CN108606724A - The back-emf zero passage detection method, apparatus and control system of dust catcher, motor - Google Patents
The back-emf zero passage detection method, apparatus and control system of dust catcher, motor Download PDFInfo
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- CN108606724A CN108606724A CN201810295559.XA CN201810295559A CN108606724A CN 108606724 A CN108606724 A CN 108606724A CN 201810295559 A CN201810295559 A CN 201810295559A CN 108606724 A CN108606724 A CN 108606724A
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- zero passage
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/175—Indicating the instants of passage of current or voltage through a given value, e.g. passage through zero
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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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses the back-emf zero passage detection method, apparatus and control system of a kind of dust catcher, brshless DC motor, wherein the back-emf zero passage detection method of brshless DC motor includes the following steps：During controlling brshless DC motor, in each PWM (Pulse Width Modulation, pulse width is modulated) obtain in controlling cycle brshless DC motor pwm control signal duty ratio, and judge whether duty ratio is more than the first default duty ratio；If duty ratio is more than the first default duty ratio, then pass through ADC (Analog to Digital Converter in the high level time of PWM controlling cycles, A/D converter) single channel of module carries out continuous several times sampling to the back-emf of brshless DC motor, and during sampling according to upper primary sampled result judge back-emf whether zero passage.This method can not only detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high rotating speed, and increase comparator without additional, can reduce cost.
Description
Technical field
The present invention relates to motor control technology field, more particularly to the back-emf zero passage detection side of a kind of brshless DC motor
Method, a kind of back-emf zero crossing detection device of brshless DC motor, a kind of control system of brshless DC motor and a kind of dust suction
Device.
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.
In the related technology, there are two ways to back-emf zero passage detection：One, using ADC (Analog-to-Digital
Converter, A/D converter) module is in each PWM (Pulse Width Modulation, pulse width modulation) controls
The terminal voltage of hanging phase of brshless DC motor of periodic sampling, sampled result is then compared judgement with reference voltage is
No generation zero passage；Two, increase external comparator, the terminal voltage and reference voltage of the hanging phase of brshless DC motor are compared using hardware
Magnitude relationship, realize back-emf zero passage detection.
However, above-mentioned detection method has the following disadvantages：1) when carrying out back-emf zero passage detection using method one, detection
To back-emf zero-acrross ing moment to lag practical back-emf zero-acrross ing moment be about a PWM cycle, in turning for brshless DC motor
Speed is relatively low, when the duty of pwm control signal is smaller, there is multiple PWM cycles, stagnant the latter PWM cycle in a commutation interval
Influence to brshless DC motor commutation is smaller, still, when the rotating speed of brshless DC motor is higher, in a commutation interval
The number of PWM cycle is less, and back-emf zero passage detection lag may result in brshless DC motor commutation lag, to influence nothing
The stability of brushless motor；2) when using method two to carry out back-emf zero passage detection, due to increasing external comparator,
Cost can be caused higher.
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 is to propose a kind of back-emf zero passage detection method of brshless DC motor, can not only examine accurately and in time
Back-emf zero crossing is measured, ensures that motor stabilizing operates in high rotating speed, and increase comparator without additional, can reduce into
This.
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 back-emf zero crossing detection 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 back-emf zero passage of brshless DC motor
Detection method includes the following steps：S1, during controlling the brshless DC motor, in each PWM controlling cycles
The duty ratio of the pwm control signal of the brshless DC motor is obtained, and judges whether the duty ratio is default more than first and accounts for
Empty ratio；S2, if the duty ratio is more than the described first default duty ratio, in the high level time of the PWM controlling cycles
The interior single channel by ADC module carries out continuous several times sampling to the back-emf of the brshless DC motor, and in the mistake of sampling
In journey according to last sampled result judge the back-emf whether zero passage.
The back-emf zero passage detection method of brshless DC motor according to the ... of the embodiment of the present invention, to brshless DC motor control
During system, the duty ratio of the pwm control signal of brshless DC motor is obtained in each PWM controlling cycles, and judges to account for
Whether sky is than being more than the first default duty ratio, if duty ratio is more than the first default duty ratio, in the height electricity of PWM controlling cycles
Continuous several times sampling is carried out to the back-emf of brshless DC motor by the single channel of ADC module in usually, and in sampling
In the process according to last sampled result judge back-emf whether zero passage.To detect anti-electricity accurately and in time
Gesture zero crossing ensures that motor stabilizing operates in high rotating speed, and increases comparator without additional, can reduce cost.
In addition, the back-emf zero passage detection method of brshless DC motor according to the above embodiment of the present invention can also have
Following additional technical characteristic：
According to one embodiment of present invention, the step S2 is specifically included：Judge whether to enter back-emf zero passage detection
Stage；If it is, obtaining the busbar voltage of the brshless DC motor, and it is to work as by the single channel configuration of the ADC module
The corresponding channels AD of front overhang Kongxiang terminal voltage, and trigger anti-electricity of the single channel to the brshless DC motor of the ADC module
Gesture carries out first time sampling；After the completion of sampling first time, first time sampled result is obtained, while triggering the ADC module
Single channel carries out second to the back-emf of the brshless DC motor and samples, and during sampling for second according to
First time sampled result and the busbar voltage judge the back-emf whether zero passage；If the back-emf zero passage, is exited
The back-emf zero passage detection stage.
According to one embodiment of present invention, it if the non-zero passage of the back-emf, after the completion of sampling at (i-1)-th time, obtains
(i-1)-th sampled result is taken, while triggering the single channel of the ADC module and the is carried out to the back-emf of the brshless DC motor
I times sampling, and during ith sample according to (i-1)-th sampled result and the busbar voltage judge it is described instead
Potential whether zero passage, until judge that the back-emf zero passage or sampling number exit the anti-electricity more than or equal to preset times
The gesture zero passage detection stage, wherein i is the integer more than or equal to 3.
According to one embodiment of present invention, the step S2 further includes：Judge whether current time is the PWM controls
The high level time started in period；If the current time is the high level time started of the PWM controlling cycles, prolonging
When the first preset time after triggering busbar voltage AD sampling, and enter the back-emf after the completion of busbar voltage AD samplings
The zero passage detection stage.
According to one embodiment of present invention, it if the duty ratio is less than the second default duty ratio, is controlled in the PWM
The back-emf of the brshless DC motor is carried out once by the conventional back-emf method of sampling in the high level time in period processed
Sampling, and according to sampled result judge the back-emf whether zero passage, wherein the second default duty ratio is less than described first
Default duty ratio.
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 back-emf mistake of above-mentioned brshless DC motor when being executed by processor
Zero detection method.
Non-transitorycomputer readable storage medium according to the ... of the embodiment of the present invention, by executing above-mentioned brushless dc
The back-emf zero passage detection method of machine can not only detect back-emf zero crossing accurately and in time, ensure motor stabilizing operation
Increase comparator in high rotating speed, and without additional, cost can be reduced.
To achieve the above object, a kind of back-emf zero passage for brshless DC motor that third aspect present invention embodiment proposes
Detection device, including：Acquiring unit is used for during controlling the brshless DC motor, in each PWM controlling cycles
The duty ratio of the interior pwm control signal for obtaining the brshless DC motor；Judging unit, for judging whether the duty ratio is big
In the first default duty ratio；Sampling unit is used for when the duty ratio is more than the first default duty ratio, in the PWM
It is continuous more to the back-emf progress of the brshless DC motor by the single channel of ADC module in the high level time of controlling cycle
Secondary sampling, and during sampling according to upper primary sampled result judge the back-emf whether zero passage.
The back-emf zero crossing detection device of brshless DC motor according to the ... of the embodiment of the present invention, by acquiring unit to nothing
During brushless motor controls, the duty of the pwm control signal of brshless DC motor is obtained in each PWM controlling cycles
Than, and by judging unit judge whether duty ratio is more than the first default duty ratio, and it is big in duty ratio by sampling unit
When the first default duty ratio, by the single channel of ADC module to brushless dc in the high level time of PWM controlling cycles
The back-emf of machine carries out continuous several times sampling, and during sampling according to upper primary sampled result judge back-emf whether mistake
Zero.To detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high rotating speed, and
Without additionally increasing comparator, cost can be reduced.
In addition, the back-emf zero crossing detection device of brshless DC motor according to the above embodiment of the present invention can also have
Following additional technical characteristic：
According to one embodiment of present invention, the sampling unit is specifically used for, and judges whether that entering back-emf zero passage examines
The single channel configuration of the ADC module if it is, obtaining the busbar voltage of the brshless DC motor, and is by the survey stage
The current hanging corresponding channels AD of phase terminal voltage, and the single channel of the ADC module is triggered to the anti-of the brshless DC motor
Potential carries out first time sampling, and after the completion of sampling first time, obtains first time sampled result, while triggering the ADC
The single channel of module carries out second to the back-emf of the brshless DC motor and samples, and root during sampling for second
According to the first time sampled result and the busbar voltage judge the back-emf whether zero passage, if the back-emf zero passage,
Then exit the back-emf zero passage detection stage.
According to one embodiment of present invention, if the non-zero passage of the back-emf, the sampling unit is additionally operable to, i-th-
After the completion of 1 sampling, (i-1)-th sampled result is obtained, while triggering the single channel of the ADC module to the brushless dc
The back-emf of machine carries out ith sampling, and according to (i-1)-th sampled result and the mother during ith samples
Line voltage judge the back-emf whether zero passage, until it is default to judge that the back-emf zero passage or sampling number are more than or equal to
Number exits the back-emf zero passage detection stage, wherein i is the integer more than or equal to 3.
According to one embodiment of present invention, the sampling unit is additionally operable to, and judges whether current time is the PWM controls
The high level time started in period processed, if the current time is the high level time started of the PWM controlling cycles,
Busbar voltage AD samplings are triggered after first preset time that is delayed, and enter the anti-electricity after the completion of busbar voltage AD samplings
The gesture zero passage detection stage.
According to one embodiment of present invention, the sampling unit is additionally operable to, and is preset and is accounted for less than second in the duty ratio
Sky than when, by the conventional back-emf method of sampling to the brushless dc in the high level time of the PWM controlling cycles
The back-emf of machine is once sampled, and according to sampled result judge the back-emf whether zero passage, wherein described second is default
Duty ratio is less than the described first default duty ratio.
To achieve the above object, fourth aspect present invention embodiment proposes a kind of control system of brshless DC motor,
It includes the back-emf zero crossing detection 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 anti-electricity of above-mentioned brshless DC motor
Gesture zero crossing detection device can not only detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high turn
Speed, and increase comparator without additional, cost can be reduced.
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, by the control system of above-mentioned brshless DC motor, can not only and
When, be accurately detected back-emf zero crossing, ensure that motor stabilizing operates in high rotating speed, and compare without additional increase
Device can reduce cost.
Description of the drawings
Fig. 1 is the flow chart of the back-emf zero passage detection method of brshless DC motor according to the ... of the embodiment of the present invention；
Fig. 2 a are the terminal voltage oscillograms of A phase a cycles；
Fig. 2 b are the terminal voltage oscillograms of A phase overhead phases；
Fig. 3 is the schematic diagram of the back-emf zero passage detection of brshless DC motor in the related technology；
Fig. 4 is the schematic diagram of the back-emf zero passage detection of brshless DC motor according to an embodiment of the invention；
Fig. 5 is the flow of the back-emf zero passage detection method of brshless DC motor accord to a specific embodiment of that present invention
Figure；
Fig. 6 is that the back-emf zero passage detection of brshless DC motor is shown under high rotating speed according to an embodiment of the invention
It is intended to；
Fig. 7 is the block diagram of the back-emf zero crossing detection 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 back-emf zero passage detection of the brshless DC motor proposed according to embodiments of the present invention described
Back-emf zero crossing detection device, the brshless DC motor of method, non-transitorycomputer readable storage medium, brshless DC motor
Control system and dust catcher.
Fig. 1 is the flow chart of the back-emf zero passage detection method of brshless DC motor according to the ... of the embodiment of the present invention.Such as Fig. 1
Shown, the back-emf zero passage detection method of the brshless DC motor of the embodiment of the present invention includes the following steps：
S1 obtains brshless DC motor during controlling brshless DC motor in each PWM controlling cycles
The duty ratio of pwm control signal, and judge whether duty ratio is more than the first default duty ratio.
S2 passes through ADC if duty ratio is more than the first default duty ratio in the high level time of PWM controlling cycles
The single channel of module carries out continuous several times sampling to the back-emf of brshless DC motor, and according to upper primary during sampling
Sampled result judge back-emf whether zero passage.
According to one embodiment of present invention, if duty ratio is less than the second default duty ratio, in PWM controlling cycles
The back-emf of brshless DC motor is once sampled by the conventional back-emf method of sampling in high level time, and according to adopting
Sample result judge back-emf whether zero passage, wherein the second default duty ratio be less than the first default duty ratio, specifically can be according to reality
Situation is demarcated.
Specifically, at present back-emf zero passage detection be comparison hanging phase terminal voltage and reference voltage relationship.It is with A phases
Example, A phase windings terminal voltage waveform is as shown in Figure 2 a in one cycle, wherein during BC and CB, A phases are hanging, terminal voltage
Waveform is as shown in Figure 2 b.During PWM is opened, A phase terminal voltages UA=eA+1/2UDC, work as UA=1/2UDCWhen, eA=0, as A phases
Back-emf zero-acrross ing moment；During PWM is turned off, A phase terminal voltages UA=eA, work as UAWhen=0, as A opposite potentials zero-acrross ing moment.
Therefore, back-emf zero passage detection is carried out during PWM is opened, reference voltage selects 1/2UDC, anti-electricity is carried out during PWM is turned off
Gesture zero passage detection, reference voltage select 0V.
In the related technology, when the terminal voltage for sampling primary hanging phase in each PWM controlling cycles using ADC module, and
Sampled result is compared with reference voltage, with judge back-emf whether zero passage when, with PWM open during detect back-emf
For zero passage.As shown in Fig. 2, during BC is connected, A phase terminal voltages are in rising trend, held to A phases during each PWM is opened
Voltage is once sampled, and is compared with reference voltage, the a1 moment in figure 2b, UA＜ 1/2UDC, the non-mistake of back-emf
Zero, at the a2 moment of next PWM controlling cycles, UA＞ 1/2UDC, back-emf zero passage is detected at this time；Similarly, the phase is connected in CB
Between, A phase terminal voltages are on a declining curve, at the b2 moment, UA＞ 1/2UDC, the non-zero passage of back-emf, and in b3 moment, UA＜ 1/2UDC,
Back-emf zero passage is detected at this time.
The above-mentioned back-emf zero-acrross ing moment detected lags about PWM control week of actual back-emf zero-acrross ing moment
There are multiple PWM controlling cycles in phase, therefore lag one in the case of rotating speed relatively low (duty is relatively low) in one commutation interval
A PWM controlling cycles influence commutation smaller.But when brshless DC motor is run with high rotating speed, such as 100000RPM (1
To pole), the time of a phase sector is 100us at this time, and a PWM controlling cycle is 50us (i.e. 20KHz, brushless direct-current
The frequency of the pwm control signal of motor is generally within the scope of 5~30KHz, then improves switching loss, effect of the meeting to power switch tube
It is unfavorable that rate and heat dissipation etc. cause), 2 PWM controlling cycles are up in a commutation interval at this time, and each PWM controls are all
Phase only carries out the sampling of back-emf zero passage, thus can not know in time back-emf whether zero passage, to be easy to because of back-emf
Zero passage detection lag is larger to cause brshless DC motor step-out.
Specifically, as shown in figure 3, when brshless DC motor is run with high rotating speed, there was only 2 in a commutation interval
If a PWM controlling cycles carry out primary anti-according to the conventional back-emf method of sampling that is, in the two PWM controlling cycles
Potential A D samplings, correspond to c1, c2 moment respectively, and practical back-emf zero passage was happened at after the c1 moment, therefore can not be first
Back-emf zero passage is detected in time in a PWM controlling cycles, can only detect anti-electricity at the c2 moment of second PWM controlling cycle
Gesture zero passage, and the c2 moment lags about 1 PWM controlling cycle of real back-emf zero crossing (about 1/2 commutation interval), causes anti-
Potential zero passage detection lags, and then commutation is caused to lag, and causes big even step-out etc. the undesirable conditions of pulsation of current.
Therefore, in an embodiment of the present invention, the operation of brshless DC motor can be divided into two stages, it is respectively low
Fast stage and high speed stage according to the duty ratio of pwm control signal, can further divide the operation of brshless DC motor
For low duty ratio stage and high duty ratio stage.Wherein, at low duty ratio stage (that is, low-speed stage), conventional anti-electricity is still used
The gesture method of sampling, for example, carry out a back-emf AD sampling in the high level time of each PWM controlling cycles, and according to adopting
Sample result judge back-emf whether zero passage.And when duty ratio rises to over the first default duty ratio, into high duty ratio rank
Section (that is, high speed stage), at this time in the high level time of each PWM controlling cycles, using the single channel of ADC module to brushless
The back-emf of direct current generator carries out continuous several times sampling, and judges back-emf according to upper primary sampled result during sampling
Whether zero passage.When duty ratio is decreased below the second default duty ratio again, the conventional back-emf method of sampling is reused,
In, the second default duty ratio is less than the first default duty ratio.
Since the back-emf zero passage detection lag in low duty ratio stage has little effect the commutation of brshless DC motor,
So in the brshless DC motor low speed operation phase, demand for control can be met using the conventional back-emf method of sampling, and in height
It the duty ratio stage, can continuous several times be adopted in the high level time of each PWM controlling cycles by using the single channel of ADC module
Sample back-emf, thus can ensure the promptness and accuracy of back-emf zero passage detection, brshless DC motor can be supported to stablize fortune
Row increases comparator in the high range of speeds, and without additional, can reduce cost, reduce the size of controller PCB.
With reference to Fig. 4-Fig. 6 come be described in detail how in the high level time of PWM controlling cycles by ADC module
Single channel carries out continuous several times sampling to the back-emf of brshless DC motor, and is tied according to upper primary sampling during sampling
Fruit judge back-emf whether zero passage.
According to one embodiment of present invention, step S2 is specifically included：Judge whether to enter the back-emf zero passage detection stage；
If it is, obtaining the busbar voltage of brshless DC motor, and it is current hanging phase terminal voltage by the single channel configuration of ADC module
The corresponding channels AD, and the single channel for triggering ADC module carries out first time sampling to the back-emf of brshless DC motor；First
After the completion of secondary sampling, first time sampled result is obtained, while triggering back-emf of the single channel to brshless DC motor of ADC module
It carries out second to sample, and judges that back-emf is according to first time sampled result and busbar voltage during sampling for second
No zero passage；If back-emf zero passage, the back-emf zero passage detection stage is exited.
According to one embodiment of present invention, if the non-zero passage of back-emf, after the completion of sampling at (i-1)-th time, the is obtained
I-1 sampled result, while back-emf progress ith sampling of the single channel to brshless DC motor of ADC module is triggered, and
Ith sample during according to (i-1)-th sampled result and busbar voltage judge back-emf whether zero passage, until judge instead
Potential zero passage or sampling number exit the back-emf zero passage detection stage more than or equal to preset times, wherein i is more than or equal to 3
Integer.
According to one embodiment of present invention, step S2 further includes：Judge current time whether be PWM controlling cycles height
The level time started；If current time is the high level time started of PWM controlling cycles, after being delayed the first preset time
Busbar voltage AD samplings are triggered, and enter the back-emf zero passage detection stage after the completion of busbar voltage AD samplings.
Specifically, refering to what is shown in Fig. 4, during being controlled brshless DC motor using pwm control signal, it can be with
By the counting unit of PWM come judge current time whether be PWM controlling cycles the high level time started, if it is,
First preset time that is delayed (length of time is configured by software program, such as 4us) triggers busbar voltage AD sampling (busbar electricity afterwards
1/2 reference voltage as back-emf zero passage detection of pressure).Wherein, it is arranged after the first preset time and busbar voltage is carried out
AD samplings are to be influenced to cause busbar voltage sampling inaccurate in order to avoid being switched by power switch tube.And in the first preset time
It is interior, judgement can be compared to the duty ratio of pwm control signal, if duty ratio is less than the second default duty ratio, using normal
The rule back-emf method of sampling judges whether zero passage e.g. enters back-emf zero passage to back-emf after the completion of to busbar voltage AD samplings
Detection-phase uses the single channel of ADC module once to sample hanging phase terminal voltage at this time, and by sampled result and busbar
Voltage is compared, with judge back-emf whether zero passage；If duty ratio is more than the first default duty ratio, to busbar voltage
Enter the back-emf zero passage detection stage after the completion of AD samplings, uses the single channel of ADC module to the anti-of brshless DC motor at this time
Potential carry out continuous several times sampling, and during sampling according to upper primary sampled result judge back-emf whether zero passage.
Specifically, with continued reference to shown in Fig. 4, AD interruptions are automatically generated after (about 1us) is completed in busbar voltage AD samplings,
After entering AD and interrupting, the AD sampled results of busbar voltage are read, and are current hanging phase end by the single channel configuration of ADC module
The corresponding channels AD of voltage, to prepare for the sampling of the back-emf of follow-up continuous several times.First, the single channel of ADC module is triggered
First time sampling is carried out to the back-emf of brshless DC motor, and after the completion of first samples, reads first time sampled result, together
When triggering ADC module single channel second carried out to the back-emf of brshless DC motor sample, and the mistake of the sampling at second
Be compared according to first time sampled result and busbar voltage in journey with judge back-emf whether zero passage, if back-emf zero passage,
AD interruptions are then exited, the back-emf zero passage detection of current PWM controlling cycles terminates.
If the non-zero passage of back-emf, after sampling for second, second of sampled result is read, and trigger ADC moulds
The single channel of block carries out third time sampling to the back-emf of brshless DC motor, and according to second during third time samples
Secondary sampled result and busbar voltage judge whether zero passage exits AD interruptions to back-emf if back-emf zero passage；If back-emf
Non- zero passage reads third time sampled result then after third time samples, and triggers the single channel of ADC module to brushless straight
The back-emf of galvanic electricity machine carries out the 4th sampling ..., after the completion of sampling at (i-1)-th time, obtains (i-1)-th sampled result, simultaneously
The single channel for triggering ADC module carries out ith sampling to the back-emf of brshless DC motor, and during ith samples
According to (i-1)-th sampled result and busbar voltage judge back-emf whether zero passage, until judge back-emf zero passage or sampling
Number is more than or equal to preset times, exits AD interruptions.
When next PWM controlling cycles start, repeat the above process.
In the above-described embodiments, it is sampled at (i-1)-th time and obtains (i-1)-th sampled result when completing, while it is anti-to trigger ith
The sampling of potential, in this way while being judged using (i-1)-th sampled result progress back-emf zero passage, ith back-emf is adopted
Sample and conversion are also carrying out automatically, are conducive to the acquisition back-emf as much as possible in the high level time of PWM controlling cycles, this
The single channel back-emf AD samplings of kind continuous several times, can just carry out back-emf when each single channel back-emf AD samples completion
Zero passage judges, it is thus possible to back-emf zero passage is detected in time, so that commutation is more accurate, so that brushless dc
Machine can stable operation increase comparator in high rotating speed, and without additional, cost can be reduced.
It should be noted that the preset times in above-described embodiment can be according to a single channel AD sampling and back-emf zero passage
It is demarcated with the high level time of current PWM controlling cycles the time required to judging.For example, it is assumed that one time single channel AD is adopted
Sample and back-emf zero passage judge required time for Δ t, and the high level time of current PWM controlling cycles is T, then continuous single channel is anti-
Potential acquires and zero passage judges times N=T/ Δ t, i.e., preset times are T/ Δs t (round numbers, insufficient casting out once), when adopting
When sample number is more than or equal to T/ Δ t, exit the back-emf zero passage detection stage, the back-emf zero passage detection of current PWM controlling cycles
Terminate.
As shown in figure 5, the back-emf zero passage detection method of the brshless DC motor may include following steps：
S501 reads busbar voltage AD sampled results, and the AD samplings of configuration single channel back-emf, and single channel is anti-electric
Gesture sampling cumulative number is set to 0.
S502, judges whether current back-emf AD samplings terminate.If so, thening follow the steps S503；If it is not, then continuing
Execute step S502.
S503, judges whether current back-emf sampling number is less than N.If so, thening follow the steps S504；If it is not, then
The back-emf zero passage detection of current PWM controlling cycles terminates, and exits AD interruptions.
S504 reads back-emf AD sampled results, while triggering back-emf AD sampling next time, and by current single channel
Back-emf sampling cumulative number adds 1.
S505, according to back-emf AD sampled results judge back-emf whether zero passage.If it is, current PWM controlling cycles
Back-emf zero passage detection terminate, exit AD interruption；If it is not, then return to step S502.
Fig. 6 is the signal of the back-emf zero passage detection of brshless DC motor under high rotating speed according to the ... of the embodiment of the present invention
Figure, as shown in fig. 6, being carried out to the back-emf of brshless DC motor by the single channel of ADC module in a PWM controlling cycle
Continuous several times sample, and back-emf zero crossing can be accurately detected in time, to ensure that brshless DC motor can stablize fortune
Row does not need additional comparator under high rotating speed, reduces cost.
The back-emf zero passage detection method of brshless DC motor according to the ... of the embodiment of the present invention, to brshless DC motor control
During system, the duty ratio of the pwm control signal of brshless DC motor is obtained in each PWM controlling cycles, and judges to account for
Whether sky is than being more than the first default duty ratio, if duty ratio is more than the first default duty ratio, in the height electricity of PWM controlling cycles
Continuous several times sampling is carried out to the back-emf of brshless DC motor by the single channel of ADC module in usually, and in sampling
In the process according to last sampled result judge the back-emf whether zero passage.To detect accurately and in time
Back-emf zero crossing ensures that motor stabilizing operates in high rotating speed, and increases comparator without additional, can reduce cost.
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 back-emf zero passage detection 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 back-emf zero passage detection method of machine can not only detect back-emf zero crossing accurately and in time, ensure motor stabilizing operation
Increase comparator in high rotating speed, and without additional, cost can be reduced.
Fig. 7 is the block diagram of the back-emf zero crossing detection device of brshless DC motor according to the ... of the embodiment of the present invention.
As shown in fig. 7, the back-emf zero crossing detection device of the brshless DC motor of the embodiment of the present invention includes：Acquiring unit 100 judges
Unit 200 and sampling unit 300.
Wherein, acquiring unit 100 is used for during controlling brshless DC motor, in each PWM controlling cycles
Obtain the duty ratio of the pwm control signal of brshless DC motor；Judging unit 200 is for judging it is pre- whether duty ratio is more than first
If duty ratio；Sampling unit 300 is used for when duty ratio is more than the first default duty ratio, in the high level of PWM controlling cycles
The interior single channel by ADC module carries out continuous several times sampling to the back-emf of brshless DC motor, and in the process of sampling
It is middle according to last sampled result judge the back-emf whether zero passage.
According to one embodiment of present invention, sampling unit 300 is specifically used for, and judges whether to enter back-emf zero passage detection
The single channel configuration of ADC module if it is, obtaining the busbar voltage of brshless DC motor, and is current hanging phase by the stage
The corresponding channels AD of terminal voltage, and the single channel for triggering ADC module carries out first time sampling to the back-emf of brshless DC motor,
And after the completion of sampling first time, first time sampled result is obtained, while triggering the single channel of ADC module to brushless dc
The back-emf of machine carries out second and samples, and is sentenced according to first time sampled result and busbar voltage during sampling for second
Whether zero passage exits the back-emf zero passage detection stage to disconnected back-emf if back-emf zero passage.
According to one embodiment of present invention, it if the non-zero passage of back-emf, sampling unit are additionally operable to, is sampled at (i-1)-th time
After the completion, (i-1)-th sampled result is obtained, while the single channel for triggering ADC module carries out the back-emf of brshless DC motor
Ith sample, and during ith samples according to (i-1)-th sampled result and busbar voltage judge back-emf whether mistake
Zero, until judge that back-emf zero passage or sampling number exit the back-emf zero passage detection stage more than or equal to preset times,
In, i is the integer more than or equal to 3.
According to one embodiment of present invention, sampling unit 300 is additionally operable to, and judges whether current time is PWM control weeks
It is the high level time started of phase, default in delay first if current time is the high level time started of PWM controlling cycles
Busbar voltage AD samplings are triggered after time, and enter the back-emf zero passage detection stage after the completion of busbar voltage AD samplings.
According to one embodiment of present invention, sampling unit 300 is additionally operable to, and is less than the second default duty ratio in duty ratio
When, in the high level time of PWM controlling cycles by the conventional back-emf method of sampling to the back-emf of brshless DC motor into
The primary sampling of row, and according to sampled result judge back-emf whether zero passage, wherein the second default duty ratio, which is less than first, to be preset and accounts for
Empty ratio.
It should be noted that undisclosed in the back-emf zero crossing detection device of the brshless DC motor of the embodiment of the present invention
Details please refers to the details disclosed in the back-emf zero passage detection method of the brshless DC motor of the embodiment of the present invention, specifically
I will not elaborate.
The back-emf zero crossing detection device of brshless DC motor according to the ... of the embodiment of the present invention, by acquiring unit to nothing
During brushless motor controls, the duty of the pwm control signal of brshless DC motor is obtained in each PWM controlling cycles
Than, and by judging unit judge whether duty ratio is more than the first default duty ratio, and it is big in duty ratio by sampling unit
When the first default duty ratio, by the single channel of ADC module to brushless dc in the high level time of PWM controlling cycles
The back-emf of machine carries out continuous several times sampling, and during sampling according to upper primary sampled result judge back-emf whether mistake
Zero.To detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high rotating speed, and
Without additionally increasing comparator, cost can be reduced.
In addition, the embodiment of the present invention also proposed a kind of control system of brshless DC motor comprising above-mentioned nothing
The back-emf zero crossing detection device of brushless motor.
The control system of brshless DC motor according to the ... of the embodiment of the present invention passes through the anti-electricity of above-mentioned brshless DC motor
Gesture zero crossing detection device can not only detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high turn
Speed, and increase comparator without additional, cost can be reduced.
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, by the control system of above-mentioned brshless DC motor, can not only and
When, be accurately detected back-emf zero crossing, ensure that motor stabilizing operates in high rotating speed, and compare without additional increase
Device can reduce cost.
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 (13)
1. a kind of back-emf zero passage detection method of brshless DC motor, which is characterized in that include the following steps：
S1 obtains the brushless dc during controlling the brshless DC motor in each PWM controlling cycles
The duty ratio of the pwm control signal of machine, and judge whether the duty ratio is more than the first default duty ratio；
S2, if the duty ratio is more than the described first default duty ratio, in the high level time of the PWM controlling cycles
Continuous several times sampling is carried out to the back-emf of the brshless DC motor by the single channel of ADC module, and in the process of sampling
It is middle according to last sampled result judge the back-emf whether zero passage.
2. the back-emf zero passage detection method of brshless DC motor as described in claim 1, which is characterized in that the step S2
It specifically includes：
Judge whether to enter the back-emf zero passage detection stage；
If it is, obtaining the busbar voltage of the brshless DC motor, and it is current by the single channel configuration of the ADC module
The hanging corresponding channels AD of phase terminal voltage, and trigger back-emf of the single channel to the brshless DC motor of the ADC module
Carry out first time sampling；
After the completion of sampling first time, first time sampled result is obtained, while triggering the single channel of the ADC module to the nothing
The back-emf of brushless motor carries out second and samples, and according to the first time sampled result during sampling for second
With the busbar voltage judge the back-emf whether zero passage；
If the back-emf zero passage exits the back-emf zero passage detection stage.
3. the back-emf zero passage detection method of brshless DC motor as claimed in claim 2, which is characterized in that if described anti-
The non-zero passage of potential after the completion of then sampling at (i-1)-th time, obtains (i-1)-th sampled result, while triggering the list of the ADC module
Channel carries out ith sampling to the back-emf of the brshless DC motor, and according to described i-th-during ith samples
1 sampled result and the busbar voltage judge the back-emf whether zero passage, until judge the back-emf zero passage or
Sampling number exits the back-emf zero passage detection stage more than or equal to preset times, wherein i is the integer more than or equal to 3.
4. the back-emf zero passage detection method of brshless DC motor as claimed in claim 2, which is characterized in that the step S2
Further include：
Judge current time whether be the PWM controlling cycles the high level time started；
If the current time is the high level time started of the PWM controlling cycles, after being delayed the first preset time
Busbar voltage AD samplings are triggered, and enter the back-emf zero passage detection stage after the completion of busbar voltage AD samplings.
5. the back-emf zero passage detection method of the brshless DC motor as described in any one of claim 1-4, which is characterized in that
If the duty ratio is less than the second default duty ratio, by conventional anti-in the high level time of the PWM controlling cycles
The potential method of sampling once samples the back-emf of the brshless DC motor, and judges the anti-electricity according to sampled result
Gesture whether zero passage, wherein the second default duty ratio be less than the described first default duty ratio.
6. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
The back-emf zero passage detection method of the brshless DC motor as described in any one of claim 1-5 is realized when processor executes.
7. a kind of back-emf zero crossing detection device of brshless DC motor, which is characterized in that including：
Acquiring unit, described in during controlling the brshless DC motor, being obtained in each PWM controlling cycles
The duty ratio of the pwm control signal of brshless DC motor；
Judging unit, for judging whether the duty ratio is more than the first default duty ratio；
Sampling unit is used for when the duty ratio is more than the first default duty ratio, in the height electricity of the PWM controlling cycles
Continuous several times sampling is carried out to the back-emf of the brshless DC motor by the single channel of ADC module in usually, and is being adopted
During sample according to last sampled result judge the back-emf whether zero passage.
8. the back-emf zero crossing detection device of brshless DC motor as claimed in claim 7, which is characterized in that the sampling is single
Member is specifically used for, and judges whether to enter the back-emf zero passage detection stage, if it is, obtaining the busbar of the brshless DC motor
Voltage, and be the current hanging corresponding channels AD of phase terminal voltage by the single channel configuration of the ADC module, and trigger the ADC
The single channel of module carries out first time sampling to the back-emf of the brshless DC motor, and after the completion of sampling first time,
First time sampled result is obtained, while the single channel for triggering the ADC module carries out the back-emf of the brshless DC motor
Second of sampling, and according to described in the first time sampled result and the busbar voltage judgement during sampling for second
Whether zero passage exits the back-emf zero passage detection stage to back-emf if the back-emf zero passage.
9. the back-emf zero crossing detection device of brshless DC motor as claimed in claim 8, which is characterized in that if described anti-
The non-zero passage of potential, the sampling unit are additionally operable to, and after the completion of sampling at (i-1)-th time, are obtained (i-1)-th sampled result, are touched simultaneously
The single channel for sending out ADC module described carries out ith sampling to the back-emf of the brshless DC motor, and in ith sampling
In the process according to (i-1)-th sampled result and the busbar voltage judge the back-emf whether zero passage, until judge
The back-emf zero passage or sampling number exit the back-emf zero passage detection stage more than or equal to preset times, wherein i is
Integer more than or equal to 3.
10. the back-emf zero crossing detection device of brshless DC motor as claimed in claim 8, which is characterized in that the sampling
Unit is additionally operable to, judge current time whether be the PWM controlling cycles the high level time started, if the current time
For the high level time started of the PWM controlling cycles, then busbar voltage AD samplings are triggered after first preset time that is delayed, and
Enter the back-emf zero passage detection stage after the completion of busbar voltage AD samplings.
11. the back-emf zero crossing detection device of the brshless DC motor as described in any one of claim 7-10, feature exist
In the sampling unit is additionally operable to, when the duty ratio is less than the second default duty ratio, in the height of the PWM controlling cycles
The back-emf of the brshless DC motor is once sampled by the conventional back-emf method of sampling in level time, and according to
Sampled result judge the back-emf whether zero passage, wherein the second default duty ratio be less than the described first default duty ratio.
12. a kind of control system of brshless DC motor, which is characterized in that include as described in any one of claim 7-11
The back-emf zero crossing detection device of brshless DC motor.
13. a kind of dust catcher, which is characterized in that include the control system of brshless DC motor as claimed in claim 12.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810295559.XA CN108606724A (en) | 2018-03-30 | 2018-03-30 | The back-emf zero passage detection method, apparatus and control system of dust catcher, motor |
| PCT/CN2019/080423 WO2019185018A1 (en) | 2018-03-30 | 2019-03-29 | Vacuum cleaner, and counter electromotive force zero-cross detection method, apparatus and control system of motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810295559.XA CN108606724A (en) | 2018-03-30 | 2018-03-30 | The back-emf zero passage detection method, apparatus and control system of dust catcher, motor |
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| CN108606724A true CN108606724A (en) | 2018-10-02 |
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| CN115037196A (en) * | 2022-07-04 | 2022-09-09 | 深圳市航顺芯片技术研发有限公司 | Direct-current brushless motor rotation control method and single chip microcomputer |
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Application publication date: 20181002 |