CN108631659A - Rotor fixed position method, positioning device and the control system of brshless DC motor - Google Patents
Rotor fixed position method, positioning device and the control system of brshless DC motor Download PDFInfo
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- CN108631659A CN108631659A CN201810294384.0A CN201810294384A CN108631659A CN 108631659 A CN108631659 A CN 108631659A CN 201810294384 A CN201810294384 A CN 201810294384A CN 108631659 A CN108631659 A CN 108631659A
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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
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
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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
- H02P6/20—Arrangements for starting
- H02P6/22—Arrangements for starting in a selected direction of rotation
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses rotor fixed position method, positioning device and the control systems of a kind of brshless DC motor, wherein localization method includes the following steps：When carrying out conducting control to the stator winding of motor according to two-phase conduction mode and three-phase conduction mode respectively, apply the voltage test pulse of the first preset time in the out of phase of the stator winding of motor successively, and multiple current values are obtained in the current value of each phase by obtaining stator winding；Obtain the maximum current value in multiple current values；The sector where the rotor of motor is obtained according to maximum current value, and the rotor-position of motor is obtained according to the sector where the rotor of motor.Thereby, it is possible to fast and accurately get the rotor-position of motor, and the problem of be not in abnormal sound and shake and Wrong localization, and method is simple and can realize that non-blind area positions.
Description
Technical field
The present invention relates to motor control technology field, more particularly to the rotor fixed position method of a kind of brshless DC motor, one
The rotor fixed position device of kind brshless DC motor and a kind of control system of brshless DC motor.
Background technology
Currently, in brshless DC motor sensorless drive control technology field, motor it is static with close to zero-speed feelings
There are mainly two types of rotor fixed position technologies under condition：Force pre-determined bit method and pulse positioning method.
Wherein, pre-determined bit method is forced not consider the current position of rotor, but to the stationary phase of motor stator winding
Position is powered, so that rotor turns to precalculated position.But which has the following disadvantages：1) positioning time is long, is not suitable for
In the occasion for requiring motor quickly to start；2) in order to reduce positioning duration or increase the reliability of positioning, when needing to increase positioning
PWM (Pulse Width Modulation, pulse width modulation) duty ratio, will increase starting current in this way, increase power consumption,
In the occasion that some are battery powered, system effectiveness can be reduced；3) it is possible that reversion, is not suitable for requirement motor when positioning
Start the occasion without reversion；4) shake and abnormal sound are susceptible to when positioning.
Pulse positioning method is by passing to short-time current pulse to the out of phase of motor stator winding, and according to electric current arteries and veins
The size of punching or duration judge the position where rotor.But which has the following disadvantages：1) fixed with 120 ° of pulses each other
Position cannot cover complete 360 ° of rotor-position, and there are blind areas, lead to the poles N-S backward error；2) deterministic process is more complicated, increases
Software code amount, increases and judges the time.
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 rotor fixed position method of brshless DC motor, can not only substantially reduce electric motor starting and position
Time, ensure electric motor starting when will not invert, solve positioning when abnormal sound and shake, additionally it is possible to solve pulse positioning when electricity
Wrong localization problem caused by waveform is mismatched with rotor-position is flowed, simplifies pulse positioning rotor-position recognition methods, simultaneously
It can realize complete 360 ° of non-blind areas positioning.
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 rotor fixed position device of brshless DC motor.
Fourth object of the present invention is to propose a kind of control system of brshless DC motor.
To achieve the above object, first aspect present invention embodiment proposes a kind of rotor fixed position side of brshless DC motor
Method includes the following steps：Conducting control is carried out to the stator winding of motor according to two-phase conduction mode and three-phase conduction mode respectively
When processed, apply the voltage test pulse of the first preset time in the out of phase of the stator winding of the motor successively, and pass through
The stator winding is obtained in the current value of each phase to obtain multiple current values；Obtain the maximum in the multiple current value
Current value；The sector where the rotor of the motor is obtained according to the maximum current value, and according to the rotor of motor institute
Sector obtain the rotor-position of the motor.
The rotor fixed position method of brshless DC motor according to the ... of the embodiment of the present invention, respectively according to two-phase conduction mode and three
When the mode that is conducted carries out conducting control to the stator winding of motor, apply the in the out of phase of the stator winding of motor successively
The voltage test pulse of one preset time, and multiple electric currents are obtained in the current value of each phase by obtaining stator winding
Then value obtains the maximum current value in multiple current values, and according to the fan where the rotor of maximum current value acquisition motor
Area, and the rotor-position according to the sector acquisition motor where the rotor of motor.It can not only substantially reduce motor as a result, to open
The time of dynamic positioning ensures to invert when electric motor starting, solves abnormal sound when positioning and shake, additionally it is possible to solve pulse positioning
When current waveform and rotor-position mismatch caused by Wrong localization problem, simplify pulse positioning rotor-position identification side
Method, while can realize complete 360 ° of non-blind areas positioning.
In addition, the rotor fixed position method of brshless DC motor according to the above embodiment of the present invention can also be with following attached
The technical characteristic added：
According to one embodiment of present invention, the stator winding is being obtained after the current value of any phase, also existing
The backward voltage that any phase applies the second preset time detects pulse, and the voltage to offset first preset time is examined
Survey the energy that pulse is accumulated on the stator winding.
According to one embodiment of present invention, the rotor fixed position method of above-mentioned brshless DC motor further includes：Judge institute
Whether each current value stated in multiple current values is within the scope of predetermined current；If each of the multiple current value
Current value is within the scope of the predetermined current, then obtains the maximum current value in the multiple current value again；If described
There are at least one current values to be not within the scope of the predetermined current in multiple current values, then according at least one electric current
Value determines invalid sector, to carry out troubleshooting according to the invalid sector.
According to one embodiment of present invention, after the rotor-position for obtaining the motor, the motor is also obtained
Wait for direction of rotation, and according to the rotor-position of the motor and the stator described when direction of rotation obtains the electric motor starting
The startup conduction phase of winding, wherein described to wait for that direction of rotation includes rotating clockwise direction and direction of rotation counterclockwise.
According to one embodiment of present invention, in such a way that the arbitrary two-phase in the three-phase of the stator winding is exchanged pair
The motor rotate clockwise and rotation control counterclockwise.
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 rotor fixed position of above-mentioned brshless DC motor when being executed by processor
Method.
Non-transitorycomputer readable storage medium according to the ... of the embodiment of the present invention, by executing above-mentioned brushless dc
The rotor fixed position method of machine can not only substantially reduce the time of electric motor starting positioning, ensure to invert when electric motor starting, solve
Abnormal sound when decision position and shake, additionally it is possible to which current waveform when solving pulse positioning positions caused by being mismatched with rotor-position
Problem-Error simplifies pulse positioning rotor-position recognition methods, while can realize complete 360 ° of non-blind areas positioning.
To achieve the above object, a kind of rotor fixed position dress for brshless DC motor that third aspect present invention embodiment proposes
It sets, including：Given unit, applies the voltage detecting of the first preset time for the out of phase of the stator winding in the motor
Pulse；Electric current acquiring unit, for obtain the stator winding each phase current value；Control unit, for pressing respectively
When carrying out conducting control to the stator winding of motor according to two-phase conduction mode and three-phase conduction mode, by the given unit according to
The out of phase of the secondary stator winding in the motor applies the voltage test pulse of the first preset time, and passes through the electric current
Acquiring unit obtains the stator winding in the current value of each phase to obtain multiple current values, and obtains the multiple electricity
Maximum current value in flow valuve, and the sector where the rotor of the motor is obtained according to the maximum current value, and according to
Sector where the rotor of the motor obtains the rotor-position of the motor.
The rotor fixed position device of brshless DC motor according to the ... of the embodiment of the present invention, control unit are conducted according to two respectively
When mode and three-phase conduction mode carry out conducting control to the stator winding of motor, by given unit successively in the stator of motor
The out of phase of winding applies the voltage test pulse of the first preset time, and obtains stator winding by electric current acquiring unit and exist
The current value of each phase is to obtain multiple current values, and obtains the maximum current value in multiple current values, and according to maximum
Current value obtains the sector where the rotor of motor, and the rotor position of motor is obtained according to the sector where the rotor of motor
It sets.The time of electric motor starting positioning can not only substantially be reduced as a result, ensure to invert when electric motor starting, when solving positioning
Abnormal sound and shake, additionally it is possible to Wrong localization caused by current waveform and the rotor-position mismatch when solving pulse positioning is asked
Topic simplifies pulse positioning rotor-position recognition methods, while can realize complete 360 ° of non-blind areas positioning.
In addition, the rotor fixed position device of brshless DC motor according to the above embodiment of the present invention can also be with following attached
The technical characteristic added：
According to one embodiment of present invention, the stator winding is being obtained in any phase by the electric current acquiring unit
After the current value of position, described control unit also applies the second preset time by the given unit in any phase
Backward voltage detects pulse, the energy that the voltage test pulse to offset first preset time is accumulated on the stator winding
Amount.
According to one embodiment of present invention, described control unit is additionally operable to judge each electricity in the multiple current value
Whether flow valuve is within the scope of predetermined current, wherein if each current value in the multiple current value be in it is described
Within the scope of predetermined current, described control unit then obtains the maximum current value in the multiple current value again；If the multiple
There are at least one current values to be not within the scope of the predetermined current in current value, described control unit then according to described at least
One current value determines invalid sector, to carry out troubleshooting according to the invalid sector.
According to one embodiment of present invention, after the rotor-position for obtaining the motor, described control unit also obtains
It takes the direction of rotation of waiting for of the motor, and according to the rotor-position of the motor and described waits for that direction of rotation obtains the motor and opens
The startup conduction phase of stator winding when dynamic, wherein described to wait for that direction of rotation includes rotating clockwise direction and counterclockwise
Direction of rotation.
To achieve the above object, fourth aspect present invention embodiment proposes a kind of control system of brshless DC motor,
It includes the rotor fixed position 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 rotor of above-mentioned brshless DC motor
Positioning device can not only substantially reduce the time of electric motor starting positioning, ensure to invert when electric motor starting, when solving positioning
Abnormal sound and shake, additionally it is possible to Wrong localization caused by current waveform and the rotor-position mismatch when solving pulse positioning is asked
Topic simplifies pulse positioning rotor-position recognition methods, while can realize complete 360 ° of non-blind areas positioning.
Description of the drawings
Fig. 1 is the composite magnetic power polar plot of brshless DC motor；
Fig. 2 is the flow chart of the rotor fixed position method of brshless DC motor according to the ... of the embodiment of the present invention；
Fig. 3 is the schematic diagram of the control system of brshless DC motor according to an embodiment of the invention；
Fig. 4 a are the impulses injection sequence diagrams under two-phase conduction mode according to an embodiment of the invention；
Fig. 4 b are the impulses injection sequence diagrams under three-phase conduction mode according to an embodiment of the invention；
Fig. 5 is the pulse current waveform figure of stator winding according to an embodiment of the invention；
Fig. 6 is sector schematic diagram where the rotor of brshless DC motor according to an embodiment of the invention；
Fig. 7 is the flow chart of the rotor fixed position method of brshless DC motor according to an embodiment of the invention；
Fig. 8 is the block diagram of the rotor fixed position 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 rotor fixed position method, non-of the brshless DC motor proposed according to embodiments of the present invention described
The control system of provisional computer readable storage medium, the rotor fixed position device of brshless DC motor and brshless DC motor
System.
In general, it is wound with current-carrying coil in the stator core of brshless DC motor, it, will when being passed through electric current in current-carrying coil
Certain magnetic flux is generated in stator core, if there is external magnetic field to be also applied to stator winding (that is, current-carrying coil) at this time,
The magnetic flux that external magnetic field and winding current generate codetermines the degree of saturation of stator core.Wherein, winding inductance can be with magnetic circuit
The size of degree of saturation and change, therefore motor it is static or rotation when, if permanent magnet (rotor) generate magnetic flux side
To consistent with the flow direction that winding current generates, increasing magnetic action then will generate, the saturation of magnetic path of stator core increases,
Winding inductance reduces；Conversely, stator core saturation of magnetic path reduces, winding inductance increases.So rotor and stator is opposite
Position is different, can be reflected directly in the size of winding inductance.
It is well known that electric moter voltage formula is：
U=Ri+L*di/dt+e (1)
Wherein, U is DC bus-bar voltage, and R is stator winding internal resistance, and i is armature supply, and L is stator winding inductance, and e is
The back-emf of motor.
When motor is static, the back-emf e of motor is zero, and due to stator winding internal resistance R very littles in practice, on it
The pressure drop in face can be ignored relative to the DC bus-bar voltage U being applied on stator winding, so above-mentioned formula (1) can simplify
For：
U=L*di/dt ≈ L* Δ i/ Δs t (2)
It can be seen from formula (2) when U is definite value, the variation of L and Δ i are inversely proportional, i.e., L is bigger, and Δ i is smaller, on the contrary
It is as the same；Δ i is directly proportional to Δ t, and Δ t is bigger, and Δ i is also bigger.
Pulse positioning method (also referred to as short-time pulse method) is to utilize stator core saturation effect principle, suitable by choosing 6
The short time voltage of width detects pulse, applies voltage, sampling electricity to the stator winding of motor successively according to corresponding energization order
Flow valuve simultaneously compares size, to determine the electrical angle section where rotor.Each of motor electricity period corresponds to 360 ° of electrical angles, wherein
Every 60 ° of electrical angles are a conducting section, and abbreviation sector then shares 6 sectors.For ease of description and Simplified analysis, it draws
Magnetic potential polar plot, as shown in Figure 1.
In the related technology, it when carrying out rotor fixed position using pulse positioning method, is mainly realized by following two modes：One
Kind is to apply the current impulse in the direction B+A-, C+B-, A+C- (or A+B-, B+C-, C+A-) respectively and acquire corresponding electric current
Size determines the sector where rotor by comparing relative size relationship；Another kind is to apply A+B-, B+A-, C+B-, B+ respectively
The current impulse in the direction C-, C+A-, A+C- simultaneously acquires corresponding size of current, then judge successively iAB and iBA, iBC and iCB,
The relative size relationship of iAC and iCA, obtains the sector where rotor.
However, above two mode has the following disadvantages：1) complete 360 ° of turn cannot be covered with 120 ° of pulse positioning each other
Sub- position, there are blind areas, lead to the poles N-S backward error；2) deterministic process is more complicated, increases software code amount, increases
Judge the time.For this purpose, the present invention proposes a kind of rotor fixed position method of brshless DC motor, can not only solve using pressure
The problem of shake and abnormal sound being susceptible to when being likely to occur reversion and positioning caused by positioning mode when positioning time length, positioning,
And can solve using complete 360 ° of rotor-position cannot be covered caused by pulse positioning method, there are blind areas, cause N-S extremely anti-
It is more complicated to mistake and judgment method, the problem of increasing software code amount and judge the time.
Fig. 2 is the flow chart of the rotor fixed position method of brshless DC motor according to the ... of the embodiment of the present invention.As shown in Fig. 2,
The rotor fixed position method of the brshless DC motor of the embodiment of the present invention includes the following steps：
S1, when carrying out conducting control to the stator winding of motor according to two-phase conduction mode and three-phase conduction mode respectively,
Successively the out of phase of the stator winding of motor apply the first preset time voltage test pulse, and by obtain stator around
Group obtains multiple current values in the current value of each phase.
Wherein, hardware principle schematic diagram according to Fig.3, the vector listed under two-phase conduction mode are：
Q1, Q4 conducting → A+B- (being denoted as AB), in other words, when switching tube Q1 and Q4 are connected, current direction is：DC bus
Positive voltage terminal P+ → switching tube Q1 → A phases stator winding → B phases stator winding → switching tube Q4 → DC bus-bar voltage negative terminal P-,
Corresponding vector A+B-, is denoted as the AB phase conductions of stator winding；
Q1, Q2 conducting → A+C- (being denoted as AC)；
Q3, Q2 conducting → B+C- (being denoted as BC)；
Q3, Q6 conducting → B+A- (being denoted as BA)；
Q5, Q6 conducting → C+A- (being denoted as CA)；
Q5, Q4 conducting → C+B- (being denoted as CB).
Vector under three-phase conduction mode is：
Q1, Q4, Q2 conducting → A+B-C- (being denoted as A+), in other words, when switching tube Q1, Q4 and Q2 are connected, current direction is：
DC bus-bar voltage anode P+ → switching tube Q1 → A phases stator winding → B phases stator winding and C phases stator winding → switching tube Q4
It is denoted as the A+ phase conductions of stator winding with switching tube Q2 → DC bus-bar voltage negative terminal P-, corresponding vector A+B-C-；
Q3, Q6, Q2 conducting → B+A-C- (being denoted as B+)；
Q4, Q6, Q4 conducting → C+A-B- (being denoted as C+)；
Q6, Q3, Q5 conducting → A-B+C+ (being denoted as A-)；
Q4, Q1, Q5 conducting → B-A+C+ (being denoted as B-)；
Q2, Q1, Q3 conducting → C-A+B+ (being denoted as C-).
When carrying out rotor fixed position to motor, one group of vector of two-phase conduction mode can be first used to be sweared as position pulse
Amount, then using one group of vector of three-phase conduction mode as position pulse vector.
Specifically, as shown in figure 3, microcontroller (MCU) can first control switching tube Q1 and Q4 conducting, so that stator winding
AB phase conductions, and maintain the first preset time T p1 (value of Δ t), Tp1 in i.e. above-mentioned principle by winding inductance size with
The size of current that power device (switching tube Q1~Q6) can bear in three phase inverter bridge determines that winding inductance is smaller, winding electricity
Stream is bigger, and vice versa.In practical applications, above-mentioned formula (2) can be first passed through and estimate the first preset time T p1, then led to
Oscillograph observation is crossed, adjusts the value size of Tp1 in software, the pulse current control in stator winding can received
Magnitude range within, the value of Tp1 is determined when obtaining suitable pulse current.In the example of the present invention, Tp1
Value range is 50~80us.When the time reaching the first preset time T p1, microcontroller reads this by current sampling module
Transient current size is carved, iAB is denoted as, is disconnected as shown in figure 4, controlling switching tube Q1 and Q4 simultaneously, so that the AB phases of stator winding
Position disconnects.
Then, microcontroller control switching tube Q3 and Q2 conductings, so that the BC phase conductions of stator winding, and maintain first
Preset time T p1, and when the time reaching the first preset time T p1, it is big that transient current this moment is read by current sampling module
It is small, it is denoted as iBC, while controlling switching tube Q3 and Q2 and disconnecting, so that the BC phases of stator winding disconnect.
Then, microcontroller control switching tube Q5 and Q6 conductings, so that the CA phase conductions of stator winding, and maintain first
Preset time T p1, and when the time reaching the first preset time T p1, it is big that transient current this moment is read by current sampling module
It is small, it is denoted as iCA, while controlling switching tube Q5 and Q6 and disconnecting, so that the CA phases of stator winding disconnect.
In the manner described above, the current value for obtaining the BA phases of stator winding successively, is denoted as iBA, the CB phases of stator winding
The current value of position, is denoted as iCB, the current value of the AC phases of stator winding, is denoted as iAC, the current value of the A+ phases of stator winding,
It is denoted as iA+, the current value of the B+ phases of stator winding is denoted as iB+, and the current value of the C+ phases of stator winding is denoted as iC+, fixed
The current value of the A- phases of sub- winding, is denoted as iA-, and the current value of the B- phases of stator winding is denoted as iB-, the C- of stator winding
The current value of phase, is denoted as iC-, finally obtain 12 current values, respectively iAB, iBC, iCA, iBA, iCB, iAC, iA+,
IB+, iC+, iA-, iB- and iC-.
It should be noted that the impulses injection process of above-mentioned examples cited be according to AB, BC, CA, BA, CB, AC, A+, B+,
The sequence of C+, A-, B- and C-, but this is sequentially not essential, and can arbitrarily sort, and does not have to the sector judging result where rotor
Have an impact.
In some embodiments of the invention, stator winding is being obtained after the current value of any phase, also any
The backward voltage that phase applies the second preset time detects pulse, to offset the voltage test pulse of the first preset time in stator
The energy accumulated on winding.
Specifically, still taking the above example as an example.As shown in Fig. 3-Fig. 4 b, microcontroller can first control switching tube Q1 and Q4 and lead
It is logical, so that the AB phase conductions of stator winding, and maintain the first preset time T p1.Reach the first preset time T p1 when the time
When, microcontroller reads transient current size this moment by current sampling module, is denoted as iAB, while controlling switching tube Q1 and Q4
It disconnects, so that the AB phases of stator winding disconnect.
Then, microcontroller control switching tube Q3 and Q6 conductings, so that the BA phase conductions of stator winding, and maintain second
Preset time T p1 ', when effect is AB phase conductions before offsetting on stator winding the energy accumulated and influence subsequent electricity
Stream acquisition.Wherein, the obtaining value method of the second preset time T p1 ' is：First by Tp1 '=Tp1, then observed by oscillograph,
The value size that the second preset time T p1 ' is adjusted in software, when pulse current monotone decreasing to the minimum in stator winding,
The value of the second preset time T p1 ' is determined, as shown in Figure 5.In the example of the present invention, the second preset time T p1 '
Value range can be 50~80us, usually close to a value of the first preset time T p1.
Then, microcontroller control switching tube Q3 and Q2 conductings, so that the BC phase conductions of stator winding, and maintain first
Preset time T p1, and when the time reaching the first preset time T p1, it is big that transient current this moment is read by current sampling module
It is small, it is denoted as iBC, while controlling switching tube Q3 and Q2 and disconnecting, so that the BC phases of stator winding disconnect.Then, microcontroller control
Switching tube Q5 and Q4 processed conducting so that the CB phase conductions of stator winding, and maintain the second preset time T p1 ', effect be to
The energy accumulated on stator winding when BC phase conductions before disappearing and influence subsequent current acquisition, when the time, to reach second pre-
If when time Tp1 ', control switching tube Q5 and Q4 are disconnected, so that the CB phases of stator winding disconnect.
In the manner described above, the current value for obtaining the CA phases of stator winding successively, is denoted as iCA, the BA phases of stator winding
The current value of position, is denoted as iBA, the current value of the CB phases of stator winding is denoted as the electricity of the AC phases of iCB and stator winding
Flow valuve is denoted as iAC, and the current value of the A+ phases of stator winding is denoted as iA+, and the current value of the B+ phases of stator winding is denoted as iB
+, the current value of the C+ phases of stator winding is denoted as iC+, and the current value of the A- phases of stator winding is denoted as iA-, stator winding
B- phases current value, be denoted as iB-, the current value of the C- phases of stator winding is denoted as iC-, and is obtaining each phase
After current value, carry out current canceling operation, that is, stator winding phase conduction sequence be：AB、BA、BC、CB、CA、AC、BA、
AB, CB, BC, AC, CA, A+, A-, B+, B-, C+, C-, A-, A+, B-, B+, C-, C+ finally obtain 12 current values, respectively
For iAB, iBC, iCA, iBA, iCB, iAC, iA+, iB+, iC+, iA-, iB- and iC-.
Wherein, due to after the completion of every primary current obtains, current canceling operation also carried out to corresponding phase, thus can be with
It effectively avoids after direct impulse injection (e.g., AB) and obtaining corresponding current value, and then injects reverse impulse (e.g., BA)
And obtain reverse pulse current caused by corresponding current value really setting up, and then cause the current value of acquisition without
Method reflects true size so that electric current misjudgment and the case where cause positioning to fail so that rotor fixed position is more
Add accurate and reliable.
S2 obtains the maximum current value in multiple current values.
In some embodiments of the invention, the rotor fixed position method of above-mentioned brshless DC motor further includes：Judge more
Whether each current value in a current value is within the scope of predetermined current；If each current value in multiple current values is equal
Within the scope of predetermined current, then the maximum current value in multiple current values is obtained again；If existed at least in multiple current values
One current value is not within the scope of predetermined current, then invalid sector is determined according at least one current value, with according to invalid
Sector carry out troubleshooting.Wherein, predetermined current range can be demarcated according to actual conditions.
Specifically, when applying the voltage test pulse of the first preset time to the out of phase of stator winding, due to
First preset time is very short, i.e., time of above-mentioned pulse current it is very short (generally us grades, the time phase of all pulse currents
Add and also there was only several milliseconds), so the rotor of motor is almost motionless.It is collected when current sampling module fails in order to prevent
Idler Pulse electric current generates sector position erroneous judgement, in practical applications, can increase pulse current validity check, only when adopting
The pulse current of collection just allows to carry out sector judgement all within effective range, otherwise, by the invalid sector number of return (obtaining),
Troubleshooting is done for program to be used.
Specifically, 12 current values iAB, iBC, iCA, iBA, iCB, iAC, iA+, iB are being got through the above way
+, after iC+, iA-, iB- and iC-, Effective judgements also are carried out to this 12 current values.If in this 12 current values
Each current value be within the scope of predetermined current, then obtain the maximum current value in this 12 current values again；If this
There are at least one current values to be not within the scope of predetermined current in 12 current values, then obtains and be not in predetermined current range
Phase corresponding to interior current value, and then invalid sector is determined according to phase, and troubleshooting is done according to these sectors, have
How body does troubleshooting, is not described in detail herein.
S3 obtains the sector where the rotor of motor according to maximum current value, and according to the sector where the rotor of motor
Obtain the rotor-position of motor.
Specifically, after obtaining multiple current values, can validity check first be carried out to multiple current values, checked
And when determining that each current value is effective, start to obtain the maximum current value in multiple current values, and maximum current value is corresponded to
Phase be denoted as first phase Vector1, at this time rotor-position determine first phase Vector1 directions ± 15 ° of models
Within enclosing.
For example, table 1 gives maximum current value corresponding sector.
Table 1
| Maximum current value | Sector number |
| IBA is maximum or iB+ is maximum | I |
| IBC is maximum or iC- is maximum | III |
| IAC is maximum or iA+ is maximum | II |
| IAB is maximum or iB- is maximum | VI |
| ICB is maximum or iC+ is maximum | IV |
| ICA is maximum or iA- is maximum | V |
As shown in table 1, it is assumed that 12 current value iAB, iBC of acquisition, iCA, iBA, iCB, iAC, iA+, iB+, iC+,
Maximum current value in iA-, iB-, iC- is iBC, and the corresponding phases of maximum current value iBC are BC phases, can be with according to Fig. 6
Find out, at this time the rotor-position of motor determines the rotor-position of motor in sector III within the scope of ± 15 ° of BC phases；
For another example, it is assumed that the maximum current value in 12 current values of acquisition is iC-, and the corresponding phases of maximum current value iC- are C-
Phase, according to Fig. 6 as can be seen that at this time the rotor-position of motor determines turning for motor within the scope of ± 15 ° of C- phases
Sub- position is in sector III.Hereby it is achieved that the acquisition of the rotor-position of motor.
It should be noted that impulses injection phase (i.e. vector) and sector number (sector number in table 1) be not required and
Uniquely, in fact, sector number can arbitrary value, as long as can reach distinguish 360 ° within the scope of decile 6 sectors.
Fig. 7 is the flow chart of the rotor fixed position method of brshless DC motor according to an embodiment of the invention.Such as Fig. 7 institutes
Show, the rotor fixed position method of the brshless DC motor includes the following steps：
S101 carries out rotor as position pulse vector using the vector under two-phase conduction mode and three-phase conduction mode and determines
Position obtains 12 current values.
S102, judges whether all current values are within the scope of predetermined current.If so, executing step S104；Otherwise,
Execute step S103.
S103 returns to invalid sector number.
S104 searches the corresponding sector number of maximum current value and (it is corresponding e.g., to search maximum current value from preset table 1
Sector number).
S105 returns to the sector number where rotor.
The rotor fixed position method of brshless DC motor according to the ... of the embodiment of the present invention as a result, can substantially reduce motor and open
The time of dynamic positioning ensures to invert when electric motor starting, solves abnormal sound when positioning and shake, solves electricity when pulse positioning
Wrong localization caused by waveform is mismatched with rotor-position is flowed, pulse positioning rotor-position recognition methods is simplified and can be realized
Complete 360 ° of non-blind areas positioning.
Further, in some embodiments of the invention, after the rotor-position for obtaining motor, motor is also obtained
It waits for direction of rotation, and phase is connected according to the rotor-position of motor and the startup of stator winding when direction of rotation obtains electric motor starting
Position, wherein wait for that direction of rotation includes rotating clockwise direction and direction of rotation counterclockwise.Specifically, it can wait revolving according to motor
Turn direction, stator winding when advanced 90 °~120 ° of sector where the rotor in motor on the basis of is to obtain electric motor starting
Start conduction phase.
For example, for controlling electric motor starting by two-phase conduction mode.Table 2 and table 3 are respectively two-phase conduction mode
Lower (CW) clockwise and counterclockwise the startup conduction phase table in the case of (CCW), refer to phase clockwise and anticlockwise herein
The direction of Vector Rotation, it is not necessarily consistent with real electrical machinery shaft direction of rotation.
Table 2
| Sector number | Start conduction phase |
| I | AC phases |
| III | AB phases |
| II | CB phases |
| VI | CA phases |
| IV | BA phases |
| V | BC phases |
Table 3
| Sector number | Start conduction phase |
| I | CB phases |
| III | CA phases |
| II | BA phases |
| VI | BC phases |
| IV | AC phases |
| V | AB phases |
As shown in table 2 and table 3, it is assumed that the sector where the rotor of motor is I, then when requiring motor to rotate clockwise
When, startup conduction phase is AC phases；When requiring motor to rotate counterclockwise, startup conduction phase is CB phases.Basis as a result,
The startup clockwise and anticlockwise of motor may be implemented in table 2 and table 3.
According to one embodiment of present invention, the mode pair that the arbitrary two-phase in the three-phase of stator winding is exchanged may be used
Motor rotate clockwise and rotation control counterclockwise.
Specifically, for controlling electric motor starting by two-phase conduction mode.It is rotated both clockwise and counterclockwise and also can be used
Following method：Assuming that obtaining turning for motor according to the sequence and table 1 of AB, BC, CA, BA, CB, AC, A+, B+, C+, A-, B-, C-
It sub- position, and being rotated clockwise using conduction phase is started shown in table 2 can will then when needing rotation counterclockwise
Arbitrary two-phase in A, B and C three-phase specified in Fig. 3 is exchanged, such as by the corresponding driving pin of A phases and C and A phases and C phases
Back-emf acquisition channel exchange, then in software still according to AB, BC, CA, BA, CB, AC, A+, B+, C+, A-, B-, C-
Sequence and table 1 obtain the rotor-position of motor, and still use and start conduction phase control motor rotation shown in table 2, i.e.,
The startup counterclockwise of motor can be achieved.It rotates clockwise and rotates counterclockwise that is, can be realized using the arbitrary two-phase mode of exchanging
Positioning and startup.
It should be noted that being opened with two-phase conduction mode to control motor with three-phase conduction mode to control electric motor starting
It is dynamic similar, it is just no longer described in detail here.
In conclusion the rotor fixed position method of brshless DC motor according to the ... of the embodiment of the present invention, leads according to two-phase respectively
When logical mode and three-phase conduction mode carry out conducting control to the stator winding of motor, successively in the difference of the stator winding of motor
Phase apply the first preset time voltage test pulse, and by obtain stator winding each phase current value to obtain
Then multiple current values obtain the maximum current value in multiple current values, and the rotor institute of motor is obtained according to maximum current value
Sector, and according to where the rotor of motor sector obtain motor rotor-position.Can not only substantially it reduce as a result,
The time of electric motor starting positioning ensures to invert when electric motor starting, solves abnormal sound when positioning and shake, additionally it is possible to solve arteries and veins
Wrong localization problem caused by current waveform when punching positioning is mismatched with rotor-position simplifies pulse positioning rotor-position and knows
Other method, while can realize complete 360 ° of non-blind areas positioning.
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 rotor fixed position 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 rotor fixed position method of machine can not only substantially reduce the time of electric motor starting positioning, ensure to invert when electric motor starting, solve
Abnormal sound when decision position and shake, additionally it is possible to which current waveform when solving pulse positioning positions caused by being mismatched with rotor-position
Problem-Error simplifies pulse positioning rotor-position recognition methods, while can realize complete 360 ° of non-blind areas positioning.
Fig. 8 is the block diagram of the rotor fixed position device of brshless DC motor according to the ... of the embodiment of the present invention.Such as Fig. 8 institutes
Show, the rotor fixed position device of the brshless DC motor of the embodiment of the present invention may include：Given unit 10,20 and of electric current acquiring unit
Control unit 30.
Wherein, the voltage inspection that unit 10 is used to apply in the out of phase of the stator winding of motor the first preset time is given
Survey pulse；Electric current acquiring unit 20 be used for obtain stator winding each phase current value；Control unit 30 for pressing respectively
When carrying out conducting control to the stator winding of motor according to two-phase conduction mode and three-phase conduction mode, successively by given unit 10
Apply the voltage test pulse of the first preset time in the out of phase of the stator winding of motor, and passes through electric current acquiring unit 20
It obtains stator winding and obtains multiple current values in the current value of each phase, and obtain the maximum current in multiple current values
Value, and obtained according to the sector where the rotor of maximum current value acquisition motor, and according to the sector where the rotor of motor
The rotor-position of motor.
According to one embodiment of present invention, by electric current acquiring unit 20 obtain stator winding any phase electricity
After flow valuve, control unit 30 also detects arteries and veins by giving unit 10 in the backward voltage of any phase the second preset time of application
Punching, the energy that the voltage test pulse to offset the first preset time is accumulated on stator winding.
According to one embodiment of present invention, control unit 30 is additionally operable to judge that each current value in multiple current values is
It is no to be within the scope of predetermined current, wherein if each current value in multiple current values is within the scope of predetermined current,
Control unit 30 then obtains the maximum current value in multiple current values again；If there are at least one current values in multiple current values
It is not within the scope of predetermined current, control unit 30 then determines invalid sector according at least one current value, with according to invalid
Sector carry out troubleshooting.
According to one embodiment of present invention, after the rotor-position for obtaining motor, control unit 30 also obtains motor
Wait for direction of rotation, and the startup of stator winding is connected according to the rotor-position of motor and when direction of rotation obtains electric motor starting
Phase, wherein wait for that direction of rotation includes rotating clockwise direction and direction of rotation counterclockwise.
It should be noted that undisclosed details in the rotor fixed position device of the brshless DC motor of the embodiment of the present invention,
The details disclosed in the rotor fixed position method of the brshless DC motor of the embodiment of the present invention is please referred to, it is specifically no longer superfluous here
It states.
The rotor fixed position device of brshless DC motor according to the ... of the embodiment of the present invention, control unit are conducted according to two respectively
When mode and three-phase conduction mode carry out conducting control to the stator winding of motor, by given unit successively in the stator of motor
The out of phase of winding applies the voltage test pulse of the first preset time, and obtains stator winding by electric current acquiring unit and exist
The current value of each phase is to obtain multiple current values, and obtains the maximum current value in multiple current values, and according to maximum
Current value obtains the sector where the rotor of motor, and the rotor position of motor is obtained according to the sector where the rotor of motor
It sets.The time of electric motor starting positioning can not only substantially be reduced as a result, ensure to invert when electric motor starting, when solving positioning
Abnormal sound and shake, additionally it is possible to Wrong localization caused by current waveform and the rotor-position mismatch when solving pulse positioning is asked
Topic simplifies pulse positioning rotor-position recognition methods, while can realize complete 360 ° of non-blind areas positioning.
In addition, the embodiment of the present invention also proposed a kind of control system of brshless DC motor comprising above-mentioned nothing
The rotor fixed position device of brushless motor.
The control system of brshless DC motor according to the ... of the embodiment of the present invention passes through the rotor of above-mentioned brshless DC motor
Positioning device can not only substantially reduce the time of electric motor starting positioning, ensure to invert when electric motor starting, when solving positioning
Abnormal sound and shake, additionally it is possible to Wrong localization caused by current waveform and the rotor-position mismatch when solving pulse positioning is asked
Topic simplifies pulse positioning rotor-position recognition methods, while can realize complete 360 ° of non-blind areas positioning.
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 rotor fixed position method of brshless DC motor, which is characterized in that include the following steps：
When carrying out conducting control to the stator winding of motor according to two-phase conduction mode and three-phase conduction mode respectively, successively in institute
The out of phase for stating the stator winding of motor applies the voltage test pulse of the first preset time, and by obtain the stator around
Group obtains multiple current values in the current value of each phase；
Obtain the maximum current value in the multiple current value；
The sector where the rotor of the motor is obtained according to the maximum current value, and according to where the rotor of the motor
Sector obtains the rotor-position of the motor.
2. the rotor fixed position method of brshless DC motor as described in claim 1, which is characterized in that obtain the stator around
For group after the current value of any phase, the backward voltage for also applying the second preset time in any phase detects pulse,
The energy that voltage test pulse to offset first preset time is accumulated on the stator winding.
3. the rotor fixed position method of brshless DC motor as claimed in claim 1 or 2, which is characterized in that further include：
Judge whether each current value in the multiple current value is within the scope of predetermined current；
If each current value in the multiple current value is within the scope of the predetermined current, then is obtained the multiple
Maximum current value in current value；
If there are at least one current values to be not within the scope of the predetermined current in the multiple current value, according to
At least one current value determines invalid sector, to carry out troubleshooting according to the invalid sector.
4. the rotor fixed position method of brshless DC motor as claimed in claim 3, which is characterized in that obtaining the motor
After rotor-position, the direction of rotation of waiting for of the motor is also obtained, and according to the rotor-position of the motor and described wait rotating
Direction obtains the startup conduction phase of the stator winding when electric motor starting, wherein described to wait for that direction of rotation includes up time
Needle direction of rotation and direction of rotation counterclockwise.
5. the rotor fixed position method of brshless DC motor as claimed in claim 4, which is characterized in that use the stator winding
Three-phase in the mode exchanged of arbitrary two-phase the motor rotate clockwise and rotation controls counterclockwise.
6. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
The rotor fixed position method of the brshless DC motor as described in any one of claim 1-5 is realized when processor executes.
7. a kind of rotor fixed position device of brshless DC motor, which is characterized in that including：
Given unit, applies the voltage detecting arteries and veins of the first preset time for the out of phase of the stator winding in the motor
Punching；
Electric current acquiring unit, for obtain the stator winding each phase current value；
Control unit, for carrying out conducting control to the stator winding of motor according to two-phase conduction mode and three-phase conduction mode respectively
When processed, apply the voltage of the first preset time in the out of phase of the stator winding of the motor successively by the given unit
Pulse is detected, and the stator winding is obtained in the current value of each phase to obtain multiple electricity by the electric current acquiring unit
Flow valuve, and the maximum current value in the multiple current value is obtained, and the motor is obtained according to the maximum current value
Sector where rotor, and obtain according to the sector where the rotor of the motor rotor-position of the motor.
8. the rotor fixed position device of brshless DC motor as claimed in claim 7, which is characterized in that obtained by the electric current
Unit is taken to obtain the stator winding after the current value of any phase, described control unit is also existed by the given unit
The backward voltage that any phase applies the second preset time detects pulse, and the voltage to offset first preset time is examined
Survey the energy that pulse is accumulated on the stator winding.
9. the rotor fixed position device of brshless DC motor as claimed in claim 7 or 8, which is characterized in that described control unit
It is additionally operable to judge whether each current value in the multiple current value is within the scope of predetermined current, wherein
If each current value in the multiple current value is within the scope of the predetermined current, if described control unit again
Obtain the maximum current value in the multiple current value；
If there are at least one current values to be not within the scope of the predetermined current in the multiple current value, the control is single
It is first then invalid sector is determined according at least one current value, to carry out troubleshooting according to the invalid sector.
10. the rotor fixed position device of brshless DC motor as claimed in claim 9, which is characterized in that obtaining the motor
Rotor-position after, described control unit also obtains the direction of rotation of waiting for of the motor, and according to the rotor position of the motor
Set the startup conduction phase with the stator winding described when direction of rotation obtains the electric motor starting, wherein described to wait revolving
It includes rotating clockwise direction and direction of rotation counterclockwise to turn direction.
11. a kind of control system of brshless DC motor, which is characterized in that include as described in any one of claim 7-10
The rotor fixed position device of brshless DC motor.
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