rate, the phase resistance and the phase inductance obtain the magnetic linkage of the brshless DC motor
Value, and judge whether the magnetic linkage value is more than commutation threshold value；If the magnetic linkage value be more than the commutation threshold value, control described in
Brshless DC motor carries out commutation.
The control method of brshless DC motor according to the ... of the embodiment of the present invention, the offline temperature-for obtaining brshless DC motor
Phase resistance table and temperature-phase inductance table, and in the low speed operation phase of brshless DC motor, in each PWM controlling cycles
In high level time, the positive terminal voltage of conducting phase, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current wink are obtained
Duration and current winding temperature, and the phase current of any two moment corresponding brshless DC motor is obtained, and according to arbitrary
The phase current of two moment and any two moment corresponding brshless DC motor obtains the phase current variation of brshless DC motor
Rate, and according to current winding temperature and temperature-phase resistance table, temperature-phase inductance table obtain brshless DC motor phase resistance and
Phase inductance, and mutually positive terminal voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current are instantaneous according to conducting
Value, phase current change rate, phase resistance and phase inductance obtain the magnetic linkage value of brshless DC motor, and judge whether magnetic linkage value is more than and change
Phase threshold value, and when magnetic linkage value is more than commutation threshold value, control brshless DC motor carries out commutation.So as to realize that motor exists
The accurate commutation of low speed operation phase improves detent torque, ensure motor will not step-out, reliability is high.
In addition, the control method of brshless DC motor according to the above embodiment of the present invention can also be with following additional
Technical characteristic：
According to one embodiment of present invention, using linear interpolation algorithm obtain the brshless DC motor phase resistance and
Phase inductance.
According to one embodiment of present invention, the commutation threshold value includes multiple, and the multiple commutation threshold value passes through following
Mode obtains：The range of speeds of the brshless DC motor is divided into multiple sections, wherein each section is correspondingly arranged on not
The rotating speed of same commutation threshold value and the commutation threshold value and the brshless DC motor is in inverse relation.
According to one embodiment of present invention, before the magnetic linkage value for obtaining the brshless DC motor, further include：Judge
The non-conduction opposite potential voltage and non-conduction opposite potential voltage in upper PWM controlling cycles in current PWM controlling cycles
Between voltage difference whether in the preset range；If the voltage difference is in the preset range, then is obtained
The magnetic linkage value of the brshless DC motor.
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 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 control method of machine can realize accurate commutation of the motor in the low speed operation phase, improve detent torque, ensure that motor will not lose
Step, reliability are high.
To achieve the above object, a kind of control device for brshless DC motor that third aspect present invention embodiment proposes,
Including：First acquisition unit, temperature-phase resistance table for obtaining the brshless DC motor and temperature-phase inductance table,
In, the temperature-phase resistance table and the temperature-phase inductance table are obtained by offline mode；Second acquisition unit, in institute
The low speed operation phase for stating brshless DC motor obtains conducting phase anode electricity in the high level time of each PWM controlling cycles
Pressure, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and current winding temperature, and obtain arbitrary
The phase current of two moment corresponding brshless DC motor；Third acquiring unit, for according to any two moment
The phase current of the brshless DC motor corresponding with any two moment obtains the phase current of the brshless DC motor
Change rate, and the nothing is obtained according to the current winding temperature and the temperature-phase resistance table, the temperature-phase inductance table
The phase resistance and phase inductance of brushless motor；Magnetic linkage acquiring unit, for according to conducting phase positive terminal voltage, the conducting phase
Negative terminal voltage, the non-conduction opposite potential voltage, the bus current instantaneous value, the phase current change rate, phase electricity
Resistance and the phase inductance obtain the magnetic linkage value of the brshless DC motor；Control unit, for judging whether the magnetic linkage value is big
In commutation threshold value, and when the magnetic linkage value is more than the commutation threshold value, controls the brshless DC motor and carry out commutation.
The control device of brshless DC motor according to the ... of the embodiment of the present invention obtains brushless direct-current by first acquisition unit
The temperature of motor-phase resistance table and temperature-phase inductance table (being obtained by offline mode), and by second acquisition unit in nothing
The low speed operation phase of brushless motor, in the high level time of each PWM controlling cycles, the positive terminal voltage of acquisition conducting phase,
Phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and current winding temperature is connected, and obtains any two
The phase current of moment corresponding brshless DC motor, and by third acquiring unit according to any two moment and any two
The phase current of moment corresponding brshless DC motor obtains the phase current change rate of brshless DC motor, and according to when front winding temperature
The phase resistance and phase inductance and magnetic linkage of degree and temperature-phase resistance table, temperature-phase inductance table acquisition brshless DC motor obtain
Unit is according to the positive terminal voltage of conducting phase, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value, mutually electricity
Rheology rate, phase resistance and phase inductance obtain the magnetic linkage value of brshless DC motor, and whether judge magnetic linkage value by control unit
More than commutation threshold value, and when magnetic linkage value is more than commutation threshold value, control brshless DC motor carries out commutation.So as to realize electricity
Accurate commutation of the machine in the low speed operation phase improves detent torque, ensure motor will not step-out, reliability is high.
In addition, the control device of brshless DC motor according to the above embodiment of the present invention can also be with following additional
Technical characteristic：
According to one embodiment of present invention, the third acquiring unit is obtained described brushless straight using linear interpolation algorithm
The phase resistance and phase inductance of galvanic electricity machine.
According to one embodiment of present invention, the commutation threshold value includes multiple, and the multiple commutation threshold value passes through following
Mode obtains：The range of speeds of the brshless DC motor is divided into multiple sections, wherein each section is correspondingly arranged on not
The rotating speed of same commutation threshold value and the commutation threshold value and the brshless DC motor is in inverse relation.
According to one embodiment of present invention, the magnetic linkage acquiring unit is additionally operable to obtaining the brshless DC motor
Before magnetic linkage value, judge that the non-conduction opposite potential voltage is led with non-in upper PWM controlling cycles in current PWM controlling cycles
Whether the voltage difference between logical opposite potential voltage is in preset range, wherein if the voltage difference is in described
In preset range, the magnetic linkage acquiring unit then obtains the magnetic linkage value of the brshless DC motor again.
To achieve the above object, fourth aspect present invention embodiment proposes a kind of control system of brshless DC motor,
It includes the 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 control of above-mentioned brshless DC motor
Device, can realize accurate commutation of the motor in the low speed operation phase, improve detent torque, ensure motor will not step-out, reliably
Property it is high.
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 can realize electricity by the control system of above-mentioned brshless DC motor
Accurate commutation of the machine in the low speed operation phase improves detent torque, ensure motor will not step-out, reliability is high.
Description of the drawings
Fig. 1 is the flow chart of the control method of brshless DC motor according to the ... of the embodiment of the present invention；
Fig. 2 is the oscillogram of brshless DC motor phase current according to an embodiment of the invention；
Fig. 3 is the oscillogram of brshless DC motor phase current in accordance with another embodiment of the present invention；
Fig. 4 is that the phase current change rate of brshless DC motor according to an embodiment of the invention is corresponding with busbar voltage
Relational graph；
Fig. 5 is the phase current change rate of brshless DC motor in accordance with another embodiment of the present invention and pair of busbar voltage
Answer relational graph；
Fig. 6 is the oscillogram of the line counter electromotive force of brshless DC motor according to an embodiment of the invention；
Fig. 7 is the oscillogram of motors Based on Flux Linkage G (θ) according to an embodiment of the invention；
Fig. 8 is the oscillogram of motors Based on Flux Linkage G (θ) in accordance with another embodiment of the present invention；
Fig. 9 is the block diagram of the 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 control method, non-provisional of the brshless DC motor proposed according to embodiments of the present invention described
Property computer readable storage medium, the control device of brshless DC motor, the control system of brshless DC motor and dust catcher.
Fig. 1 is the flow chart of the control method of brshless DC motor according to the ... of the embodiment of the present invention.As shown in Figure 1, this hair
The control method of the brshless DC motor of bright embodiment includes the following steps：
S1, the offline temperature-phase resistance table and temperature-phase inductance table for obtaining brshless DC motor.
Specifically, during controlling brshless DC motor, start the low speed operation phase in brshless DC motor, by
In using open loop force commutation technology carry out commutation when, can not obtain whithin a period of time the position of brushless DC motor rotor with
The phenomenon that timely and effectively carrying out commutation, and the torque generated is smaller, be easy to causeing step-out, reliability is not high, therefore, can adopt
Commutation is carried out with magnetic linkage commutation method.
Specifically, it is assumed that the three-phase windings of brshless DC motor use star-like connection, the brushless dc of square wave driving
The PM rotor of machine is usually that face mounted structure ignores magnetic hystersis loss and eddy-current loss without Damper Winding, and it is full to disregard magnetic circuit
The influence of sum, and ignore rotor-position and change influence to inductance, by taking A phases as an example, then the phase voltage equation of brshless DC motor
It is represented by：
Wherein, UanFor the phase voltage of brshless DC motor A phase windings, RsFor the phase resistance of brshless DC motor, iaFor nothing
The phase current of brushless motor A phase windings, L are per phase winding equivalent inductance, and θ is brushless DC motor rotor position angle, λar(θ)
For the rotor permanent magnet magnetic linkage of A phase winding linkages.
Due in formula (1) last be brshless DC motor back-emf, formula (1) redefinable
For：
Wherein, keFor the back emf coefficient of brshless DC motor, far(θ) is one related with magnetic linkage and with rotor-position
The periodically variable functions of angle θ.
Since brshless DC motor is generally not brought up neutral point in design, calculates, can be obtained by formula (2) for convenience
Line voltage equation expression formula：
Wherein, UabFor the line voltage of brshless DC motor, ibFor the phase current of brshless DC motor B phase windings, ω is nothing
The instantaneous angular velocity of brushless motor, fabr(θ) is a line changed with the variation of the rotor position angle of brshless DC motor
Motors Based on Flux Linkage between line.
Further, will include rotor position angle θ's in formula (3)It is newly defined as a new line line
Between motors Based on Flux Linkage H (θ)ab, that is,It is available in conjunction with formula (3)：
Wherein, Ua、UbFor brushless dc set end voltage.
Due to Hab(θ) is therefore a function related with rotor position angle is theoretically estimated that by the function
The rotor-position of motor.But according to formula (4) it is found that calculating HabWhen (θ), the end in addition to needing acquisition brshless DC motor
Outside the parameter of the motors such as voltage, it is also necessary to which the instantaneous angular velocity ω for obtaining brushless DC motor rotor needs to obtain brushless straight
The rotating speed of galvanic electricity machine, and in position Sensorless Control, it can not be by dedicated device come the rotating speed of measurement motor.To understand
Motors Based on Flux Linkage between two line lines of three-phase windings can be divided by by the certainly above problem, to obtain a new motors Based on Flux Linkage G (θ),
That is,
It is available according to formula (4) and formula (5)：
Wherein, Ua、Ub、UcFor brushless dc set end voltage, iaFor the phase current of brshless DC motor A phase windings, ibFor
The phase current of brshless DC motor B phase windings, icFor the phase current of brshless DC motor C phase windings.
It is understood that motors Based on Flux Linkage G (θ) has one-to-one relationship with brushless DC motor rotor position, and
It is unrelated with the rotating speed of brshless DC motor, rotor-position letter theoretically can be obtained in the full speed range of brshless DC motor
Therefore breath can obtain rotor position information, and control nothing according to motors Based on Flux Linkage G (θ) in the brshless DC motor low speed operation phase
Brushless motor carries out accurately commutation.
That is, during brushless DC electromotor start moves low speed operation, it is brushless that the acquisition of magnetic linkage commutation method can be used
The rotor-position of direct current generator simultaneously carries out accurately commutation control.However, obtaining rotor-position using magnetic linkage commutation method and carrying out
When commutation, the magnetic linkage value for obtaining brshless DC motor in real time is needed, and judged accordingly it, could accurately be changed
Phase.According to formula (6) it is found that obtain the magnetic linkage value of brshless DC motor, need to obtain brushless dc set end voltage (packet
Include conducting mutually positive terminal voltage, conducting phase negative terminal voltage and non-conduction opposite potential voltage), the phase of each phase winding of brshless DC motor
The phase resistance of each phase winding of electric current, brshless DC motor, the phase inductance and brushless dc of each phase winding of brshless DC motor
The phase current change rate of each phase winding of machine.
Further, the phase resistance of each phase winding of brshless DC motor, the temperature of the corresponding winding of phase inductance exist
Certain relationship.A large amount of test can be first passed through in advance, the phase resistance of each phase winding of brshless DC motor, phase inductance is right with it
The relationship of the temperature for the winding answered is recorded in the form of offline form, i.e., first passes through a large amount of test in advance, is counted brushless
The temperature of direct current generator-phase resistance table, temperature-phase inductance table.
Specifically, brushless dc under off-line measurement several discrete temperature points (e.g., temperature interval can be 5 DEG C) can be passed through
The phase resistance and phase inductance of each phase winding of machine, to obtain the temperature-phase resistance table and temperature-phase inductance of brshless DC motor
Table, or the temperature-phase resistance table and temperature-phase inductance table of brshless DC motor are obtained by simulation software.
S2 in the high level time of each PWM controlling cycles, is obtained in the low speed operation phase of brshless DC motor
The positive terminal voltage of conducting phase is connected phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and works as front winding temperature
Degree, and obtain the phase current of any two moment corresponding brshless DC motor.
S3 is obtained brushless straight according to the phase current of any two moment and any two moment corresponding brshless DC motor
The phase current change rate of galvanic electricity machine, and the acquisition of phase inductance table is brushless according to current winding temperature and temperature-phase resistance table, temperature-
The phase resistance and phase inductance of direct current generator.
It specifically, can be by resistor voltage divider circuit successively during power switch tube is connected in the low speed magnetic linkage commutation stage
The positive terminal voltage of acquisition conducting phase, conducting phase negative terminal voltage and non-conduction opposite potential voltage, and can be acquired by sampling resistor female
The line current instantaneous value phase current instantaneous value of brshless DC motor (be equal to), and obtained in real time by temperature sensor brushless straight
The current winding temperature of galvanic electricity machine, and the acquisition of phase inductance table is brushless according to current winding temperature and temperature-phase resistance table, temperature-
The phase resistance and phase inductance of direct current generator.
Further, the phase resistance and phase inductance of brshless DC motor are obtained using linear interpolation algorithm.
Specifically, when obtain brshless DC motor current winding temperature fall in temperature-phase resistance table certain two
When between a temperature value, the phase electricity that linear interpolation algorithm calculates the corresponding brshless DC motor of current winding temperature can be used
Resistance.For example, as the current winding temperature T of the brshless DC motor of acquisitionxWinding temperature in temperature-phase resistance table
T1With winding temperature T2Between when, due to winding temperature T1The phase resistance of corresponding brshless DC motor is R1, winding temperature T2It is right
The phase resistance for the brshless DC motor answered is R2, therefore, following relationship can be obtained using linear interpolation algorithm：
Then, current winding temperature T can be obtained according to formula (7)xThe phase resistance of corresponding brshless DC motor
Similarly, it when the current winding temperature of acquisition is in temperature-phase inductance table between certain two temperature, can also adopt
The phase inductance that the corresponding brshless DC motor of current winding temperature is calculated with linear interpolation algorithm, for details, reference can be made to about mutually electricity
The acquisition of resistance, is just no longer described in detail here.
Further, as shown in Fig. 2, during controlling brshless DC motor, the phase is connected in device for power switching
Between, the phase current linear rise of brshless DC motor can be approximatively thought, during the phase current of brshless DC motor rises
Certain two moment samples phase current by sampling resistor, while recording sampling instant t1 and t2 and corresponding phase electricity
I1 and i2, i.e. sampled point C1 (t1, i1), sampled point C2 (t2, i2) are flowed, it then can be online according to the two sampled points C1 and C2
Calculate the phase current change rate di/dt for obtaining brshless DC motor, that is, di/dt=(i2-i1)/(t2-t1).
It should be noted that two sampled points C1 and C2 in Fig. 2 are chosen at the rising edge of pwm control signal under respectively
Edge drops, however, when actually taking, any time that can be chosen between this 2 points.
In an embodiment of the present invention, in addition to brushless direct-current can be obtained by the online calculation in above-described embodiment
Outside the phase current change rate of motor, it can also be obtained by offline mode.
Specifically, there is certain relationships with busbar voltage for the phase current change rate of each phase winding of brshless DC motor.
For simplified code operation, a large amount of test can be first passed through in advance, by the phase current change rate of each phase winding of brshless DC motor with
The relationship of its corresponding busbar voltage is recorded in the form of offline form, i.e., first passes through a large amount of test in advance, count mother
Line voltage-phase current change rate table.For example, can respectively be given under several different busbar voltages (e.g., voltage spaces can be 2V)
Brshless DC motor provides the current phasor that brshless DC motor clockwise/counterclockwise can be made to be connected, and it is brushless to record observation
The waveform of the phase current of direct current generator, wherein the waveform of the phase current of brshless DC motor can be as shown in Figure 3.Middle institute according to fig. 3
The phase current variation delta i of the time interval Δ t and brshless DC motor shown, can calculate the brushless direct-current under current busbar voltage
The phase current change rate di/dt of motor.As shown in figure 4, each busbar voltage un(n=1,2 ..., N, and N is more than or equal to 1
Integer) a corresponding brshless DC motor phase current change rate (di/dt)n(n=1,2 ..., N, and N is more than or equal to 1
Integer), to which busbar voltage-phase current change rate table can be obtained.
Further, during controlling brshless DC motor, when the busbar voltage of the brshless DC motor of acquisition
When falling between certain two voltage value in busbar voltage-phase current change rate table, linear interpolation algorithm can be used and calculate and work as
The phase current change rate of the corresponding brshless DC motor of preceding busbar voltage.For example, as shown in figure 4, it is brushless straight when what is obtained
The busbar voltage u of galvanic electricity machinexBusbar voltage u in busbar voltage-phase current change rate table1With busbar voltage u2Between when,
Due to busbar voltage u1The phase current change rate of corresponding brshless DC motor is (di/dt)1, busbar voltage u2It is corresponding brushless
The phase current change rate of direct current generator is (di/dt)2, therefore, following relationship can be obtained using linear interpolation algorithm：
Then, current busbar voltage u can be obtained according to formula (8)xThe phase current change rate of corresponding brshless DC motor
It according to still another embodiment of the invention, can also be to being obtained offline in Fig. 4 in some application scenarios of less demanding
Several discrete points for taking carry out the linear fit of data, to obtain the phase current change rate di/dt of brshless DC motor with
Busbar voltage unBetween relationship, as shown in Fig. 5 and formula (9)：
Di/dt=k*un+b (9)
Wherein, k and b is constant.
In this way, during controlling brshless DC motor, the current busbar voltage detected can be substituted into formula (9)
In, to obtain the phase current change rate of the corresponding brshless DC motor of current busbar voltage.In addition, for phase resistance and phase inductance
Acquisition can also be by the way of linear fit in some occasions of less demanding, for details, reference can be made to phase current change rates
It obtains, which is not described herein again.
As a result, during controlling brshless DC motor, any two moment pair of brshless DC motor can be obtained
The phase current for the brshless DC motor answered, and according to any two moment and any two moment corresponding brshless DC motor
Phase current effectively obtains the phase current change rate of brshless DC motor, and can obtain in real time brshless DC motor it is current around
Group temperature, and according to temperature-phase resistance table and temperature-phase inductance table, brushless direct-current is effectively obtained in conjunction with corresponding algorithm
The parameters such as the phase resistance of motor and phase inductance.
S4, according to conducting, mutually positive terminal voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current are instantaneous
Value, phase current change rate, phase resistance and phase inductance obtain the magnetic linkage value of brshless DC motor, and judge whether magnetic linkage value is more than and change
Phase threshold value.
Specifically, the positive terminal voltage of conducting phase, conducting phase negative terminal voltage, non-conduction opposite potential above-described embodiment obtained
Voltage, bus current instantaneous value (being equal to phase current instantaneous value), phase current change rate, phase resistance and phase inductance substitute into formula (6)
In, the magnetic linkage value of brshless DC motor can be calculated, and the magnetic linkage value of the brshless DC motor is compared with commutation threshold value,
Commutation is carried out to judge whether to control direct current generator.
It should be noted that before the magnetic linkage value for obtaining brshless DC motor, further include：Judge current PWM controls week
Whether the voltage difference in the phase in non-conduction opposite potential voltage and upper PWM controlling cycles between non-conduction opposite potential voltage
In preset range；If voltage difference is in preset range, then obtains the magnetic linkage value of brshless DC motor.
That is, mutually positive terminal voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, busbar electricity will be connected
Flow instantaneous value, phase current change rate, phase resistance and phase inductance substitute into formula (6) calculate brshless DC motor magnetic linkage value it
Before, it can first judge non-conduction opposite potential voltage and non-conduction opposite electricity in upper PWM controlling cycles in current PWM controlling cycles
Whether the voltage difference between gesture voltage when voltage difference is in preset range, then calculates brushless in preset range
The magnetic linkage value of direct current generator increases the reliability of calculating to reduce the frequency calculated.Wherein, the size of preset range is by reality
The non-conduction opposite potential voltage difference for measuring each PWM cycle is obtained plus certain surplus.
S5 controls brshless DC motor and carries out commutation if magnetic linkage value is more than commutation threshold value.
Specifically, according to the common mathematical model of brshless DC motor, formula (6) arrangement can be obtained：
Wherein, ebc、eabFor the line back-emf voltage of brshless DC motor.
By formula (10) it is found that motors Based on Flux Linkage G (θ) is equal to corresponding two line counter electromotive force is divided by.Wherein, brushless straight
The line back emf waveform of galvanic electricity machine is as shown in Figure 6.Within the electric period of 0~2 π, when ω t be respectively π/6, pi/2,5 π/6,7 π/
6, when 3 pi/2s, 11 π/6, line counter electromotive force eca、ebc、eab、eca、ebc、eabValue be followed successively by zero, and correspond to a complete electricity respectively
6 commutation moment in period.According to formula (10) it is found that determining the commutation of brshless DC motor using motors Based on Flux Linkage G (θ)
Moment is essentially equivalent to two line counter electromotive force and is divided by, when the line counter electromotive force zero passage on denominator, motors Based on Flux Linkage G (θ)
An infinitely great value will occur, so as to detect the commutation moment of brshless DC motor.Due to motors Based on Flux Linkage G (θ)
The middle speed variable for having eliminated brshless DC motor, this method is suitable for the broader range of speeds, for example, in brshless DC motor
Low speed uses when running.
When using conduction mode two-by-two (only two phase windings of control conducting, a remaining phase winding are in vacant state),
In one complete electric period, motors Based on Flux Linkage G (θ) has 3 kinds of expression ways, and the brshless DC motor under conduction mode is shared two-by-two
6 kinds of commutation phase sequences.Therefore, it when carrying out commutation using magnetic linkage commutation method control brshless DC motor, needs to determine magnetic linkage in advance
How corresponding the expression formula of function G (θ) is with the phase sequence of brshless DC motor.Wherein, corresponding diagram 6, different electrical angle areas
Between can be as shown in table 1 with the relationship of the expression-form of motors Based on Flux Linkage G (θ).
Table 1
| Electrical angle section | Motors Based on Flux Linkage G (θ) |
| I/IV | G(θ)ca/bc=H (θ)ca/H(θ)bc |
| II/V | G(θ)bc/ab=H (θ)bc/H(θ)ab |
| III/VI | G(θ)ab/ca=H (θ)ab/H(θ)ca |
When practical application motors Based on Flux Linkage G (θ) judges the commutation moment of brshless DC motor, in order to make motors Based on Flux Linkage G (θ)
Calculated commutation point is more accurate, need to only utilize the top half of motors Based on Flux Linkage G (θ) waveform that can accurately obtain brushless straight
The position of galvanic electricity machine rotor, accordingly, motors Based on Flux Linkage G (θ) waveforms as shown in fig. 7, the commutation moment appear in motors Based on Flux Linkage G
At the peak value of (θ) waveform.
Therefore, in one embodiment of the invention, can will according to the calculated magnetic linkage values of motors Based on Flux Linkage G (θ) in advance
The commutation threshold value of setting is compared, when the magnetic linkage value at a certain moment is more than commutation threshold value, when can determine whether that the moment is commutation
It carves, and controls brshless DC motor and carry out commutation.
Wherein, commutation threshold value can be a fixed value, i.e., during entire control, use the fixed value and calculate
Magnetic linkage value be compared, to determine the commutation moment.
Certainly, commutation threshold value can also include multiple, and multiple commutation threshold values can obtain in the following manner：By brushless direct-current
The range of speeds of motor is divided into multiple sections, wherein each section be correspondingly arranged on different commutation threshold values and commutation threshold value with
The rotating speed of brshless DC motor is in inverse relation.
That is, the commutation threshold value in above-described embodiment may be set to a fixed value, multiple values are also may be set to, and
Multiple commutation threshold values can carry out setting stepwise according to rotating speed, and rotating speed is higher, and corresponding commutation threshold value is with regard to smaller.For example, false
If the range of speeds of brshless DC motor is N0~Nx(x is the integer more than or equal to 2), can be by the rotating speed model of brshless DC motor
It encloses and is divided into N0~N1、N1~N2、…、Nx-1~NxTotal x section, when the rotating speed of brshless DC motor is in N0~N1In range
When, corresponding commutation threshold value is M1；When the rotating speed of brshless DC motor is in N1~N2When in range, corresponding commutation threshold value is
M2；…；When the rotating speed of brshless DC motor is in Nx-1~NxWhen in range, corresponding commutation threshold value is Mx.Wherein, commutation threshold value
M1、M2、…、MxIt is sequentially reduced.
In practical applications, except through magnetic linkage value is compared with commutation threshold value to judge whether in above-described embodiment
It controls brshless DC motor to carry out outside commutation, can also judge whether that controlling brushless motor carries out according to the slope of motors Based on Flux Linkage G (θ)
Commutation.
Specifically, as shown in figure 8, at the commutation moment close to motor, motors Based on Flux Linkage G (θ)bc/abSlope be infinity,
That is, the commutation moment always occurs in motors Based on Flux Linkage G (θ)bc/abFrom just infinite to negative infinite jumping moment.Therefore, in the present invention
Embodiment in, the commutation point of motor can be determined by using the slope of motors Based on Flux Linkage G (θ), with control motor carry out commutation,
For example, when the slope of motors Based on Flux Linkage G (θ) is more than default slope threshold value, control motor carries out commutation.
Wherein, default slope threshold value may be set to a fixed value, also may be set to multiple values, and multiple default slope thresholds
Value can carry out setting stepwise according to rotating speed, and rotating speed is higher, and corresponding default slope threshold value is with regard to smaller.For example, it is assumed that brushless
The range of speeds of direct current generator is N0~Nx(x is the integer more than or equal to 2), can divide the range of speeds of brshless DC motor
For N0~N1、N1~N2、…、Nx-1~NxTotal x section, when the rotating speed of brshless DC motor is in N0~N1It is corresponding when in range
Default slope threshold value be K1；When the rotating speed of brshless DC motor is in N1~N2When in range, corresponding default slope threshold value is
K2；…；When the rotating speed of brshless DC motor is in Nx-1~NxWhen in range, corresponding default slope threshold value is Kx.Wherein, it presets
Slope threshold value K1、K2、…、KxIt is sequentially reduced.
As a result, in the low speed operation phase of brshless DC motor, by obtaining the relevant parameter of brshless DC motor in terms of
Calculate the magnetic linkage value of brshless DC motor, and magnetic linkage value be more than commutation threshold value (or the slope of motors Based on Flux Linkage G (θ) be more than it is pre-
If slope threshold value) when carry out commutation, can effectively avoid because the rotating speed of brshless DC motor is relatively low cause brshless DC motor without
The correct commutation of method, meanwhile, when obtaining the relevant parameter of brshless DC motor, also phase resistance and phase inductance are mended into trip temperature
It repays, and phase current change rate is obtained in real time according to current busbar voltage, so that commutation is more accurate, realize
The accurate commutation of brshless DC motor ensure that brshless DC motor has larger detent torque, avoid motor and lose
The phenomenon that step, reliability are high.
In conclusion the control method of brshless DC motor according to the ... of the embodiment of the present invention, obtains brushless dc offline
The temperature of machine-phase resistance table and temperature-phase inductance table, and in the low speed operation phase of brshless DC motor, controlled in each PWM
In the high level time in period processed, conducting mutually positive terminal voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, mother are obtained
Line current instantaneous value and current winding temperature, and the phase current of any two moment corresponding brshless DC motor is obtained, and
The phase of brshless DC motor is obtained according to the phase current of any two moment and any two moment corresponding brshless DC motor
Current changing rate, and brshless DC motor is obtained according to current winding temperature and temperature-phase resistance table, temperature-phase inductance table
Phase resistance and phase inductance, and according to the positive terminal voltage of conducting phase, conducting phase negative terminal voltage, non-conduction opposite potential voltage, busbar
Current instantaneous value, phase current change rate, phase resistance and phase inductance obtain the magnetic linkage value of brshless DC motor, and judge that magnetic linkage value is
It is no to be more than commutation threshold value, and when magnetic linkage value is more than commutation threshold value, control brshless DC motor carries out commutation.So as to reality
Existing accurate commutation of the motor in the low speed operation phase, improves detent torque, ensure motor will not step-out, reliability is high.
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 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 control method of machine can realize accurate commutation of the motor in the low speed operation phase, improve detent torque, ensure that motor will not lose
Step, reliability are high.
Fig. 9 is the block diagram of the control device of brshless DC motor according to the ... of the embodiment of the present invention.
As shown in figure 9, the control device of the brshless DC motor of the embodiment of the present invention includes：First acquisition unit 100,
Two acquiring units 200, third acquiring unit 300, magnetic linkage acquiring unit 400 and control unit 500.
Wherein, first acquisition unit 100 is used to obtain the temperature-phase resistance table and temperature-phase inductance of brshless DC motor
Table, wherein temperature-phase resistance table and temperature-phase inductance table are obtained by offline mode；Second acquisition unit 200 is used in nothing
The low speed operation phase of brushless motor, in the high level time of each PWM controlling cycles, the positive terminal voltage of acquisition conducting phase,
Phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and current winding temperature is connected, and obtains any two
The phase current of moment corresponding brshless DC motor；Third acquiring unit 300 is used for according to any two moment and any two
The phase current of moment corresponding brshless DC motor obtains the phase current change rate of brshless DC motor, and according to when front winding temperature
Degree and temperature-phase resistance table, temperature-phase inductance table obtain the phase resistance and phase inductance of brshless DC motor；Magnetic linkage acquiring unit
400 for according to the positive terminal voltage of conducting phase, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value, phase
Current changing rate, phase resistance and phase inductance obtain the magnetic linkage value of brshless DC motor；Control unit 500 is for judging that magnetic linkage value is
It is no to be more than commutation threshold value, and when magnetic linkage value is more than commutation threshold value, control brshless DC motor carries out commutation.
According to one embodiment of present invention, third acquiring unit 300 obtains brushless dc using linear interpolation algorithm
The phase resistance and phase inductance of machine.
According to one embodiment of present invention, commutation threshold value includes multiple, and multiple commutation threshold values obtain in the following manner：
The range of speeds of brshless DC motor is divided into multiple sections, wherein each section be correspondingly arranged on different commutation threshold values and
The rotating speed of commutation threshold value and brshless DC motor is in inverse relation.
According to one embodiment of present invention, magnetic linkage acquiring unit 400 is additionally operable in the magnetic linkage for obtaining brshless DC motor
Before value, non-conduction opposite potential voltage and non-conduction opposite electricity in upper PWM controlling cycles in current PWM controlling cycles are judged
Whether the voltage difference between gesture voltage is in preset range, wherein if voltage difference is in preset range, magnetic linkage obtains
Unit 400 is taken then to obtain the magnetic linkage value of brshless DC motor again.
It should be noted that undisclosed details in the control device of the brshless DC motor of the embodiment of the present invention, please join
The details disclosed in control method according to the brshless DC motor of the embodiment of the present invention, specific I will not elaborate.
The control device of brshless DC motor according to the ... of the embodiment of the present invention obtains brushless direct-current by first acquisition unit
The temperature of motor-phase resistance table and temperature-phase inductance table, and by second acquisition unit brshless DC motor low speed transport
Row order section, in the high level time of each PWM controlling cycles, obtain conducting mutually positive terminal voltage, conducting phase negative terminal voltage, non-lead
Logical opposite potential voltage, bus current instantaneous value and current winding temperature, and obtain any two moment corresponding brushless direct-current
The phase current of motor, and by third acquiring unit according to any two moment and any two moment corresponding brushless direct-current
The phase current of motor obtains the phase current change rate of brshless DC motor, and according to current winding temperature and temperature-phase resistance table,
The phase resistance and phase inductance and magnetic linkage acquiring unit of temperature-phase inductance table acquisition brshless DC motor are according to conducting phase anode
Voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value, phase current change rate, phase resistance and phase
Inductance obtains the magnetic linkage value of brshless DC motor, and judges whether magnetic linkage value is more than commutation threshold value by control unit, and in magnetic
When chain value is more than commutation threshold value, control brshless DC motor carries out commutation.So as to realize motor in the low speed operation phase
Accurate commutation improves detent torque, ensure motor will not step-out, reliability is high.
In addition, the embodiment of the present invention also proposed a kind of control system of brshless DC motor comprising above-mentioned nothing
The revolution speed 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 control of above-mentioned brshless DC motor
Device, can realize accurate commutation of the motor in the low speed operation phase, improve detent torque, ensure motor will not step-out, reliably
Property it is high.
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 can realize electricity by the control system of above-mentioned brshless DC motor
Accurate commutation of the machine in the low speed operation phase improves detent torque, ensure motor will not step-out, reliability is high.
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 control method of brshless DC motor, which is characterized in that include the following steps：
Temperature-phase resistance the table and temperature-phase inductance table of the brshless DC motor are obtained offline；
In the low speed operation phase of the brshless DC motor, in the high level time of each PWM controlling cycles, conducting is obtained
Mutually positive terminal voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and current winding temperature, and
Obtain the phase current of any two moment corresponding brshless DC motor；
It is obtained according to the phase current of any two moment and any two moment corresponding brshless DC motor
The phase current change rate of the brshless DC motor, and according to the current winding temperature and the temperature-phase resistance table, described
Temperature-phase inductance table obtains the phase resistance and phase inductance of the brshless DC motor；
According to conducting phase positive terminal voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the busbar
Current instantaneous value, the phase current change rate, the phase resistance and the phase inductance obtain the magnetic linkage of the brshless DC motor
Value, and judge whether the magnetic linkage value is more than commutation threshold value；
If the magnetic linkage value is more than the commutation threshold value, controls the brshless DC motor and carry out commutation.
2. the control method of brshless DC motor as described in claim 1, which is characterized in that obtained using linear interpolation algorithm
The phase resistance and phase inductance of the brshless DC motor.
3. the control method of brshless DC motor as claimed in claim 1 or 2, which is characterized in that the commutation threshold value includes
Multiple, the multiple commutation threshold value obtains in the following manner：
The range of speeds of the brshless DC motor is divided into multiple sections, wherein each section is correspondingly arranged on different change
The rotating speed of phase threshold value and the commutation threshold value and the brshless DC motor is in inverse relation.
4. the control method of brshless DC motor as claimed in any one of claims 1-3, which is characterized in that described in acquisition
Before the magnetic linkage value of brshless DC motor, further include：
Judge that the non-conduction opposite potential voltage is non-conduction opposite in upper PWM controlling cycles in current PWM controlling cycles
Whether the voltage difference between potential voltage is in preset range；
If the voltage difference is in the preset range, then obtains the magnetic linkage value of the brshless DC motor.
5. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
The 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 control device of brshless DC motor, which is characterized in that including：
First acquisition unit, temperature-phase resistance table for obtaining the brshless DC motor and temperature-phase inductance table, wherein
The temperature-phase resistance table and the temperature-phase inductance table are obtained by offline mode；
Second acquisition unit is used in the low speed operation phase of the brshless DC motor, in the height electricity of each PWM controlling cycles
In usually, conducting mutually positive terminal voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value are obtained
With current winding temperature, and the phase current of any two moment corresponding brshless DC motor is obtained；
Third acquiring unit, for according to any two moment and any two moment corresponding brushless direct-current
The phase current of motor obtains the phase current change rate of the brshless DC motor, and according to the current winding temperature and the temperature
Degree-phase resistance table, the temperature-phase inductance table obtain the phase resistance and phase inductance of the brshless DC motor；
Magnetic linkage acquiring unit, for according to the conducting mutually positive terminal voltage, the conducting phase negative terminal voltage, it is described it is non-conduction on the contrary
Potential voltage, the bus current instantaneous value, the phase current change rate, the phase resistance and the phase inductance obtain the nothing
The magnetic linkage value of brushless motor；
Control unit is more than the commutation threshold for judging whether the magnetic linkage value is more than commutation threshold value, and in the magnetic linkage value
When value, controls the brshless DC motor and carry out commutation.
7. the control device of brshless DC motor as claimed in claim 6, which is characterized in that the third acquiring unit uses
Linear interpolation algorithm obtains the phase resistance and phase inductance of the brshless DC motor.
8. the control device of brshless DC motor as claimed in claims 6 or 7, which is characterized in that the commutation threshold value includes
Multiple, the multiple commutation threshold value obtains in the following manner：
The range of speeds of the brshless DC motor is divided into multiple sections, wherein each section is correspondingly arranged on different change
The rotating speed of phase threshold value and the commutation threshold value and the brshless DC motor is in inverse relation.
9. the control device of the brshless DC motor as described in any one of claim 6-8, which is characterized in that the magnetic linkage obtains
It takes unit to be additionally operable to before the magnetic linkage value for obtaining the brshless DC motor, judges described in current PWM controlling cycles non-lead
Whether the voltage difference in logical opposite potential voltage and upper PWM controlling cycles between non-conduction opposite potential voltage is in default
In range, wherein if the voltage difference is in the preset range, magnetic linkage acquiring unit if obtains the nothing again
The magnetic linkage value of brushless motor.
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 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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| CN112737441B (en) * | 2020-12-25 | 2022-11-22 | 中车永济电机有限公司 | Control method of permanent magnet auxiliary synchronous reluctance motor |
| CN113906299A (en) * | 2021-09-03 | 2022-01-07 | 长江存储科技有限责任公司 | Method and system for automatic waveform analysis |
| WO2023028984A1 (en) * | 2021-09-03 | 2023-03-09 | Yangtze Memory Technologies Co., Ltd. | Methods and systems for automatic waveform analysis |
| CN116111886A (en) * | 2023-03-07 | 2023-05-12 | 深圳市好盈科技股份有限公司 | Position-control-free starting method and device, electronic equipment and storage medium |
| CN116111886B (en) * | 2023-03-07 | 2023-08-08 | 深圳市好盈科技股份有限公司 | Position-control-free starting method and device, electronic equipment and storage medium |
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