CN108631659B - Rotor positioning method, positioning device and control system of brushless direct current motor - Google Patents
Rotor positioning method, positioning device and control system of brushless direct current motor Download PDFInfo
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- CN108631659B CN108631659B CN201810294384.0A CN201810294384A CN108631659B CN 108631659 B CN108631659 B CN 108631659B CN 201810294384 A CN201810294384 A CN 201810294384A CN 108631659 B CN108631659 B CN 108631659B
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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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Abstract
The invention discloses a rotor positioning method, a positioning device and a control system of a brushless direct current motor, wherein the positioning method comprises the following steps: when conducting control is carried out on the stator winding of the motor according to a two-phase conducting mode and a three-phase conducting mode, voltage detection pulses of first preset time are sequentially applied to different phases of the stator winding of the motor, and a plurality of current values are obtained by obtaining the current value of the stator winding in each phase; acquiring a maximum current value of a plurality of current values; and acquiring the sector where the rotor of the motor is located according to the maximum current value, and acquiring the rotor position of the motor according to the sector where the rotor of the motor is located. Therefore, the rotor position of the motor can be quickly and accurately obtained, the problems of abnormal sound, shaking and positioning errors can be avoided, the method is simple, and blind-area-free positioning can be realized.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a rotor positioning method for a brushless dc motor, a rotor positioning device for a brushless dc motor, and a control system for a brushless dc motor.
Background
At present, in the field of sensorless drive control technology of brushless dc motors, there are two main rotor positioning technologies under the conditions of motor standstill and near zero speed: forced pre-positioning and pulse positioning.
The forced pre-positioning method does not consider the current position of the motor rotor, but energizes the fixed phase of the motor stator winding to rotate the motor rotor to a preset position. However, this approach has the following disadvantages: 1) the positioning time is long, and the method is not suitable for occasions requiring quick starting of the motor; 2) in order to reduce the positioning time or increase the positioning reliability, the PWM (Pulse Width Modulation) duty ratio during positioning needs to be increased, which increases the starting current and power consumption, and reduces the system efficiency in some occasions powered by a battery; 3) reverse rotation may occur during positioning, and the method is not suitable for occasions requiring no reverse rotation when the motor is started; 4) jitter and abnormal sound easily occur during positioning.
The pulse positioning method is to apply short-time current pulses to different phases of the stator winding of the motor and to judge the position of the rotor according to the magnitude or duration of the current pulses. However, this approach has the following disadvantages: 1) the rotor positions which can not cover the full 360 degrees are positioned by the pulses of 120 degrees, and a blind area exists, so that the N-S pole reversal error is caused; 2) the judgment process is complex, the software code amount is increased, and the judgment time is prolonged.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first objective of the present invention is to provide a rotor positioning method for a brushless dc motor, which can greatly reduce the time for starting and positioning the motor, ensure that the motor does not reverse when started, solve abnormal noise and jitter during positioning, solve the problem of positioning error caused by mismatching of current waveform and rotor position during pulse positioning, simplify the identification method for the rotor position during pulse positioning, and simultaneously achieve full 360 ° non-blind area positioning.
A second object of the invention is to propose a non-transitory computer-readable storage medium.
The third object of the present invention is to provide a rotor positioning device of a brushless dc motor.
A fourth object of the present invention is to provide a control system for a brushless dc motor.
In order to achieve the above object, a first embodiment of the present invention provides a method for positioning a rotor of a brushless dc motor, including: when conducting control is carried out on a stator winding of a motor according to a two-phase conducting mode and a three-phase conducting mode, voltage detection pulses of first preset time are sequentially applied to different phases of the stator winding of the motor, and a plurality of current values are obtained by obtaining the current value of the stator winding in each phase; obtaining a maximum current value of the plurality of current values; and acquiring the sector where the rotor of the motor is located according to the maximum current value, and acquiring the position of the rotor of the motor according to the sector where the rotor of the motor is located.
According to the rotor positioning method of the brushless direct current motor, when conducting control is performed on the stator winding of the motor according to the two-phase conducting mode and the three-phase conducting mode, voltage detection pulses of first preset time are sequentially applied to different phases of the stator winding of the motor, the current value of the stator winding in each phase is obtained to obtain a plurality of current values, then the maximum current value of the plurality of current values is obtained, the sector where the rotor of the motor is located is obtained according to the maximum current value, and the rotor position of the motor is obtained according to the sector where the rotor of the motor is located. Therefore, the time for starting and positioning the motor can be greatly shortened, the motor can not be reversely rotated when being started, abnormal sound and shaking during positioning are solved, the problem of positioning error caused by mismatching of current waveforms and rotor positions during pulse positioning can be solved, the pulse positioning rotor position identification method is simplified, and meanwhile, full 360-degree non-blind-area positioning can be realized.
In addition, the rotor positioning method of the brushless dc motor according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, after the current value of the stator winding at any phase is obtained, a reverse voltage detection pulse of a second preset time is also applied to any phase to counteract the energy accumulated on the stator winding by the voltage detection pulse of the first preset time.
According to an embodiment of the present invention, the method for positioning a rotor of a brushless dc motor further includes: judging whether each current value in the plurality of current values is within a preset current range; if each current value in the plurality of current values is within the preset current range, then acquiring the maximum current value in the plurality of current values; and if at least one current value in the plurality of current values is not in the preset current range, determining an invalid sector according to the at least one current value, and performing fault processing according to the invalid sector.
According to an embodiment of the invention, after the rotor position of the motor is obtained, the to-be-rotated direction of the motor is also obtained, and the starting conduction phase of the stator winding when the motor is started is obtained according to the rotor position of the motor and the to-be-rotated direction, wherein the to-be-rotated direction comprises a clockwise rotation direction and a counterclockwise rotation direction.
According to one embodiment of the invention, the motor is controlled to rotate clockwise and counterclockwise by reversing any two of the three phases of the stator winding.
In order to achieve the above object, a non-transitory computer readable storage medium is provided according to a second aspect of the present invention, and a computer program is stored thereon, and when executed by a processor, the non-transitory computer readable storage medium implements the above method for positioning a rotor of a brushless dc motor.
According to the non-transitory computer readable storage medium of the embodiment of the invention, by executing the rotor positioning method of the brushless direct current motor, the time for starting and positioning the motor can be greatly shortened, the motor is ensured not to be reversed when being started, abnormal sound and jitter during positioning are solved, the problem of positioning error caused by mismatching of a current waveform during pulse positioning and the position of the rotor can be solved, the pulse positioning rotor position identification method is simplified, and meanwhile, full 360-degree blind-area-free positioning can be realized.
In order to achieve the above object, a rotor positioning device for a brushless dc motor according to an embodiment of a third aspect of the present invention includes: a given unit for applying voltage detection pulses for a first preset time at different phases of a stator winding of the motor; the current obtaining unit is used for obtaining the current value of the stator winding at each phase; the control unit is used for sequentially applying voltage detection pulses for first preset time to different phases of the stator winding of the motor through the given unit when conducting control is conducted on the stator winding of the motor according to a two-phase conducting mode and a three-phase conducting mode respectively, obtaining the current value of the stator winding in each phase through the current obtaining unit to obtain a plurality of current values, obtaining the maximum current value of the plurality of current values, obtaining the sector where the rotor of the motor is located according to the maximum current value, and obtaining the position of the rotor of the motor according to the sector where the rotor of the motor is located.
According to the rotor positioning device of the brushless direct current motor, when the control unit respectively conducts control on the stator winding of the motor according to the two-phase conduction mode and the three-phase conduction mode, the given unit sequentially applies the voltage detection pulse for the first preset time to different phases of the stator winding of the motor, the current obtaining unit obtains the current value of the stator winding in each phase to obtain a plurality of current values, obtains the maximum current value of the plurality of current values, obtains the sector where the rotor of the motor is located according to the maximum current value, and obtains the rotor position of the motor according to the sector where the rotor of the motor is located. Therefore, the time for starting and positioning the motor can be greatly shortened, the motor can not be reversely rotated when being started, abnormal sound and shaking during positioning are solved, the problem of positioning error caused by mismatching of current waveforms and rotor positions during pulse positioning can be solved, the pulse positioning rotor position identification method is simplified, and meanwhile, full 360-degree non-blind-area positioning can be realized.
In addition, the rotor positioning device of the brushless dc motor according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, after the current value of the stator winding at any phase is obtained by the current obtaining unit, the control unit further applies a reverse voltage detection pulse for a second preset time to any phase by the given unit to cancel energy accumulated on the stator winding by the voltage detection pulse for the first preset time.
According to an embodiment of the present invention, the control unit is further configured to determine whether each of the plurality of current values is within a preset current range, wherein if each of the plurality of current values is within the preset current range, the control unit further obtains a maximum current value of the plurality of current values; if at least one current value in the plurality of current values is not in the preset current range, the control unit determines an invalid sector according to the at least one current value so as to perform fault processing according to the invalid sector.
According to an embodiment of the present invention, after obtaining the rotor position of the motor, the control unit further obtains a to-be-rotated direction of the motor, and obtains a starting conduction phase of the stator winding at the time of starting the motor according to the rotor position of the motor and the to-be-rotated direction, where the to-be-rotated direction includes a clockwise rotation direction and a counterclockwise rotation direction.
In order to achieve the above object, a fourth aspect of the present invention provides a control system for a brushless dc motor, which includes the above rotor positioning device for a brushless dc motor.
According to the control system of the brushless direct current motor, the rotor positioning device of the brushless direct current motor can greatly reduce the time for starting and positioning the motor, ensure that the motor cannot rotate reversely when being started, solve abnormal sound and jitter during positioning, solve the problem of positioning error caused by mismatching of current waveform and rotor position during pulse positioning, simplify the identification method of the pulse positioning rotor position, and simultaneously realize full 360-degree blind-area-free positioning.
Drawings
FIG. 1 is a composite magnetic potential vector diagram for a brushless DC motor;
fig. 2 is a flowchart of a rotor positioning method of a brushless dc motor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a control system for a brushless DC motor according to one embodiment of the present invention;
FIG. 4a is a timing diagram of pulse injection in a two-phase conduction mode according to an embodiment of the present invention;
FIG. 4b is a timing diagram of pulse injection in a three-phase conduction mode according to one embodiment of the present invention;
FIG. 5 is a diagram of a pulse current waveform for a stator winding according to one embodiment of the present invention;
FIG. 6 is a schematic view of a sector of a brushless DC motor according to an embodiment of the present invention;
FIG. 7 is a flow chart of a method of positioning a rotor of a brushless DC motor according to one embodiment of the present invention;
fig. 8 is a block diagram illustrating a rotor positioning apparatus of a brushless dc motor according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A rotor positioning method of a brushless dc motor, a non-transitory computer-readable storage medium, a rotor positioning apparatus of a brushless dc motor, and a control system of a brushless dc motor according to embodiments of the present invention are described below with reference to the accompanying drawings.
Generally, a current-carrying coil is wound around a stator core of a brushless dc motor, and when a current is applied to the current-carrying coil, a certain magnetic flux is generated in the stator core. The winding inductance can change along with the saturation degree of a magnetic circuit, so that when the motor is static or rotates, if the direction of magnetic flux generated by a permanent magnet (rotor) is consistent with the direction of magnetic flux generated by winding current, a magnetizing effect is generated, the saturation degree of the magnetic circuit of a stator core is increased, and the winding inductance is reduced; on the contrary, the saturation degree of the magnetic circuit of the stator core is reduced, and the winding inductance is increased. Therefore, the relative position of the rotor and the stator is different and is directly reflected on the magnitude of the winding inductance.
As is well known, the motor voltage formula is:
U＝Ri+L*di/dt+e (1)
wherein, U is direct current bus voltage, R is stator winding internal resistance, i is armature current, L is stator winding inductance, and e is the back electromotive force of the motor.
When the motor is at rest, the back electromotive force e of the motor is zero, and since the internal resistance R of the stator winding is small in practice, the voltage drop across it is negligible with respect to the dc bus voltage U applied to the stator winding, the above equation (1) can be simplified as:
U＝L*di/dt≈L*Δi/Δt (2)
it can be seen from formula (2) that when U is constant, L is inversely proportional to the change of Δ i, i.e., the larger L, the smaller Δ i, and vice versa; Δ i is proportional to Δ t, and the larger Δ t, the larger Δ i.
The pulse positioning method (also called as a short-time pulse method) is to select 6 short-time voltage detection pulses with proper widths by utilizing the stator core saturation effect principle, apply voltage to a stator winding of a motor in sequence according to a corresponding electrifying sequence, sample a current value and compare the current value to determine an electrical angle interval where a rotor is located. Each electrical cycle of the motor corresponds to 360 electrical degrees, wherein each 60 electrical degrees is a conduction interval, referred to as a sector for short, and the total number of the sectors is 6. For ease of description and simplicity of analysis, a vector diagram of magnetic potential is drawn, as shown in FIG. 1.
In the related art, when a pulse positioning method is used for rotor positioning, the method is mainly realized by the following two ways: one is to apply current pulses in the directions of B + A-, C + B-and A + C- (or A + B-, B + C-and C + A-) and collect corresponding current magnitude, and determine the sector where the rotor is located by comparing the relative magnitude relation; and the other method is to apply current pulses in the directions of A + B-, B + A-, C + B-, B + C-, C + A-and A + C-respectively, collect corresponding current magnitude, and then sequentially judge the relative magnitude relations of iAB and iBA, iBC and iCB, and iAC and iCA to obtain the sector where the rotor is located.
However, the above two approaches have the following disadvantages: 1) the rotor positions which can not cover the full 360 degrees are positioned by the pulses of 120 degrees, and a blind area exists, so that the N-S pole reversal error is caused; 2) the judgment process is complex, the software code amount is increased, and the judgment time is prolonged. Therefore, the invention provides a rotor positioning method of a brushless direct current motor, which can solve the problems of long positioning time, possible reversal in positioning and easy jitter and abnormal sound in positioning caused by adopting a forced positioning method, and can solve the problems of N-S pole reversal error, more complex judgment method and software code amount and judgment time increase caused by the fact that a pulse positioning method cannot cover the rotor position of a full 360 degrees, a blind zone exists, and the like.
Fig. 2 is a flowchart of a rotor positioning method of a brushless dc motor according to an embodiment of the present invention. As shown in fig. 2, the method for positioning a rotor of a brushless dc motor according to an embodiment of the present invention includes the following steps:
and S1, when conducting control is carried out on the stator winding of the motor according to the two-phase conducting mode and the three-phase conducting mode, voltage detection pulses of first preset time are sequentially applied to different phases of the stator winding of the motor, and a plurality of current values are obtained by obtaining the current value of the stator winding in each phase.
Wherein, according to the schematic diagram of the hardware principle shown in fig. 3, the vectors in the two-phase conduction mode are listed as follows:
q1, Q4 are turned on → a + B- (denoted as AB), that is, when the switching tubes Q1 and Q4 are turned on, the current flows: the positive end P + of the direct-current bus voltage → the switching tube Q1 → the A-phase stator winding → the B-phase stator winding → the switching tube Q4 → the negative end P-of the direct-current bus voltage, which corresponds to the vector A + B-, is marked as the conduction of the AB phase of the stator winding;
q1, Q2 are conducted → A + C- (noted as AC);
q3, Q2 turn on → B + C- (denoted as BC);
q3, Q6 are conducted → B + A- (noted as BA);
q5, Q6 turn on → C + A- (denoted as CA);
q5, Q4 turn on → C + B- (noted as CB).
The vector under the three-phase conduction mode is:
q1, Q4, Q2 are turned on → a + B-C- (denoted as a +), that is, when the switching tubes Q1, Q4 and Q2 are turned on, the current flows: the positive end P + of the direct-current bus voltage → the switching tube Q1 → the A-phase stator winding → the B-phase stator winding and the C-phase stator winding → the switching tube Q4 and the switching tube Q2 → the negative end P-of the direct-current bus voltage, and a corresponding vector A + B-C-, which is recorded as the conduction of the A + phase of the stator winding;
q3, Q6, Q2 are conducted → B + A-C- (marked as B +);
q4, Q6, Q4 are conducted → C + A-B- (as C +);
q6, Q3, Q5 are turned on → A-B + C + (denoted as A-);
q4, Q1, Q5 are turned on → B-A + C + (noted as B-);
q2, Q1, Q3 are turned on → C-A + B + (denoted as C-).
When the rotor of the motor is positioned, a group of vectors in a two-phase conduction mode can be used as positioning pulse vectors, and then a group of vectors in a three-phase conduction mode can be used as positioning pulse vectors.
Specifically, as shown in fig. 3, the Microcontroller (MCU) may first control the switching tubes Q1 and Q4 to be turned on, so as to turn on the AB phase of the stator winding, and maintain a first preset time Tp1 (i.e., Δ t in the above principle), where the value of Tp1 is determined by the magnitude of the winding inductance and the magnitude of the current that can be borne by the power devices (switching tubes Q1 to Q6) in the three-phase inverter bridge, and the smaller the winding inductance, the larger the winding current, and vice versa. In practical application, the first preset time Tp1 can be estimated by the above formula (2), and then the value of Tp1 is adjusted in software by observing through an oscilloscope, so as to control the pulse current in the stator winding within an acceptable range of values, and when the proper pulse current is obtained, the value of Tp1 is determined. In the embodiment of the invention, Tp1 is in the range of 50-80 us. When the time reaches the first preset time Tp1, the microcontroller reads the instantaneous current magnitude at this moment, iAB, through the current sampling module, as shown in fig. 4, and controls the switching tubes Q1 and Q4 to be turned off, so that the AB phase of the stator winding is turned off.
Then, the microcontroller controls the switching tubes Q3 and Q2 to be turned on to turn on the BC phase of the stator winding, and maintains the first preset time Tp1, and when the time reaches the first preset time Tp1, the instantaneous current magnitude at this moment is read by the current sampling module, and is recorded as iBC, and simultaneously controls the switching tubes Q3 and Q2 to be turned off to turn off the BC phase of the stator winding.
Then, the microcontroller controls the switching tubes Q5 and Q6 to be turned on to turn on the CA phase of the stator winding and maintain the first preset time Tp1, and when the time reaches the first preset time Tp1, the instantaneous current magnitude at this moment is read by the current sampling module, and is recorded as iCA, and simultaneously controls the switching tubes Q5 and Q6 to be turned off to turn off the CA phase of the stator winding.
According to the mode, the current value of the BA phase of the stator winding is sequentially obtained and is recorded as iBA, the current value of the CB phase of the stator winding is recorded as iCB, the current value of the AC phase of the stator winding is recorded as iAC, the current value of the A + phase of the stator winding is recorded as iA +, the current value of the B + phase of the stator winding is recorded as iB +, the current value of the C + phase of the stator winding is recorded as iC +, the current value of the A-phase of the stator winding is recorded as iA-, the current value of the B-phase of the stator winding is recorded as iB-, the current value of the C-phase of the stator winding is recorded as iC-, and twelve current values are finally obtained and are respectively iAB, iBC, iCA, iBA, iCB, iAC, iA +, iB +, iC +, iA-, iB-and iC-.
It should be noted that the pulse injection process is performed in the order of AB, BC, CA, BA, CB, AC, a +, B +, C +, a-, B-, and C-, but this order is not essential, and may be arbitrarily ordered, and has no influence on the determination result of the sector where the rotor is located.
In some embodiments of the present invention, after obtaining the current value of the stator winding in any phase, the reverse voltage detection pulse is applied for a second preset time in any phase to offset the energy accumulated on the stator winding by the voltage detection pulse for the first preset time.
In particular, the above example is still taken as an example. As shown in fig. 3-4 b, the microcontroller may first control the switching tubes Q1 and Q4 to conduct, so as to conduct the AB phase of the stator winding and maintain the first preset time Tp 1. When the time reaches the first preset time Tp1, the microcontroller reads the instantaneous current magnitude at this moment through the current sampling module, which is designated as iAB, and controls the switching tubes Q1 and Q4 to be turned off, so that the AB phase of the stator winding is turned off.
The microcontroller then controls the switching tubes Q3 and Q6 to conduct the BA phase of the stator winding and maintain the second preset time Tp 1' which is effective to counteract the energy accumulated on the stator winding during the conduction of the AB phase before to affect the subsequent current collection. The value method of the second preset time Tp 1' is as follows: the Tp1 ' is changed to Tp1, then the oscilloscope observes the result, the value of the second preset time Tp1 ' is adjusted in software, and when the pulse current in the stator winding is monotonically decreased to the minimum, the value of the second preset time Tp1 ' is determined, as shown in fig. 5. In the embodiment of the present invention, the second predetermined time Tp 1' may have a value ranging from 50 to 80us, and is typically a value close to the first predetermined time Tp 1.
Then, the microcontroller controls the switching tubes Q3 and Q2 to be turned on to turn on the BC phase of the stator winding, and maintains the first preset time Tp1, and when the time reaches the first preset time Tp1, the instantaneous current magnitude at this moment is read by the current sampling module, and is recorded as iBC, and simultaneously controls the switching tubes Q3 and Q2 to be turned off to turn off the BC phase of the stator winding. Then, the microcontroller controls the switching tubes Q5 and Q4 to be turned on to turn on the CB phase of the stator winding, and maintains a second preset time Tp1 'which is used for counteracting the energy accumulated on the stator winding when the previous BC phase is turned on to influence the subsequent current collection, and controls the switching tubes Q5 and Q4 to be turned off when the time reaches the second preset time Tp 1' to turn off the CB phase of the stator winding.
In the above manner, the current value of the CA phase of the stator winding, denoted by iCA, the current value of the BA phase of the stator winding, denoted by iBA, the current value of the CB phase of the stator winding, denoted by iCB, and the current value of the AC phase of the stator winding, denoted by iAC, the current value of the a + phase of the stator winding, denoted by iA +, the current value of the B + phase of the stator winding, denoted by iB +, the current value of the C + phase of the stator winding, denoted by iC +, the current value of the a-phase of the stator winding, denoted by iA-, the current value of the B-phase of the stator winding, denoted by iB-, the current value of the C-phase of the stator winding, denoted by iC-, are sequentially obtained, and after the current values of each phase are obtained, a current cancellation operation is performed, that is, the phase conduction sequence of the stator: AB. BA, BC, CB, CA, AC, BA, AB, CB, BC, AC, CA, A +, A-, B +, B-, C +, C-, A +, B-, B +, C-, C +, and finally twelve current values are obtained, namely iAB, iBC, iCA, iBA, iCB, iAC, iA +, iB +, iC +, iA-, iB-, and iC-.
After the current acquisition is completed each time, the current offset operation is also carried out on the corresponding phase, so that the situation that the acquired current value cannot reflect the real size and the positioning failure is caused due to the current judgment error is caused because the reverse pulse current caused by injecting the reverse pulse (such as BA) and acquiring the corresponding current value is not really established after the forward pulse is injected (such as AB) and acquiring the corresponding current value is effectively avoided, and the rotor positioning is more accurate and reliable.
S2, the maximum current value among the plurality of current values is obtained.
In some embodiments of the present invention, the above method for positioning a rotor of a brushless dc motor further includes: judging whether each current value in the plurality of current values is within a preset current range; if each current value in the plurality of current values is within a preset current range, then acquiring the maximum current value in the plurality of current values; and if at least one current value in the plurality of current values is not in the preset current range, determining an invalid sector according to the at least one current value, and performing fault processing according to the invalid sector. The preset current range can be calibrated according to actual conditions.
Specifically, when voltage detection pulses of a first preset time are applied to different phases of the stator winding, the rotor of the motor is almost stationary since the first preset time is very short, i.e., the time of the above-mentioned pulse current is very short (generally in the order of us, and the sum of the times of all pulse currents is only a few milliseconds). In order to prevent sector position misjudgment caused by invalid pulse current collected when a current sampling module fails, in practical application, pulse current validity check can be added, sector judgment is allowed only when the collected pulse current is within a valid range, and otherwise, an invalid sector number is returned (obtained) for a program to perform fault processing.
Specifically, after the twelve current values iAB, iBC, iCA, iBA, iCB, iAC, iA +, iB +, iC +, iA-, iB-, and iC-are obtained in the above manner, validity determination is also performed on the twelve current values. If each current value in the twelve current values is within a preset current range, then acquiring the maximum current value in the twelve current values; if at least one of the twelve current values is not in the preset current range, the phase corresponding to the current value not in the preset current range is obtained, and then invalid sectors are determined according to the phase, and fault processing is performed according to the sectors, and how to perform the fault processing is specifically described, which is not described in detail herein.
And S3, acquiring the sector where the rotor of the motor is located according to the maximum current value, and acquiring the rotor position of the motor according to the sector where the rotor of the motor is located.
Specifically, after obtaining the plurality of current values, the validity check may be performed on the plurality of current values, when the check is completed and it is determined that each current value is valid, the maximum current value of the plurality of current values is obtained, and the phase corresponding to the maximum current value is recorded as the first phase Vector1, where the rotor position is determined to be within ± 15 ° of the direction in which the first phase Vector1 is located.
For example, table 1 shows the sectors corresponding to the maximum current values.
TABLE 1
| Maximum current value | Sector number |
| iBA Max or iB + Max | I |
| iBC max or iC-max | III |
| iAC max or iA + max | II |
| iAB Max or iB-Max | VI |
| iCB Max or iC + Max | IV |
| iCA Max or iA-Max | V |
As shown in table 1, assuming that the maximum current value of the twelve obtained current values iAB, iBC, iCA, iBA, iCB, iAC, iA +, iB +, iC +, iA-, iB-, iC-is iBC, and the phase corresponding to the maximum current value iBC is BC phase, as can be seen from fig. 6, the rotor position of the motor at this time is within ± 15 ° of BC phase, that is, the rotor position of the motor is determined to be in sector III; for another example, assuming that the maximum current value of the twelve obtained current values is iC-, the phase corresponding to the maximum current value is C-phase, as can be seen from fig. 6, the rotor position of the motor at this time is within ± 15 ° of the C-phase, that is, the rotor position of the motor is determined to be in sector III. Thereby, the acquisition of the rotor position of the motor is achieved.
It should be noted that the phase (i.e. vector) and the sector number (sector number in table 1) of the pulse injection are not necessarily and uniquely required, and actually, the sector number may be arbitrarily set as long as it can distinguish 6 sectors equally divided in a range of 360 °.
Fig. 7 is a flowchart of a rotor positioning method of a brushless dc motor according to an embodiment of the present invention. As shown in fig. 7, the method for positioning the rotor of the brushless dc motor includes the following steps:
and S101, positioning the rotor by using vectors in a two-phase conduction mode and a three-phase conduction mode as positioning pulse vectors to obtain twelve current values.
And S102, judging whether all current values are in a preset current range. If yes, go to step S104; otherwise, step S103 is executed.
And S103, returning an invalid sector number.
S104, find the sector number corresponding to the maximum current value (e.g., find the sector number corresponding to the maximum current value from the preset table 1).
S105, returning to the sector number of the rotor.
Therefore, according to the rotor positioning method of the brushless direct current motor, the time for starting and positioning the motor can be greatly shortened, the motor is prevented from reversing when being started, abnormal sound and jitter during positioning are solved, positioning errors caused by mismatching of current waveforms and rotor positions during pulse positioning are solved, the pulse positioning rotor position identification method is simplified, and full 360-degree blind-area-free positioning can be achieved.
Further, in some embodiments of the present invention, after obtaining the rotor position of the motor, the to-be-rotated direction of the motor is also obtained, and the starting conduction phase of the stator winding at the starting of the motor is obtained according to the rotor position of the motor and the to-be-rotated direction, where the to-be-rotated direction includes a clockwise rotation direction and a counterclockwise rotation direction. Specifically, according to the to-be-rotated direction of the motor, the starting conduction phase of the stator winding when the motor is started can be obtained by advancing by 90-120 degrees on the basis of the sector where the rotor of the motor is located.
For example, a two-phase conduction method is used to control the motor start. Tables 2 and 3 are respectively a start-up conduction phase table in the Clockwise (CW) and counterclockwise (CCW) cases in the two-phase conduction mode, where clockwise and counterclockwise refer to the direction of rotation of the phase vector and do not necessarily coincide with the direction of rotation of the actual motor shaft.
TABLE 2
| Sector number | Starting conducting phase |
| I | AC phase |
| III | AB phase |
| II | CB phase |
| VI | Phase of CA |
| IV | BA phase |
| V | BC phase |
TABLE 3
| Sector number | Starting conducting phase |
| I | CB phase |
| III | Phase of CA |
| II | BA phase |
| VI | BC phase |
| IV | AC phase |
| V | AB phase |
As shown in tables 2 and 3, assuming that the sector in which the rotor of the motor is located is I, when the motor is required to rotate clockwise, the starting conduction phase is an AC phase; when the motor is required to rotate anticlockwise, the starting conduction phase is a CB phase. Thus, clockwise and counterclockwise starting of the motor can be achieved according to tables 2 and 3.
According to one embodiment of the invention, the motor can be controlled to rotate clockwise and counterclockwise in any two opposite ways of three phases of the stator winding.
Specifically, the motor start is controlled in a two-phase conduction manner as an example. Clockwise and counter-clockwise rotation can also be used as follows: assuming that the rotor positions of the motor are obtained according to the sequence of AB, BC, CA, BA, CB, AC, a +, B +, C +, a-, B-, C-and table 1 and the start-up conducting phase shown in table 2 is adopted for clockwise rotation, when counterclockwise rotation is required, any two of A, B and C phases specified in fig. 3 can be reversed, for example, the drive pins corresponding to the a phase and the C phase and the counter-potential acquisition channels of the a phase and the C phase are reversed, the rotor positions of the motor are still obtained according to the sequence of AB, BC, CA, BA, CB, AC, a +, B +, C +, a-, B-, C-and table 1 in software, and the start-up conducting phase shown in table 2 is still adopted for controlling the rotation of the motor, so that the counterclockwise start-up of the motor can be realized. Namely, the positioning and starting of clockwise rotation and anticlockwise rotation can be realized by adopting any two opposite ways.
It should be noted that the motor start control in the three-phase conduction mode is similar to the motor start control in the two-phase conduction mode, and the details thereof are not described here.
In summary, according to the rotor positioning method of the brushless dc motor in the embodiment of the present invention, when conducting control is performed on the stator winding of the motor according to the two-phase conducting manner and the three-phase conducting manner, the voltage detection pulses are sequentially applied to different phases of the stator winding of the motor for a first preset time, and the current value of the stator winding in each phase is obtained to obtain a plurality of current values, then the maximum current value of the plurality of current values is obtained, the sector where the rotor of the motor is located is obtained according to the maximum current value, and the rotor position of the motor is obtained according to the sector where the rotor of the motor is located. Therefore, the time for starting and positioning the motor can be greatly shortened, the motor can not be reversely rotated when being started, abnormal sound and shaking during positioning are solved, the problem of positioning error caused by mismatching of current waveforms and rotor positions during pulse positioning can be solved, the pulse positioning rotor position identification method is simplified, and meanwhile, full 360-degree non-blind-area positioning can be realized.
In addition, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the rotor positioning method of the brushless dc motor described above.
According to the non-transitory computer readable storage medium of the embodiment of the invention, by executing the rotor positioning method of the brushless direct current motor, the time for starting and positioning the motor can be greatly shortened, the motor is ensured not to be reversed when being started, abnormal sound and jitter during positioning are solved, the problem of positioning error caused by mismatching of a current waveform during pulse positioning and the position of the rotor can be solved, the pulse positioning rotor position identification method is simplified, and meanwhile, full 360-degree blind-area-free positioning can be realized.
Fig. 8 is a block diagram illustrating a rotor positioning apparatus of a brushless dc motor according to an embodiment of the present invention. As shown in fig. 8, the rotor positioning apparatus of the brushless dc motor according to the embodiment of the present invention may include: a given unit 10, a current acquisition unit 20 and a control unit 30.
Wherein the given unit 10 is adapted to apply voltage detection pulses for a first preset time at different phases of the stator winding of the electrical machine; the current obtaining unit 20 is configured to obtain a current value of the stator winding at each phase; the control unit 30 is configured to, when conducting control is performed on the stator winding of the motor according to a two-phase conducting manner and a three-phase conducting manner, sequentially apply, by the given unit 10, voltage detection pulses for a first preset time to different phases of the stator winding of the motor, obtain, by the current obtaining unit 20, a current value of the stator winding in each phase to obtain a plurality of current values, obtain a maximum current value of the plurality of current values, obtain, according to the maximum current value, a sector where the rotor of the motor is located, and obtain, according to the sector where the rotor of the motor is located, a rotor position of the motor.
According to an embodiment of the present invention, after the current value of the stator winding at any phase is acquired by the current acquiring unit 20, the control unit 30 further applies a reverse voltage detecting pulse for a second preset time at any phase through the giving unit 10 to cancel the energy accumulated on the stator winding by the voltage detecting pulse for the first preset time.
According to an embodiment of the present invention, the control unit 30 is further configured to determine whether each of the plurality of current values is within a preset current range, wherein if each of the plurality of current values is within the preset current range, the control unit 30 further obtains a maximum current value of the plurality of current values; if at least one of the plurality of current values is not within the preset current range, the control unit 30 determines an invalid sector according to the at least one current value to perform fault processing according to the invalid sector.
According to an embodiment of the present invention, after obtaining the rotor position of the motor, the control unit 30 further obtains a to-be-rotated direction of the motor, and obtains a starting conduction phase of the stator winding at the time of starting the motor according to the rotor position of the motor and the to-be-rotated direction, wherein the to-be-rotated direction includes a clockwise rotation direction and a counterclockwise rotation direction.
It should be noted that details that are not disclosed in the rotor positioning device of the brushless dc motor according to the embodiment of the present invention refer to details disclosed in the rotor positioning method of the brushless dc motor according to the embodiment of the present invention, and detailed description thereof is omitted here.
According to the rotor positioning device of the brushless direct current motor, when the control unit respectively conducts control on the stator winding of the motor according to the two-phase conduction mode and the three-phase conduction mode, the given unit sequentially applies the voltage detection pulse for the first preset time to different phases of the stator winding of the motor, the current obtaining unit obtains the current value of the stator winding in each phase to obtain a plurality of current values, obtains the maximum current value of the plurality of current values, obtains the sector where the rotor of the motor is located according to the maximum current value, and obtains the rotor position of the motor according to the sector where the rotor of the motor is located. Therefore, the time for starting and positioning the motor can be greatly shortened, the motor can not be reversely rotated when being started, abnormal sound and shaking during positioning are solved, the problem of positioning error caused by mismatching of current waveforms and rotor positions during pulse positioning can be solved, the pulse positioning rotor position identification method is simplified, and meanwhile, full 360-degree non-blind-area positioning can be realized.
In addition, an embodiment of the present invention further provides a control system of a brushless dc motor, which includes the above rotor positioning device of the brushless dc motor.
According to the control system of the brushless direct current motor, the rotor positioning device of the brushless direct current motor can greatly reduce the time for starting and positioning the motor, ensure that the motor cannot rotate reversely when being started, solve abnormal sound and jitter during positioning, solve the problem of positioning error caused by mismatching of current waveform and rotor position during pulse positioning, simplify the identification method of the pulse positioning rotor position, and simultaneously realize full 360-degree blind-area-free positioning.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In addition, in the description of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A rotor positioning method of a brushless direct current motor is characterized by comprising the following steps:
when conducting control is carried out on a stator winding of a motor according to a two-phase conducting mode and a three-phase conducting mode, voltage detection pulses of first preset time are sequentially applied to different phases of the stator winding of the motor, and a plurality of current values are obtained by obtaining the current value of the stator winding in each phase;
obtaining a maximum current value of the plurality of current values;
and acquiring the sector where the rotor of the motor is located according to the maximum current value, and acquiring the position of the rotor of the motor according to the sector where the rotor of the motor is located.
2. The method of claim 1, wherein after the current value of the stator winding at any phase is obtained, a reverse voltage detection pulse is further applied at any phase for a second preset time to offset the energy accumulated on the stator winding by the voltage detection pulse of the first preset time.
3. The method of positioning a rotor of a brushless dc motor according to claim 1 or 2, further comprising:
judging whether each current value in the plurality of current values is within a preset current range;
if each current value in the plurality of current values is within the preset current range, then acquiring the maximum current value in the plurality of current values;
and if at least one current value in the plurality of current values is not in the preset current range, determining an invalid sector according to the at least one current value, and performing fault processing according to the invalid sector.
4. The method according to claim 3, wherein after obtaining the rotor position of the motor, a to-be-rotated direction of the motor is obtained, and a starting conduction phase of the stator winding at the time of starting the motor is obtained according to the rotor position of the motor and the to-be-rotated direction, wherein the to-be-rotated direction includes a clockwise rotation direction and a counterclockwise rotation direction.
5. The method of positioning a rotor of a brushless dc motor according to claim 4, wherein the clockwise rotation and the counterclockwise rotation of the motor are controlled in such a manner that any two of the three phases of the stator winding are reversed.
6. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method for positioning a rotor of a brushless dc motor according to any one of claims 1-5.
7. A rotor positioning device for a brushless dc motor, comprising:
a given unit for applying voltage detection pulses for a first preset time at different phases of a stator winding of the motor;
the current obtaining unit is used for obtaining the current value of the stator winding at each phase;
the control unit is used for sequentially applying voltage detection pulses for first preset time to different phases of the stator winding of the motor through the given unit when conducting control is conducted on the stator winding of the motor according to a two-phase conducting mode and a three-phase conducting mode respectively, obtaining the current value of the stator winding in each phase through the current obtaining unit to obtain a plurality of current values, obtaining the maximum current value of the plurality of current values, obtaining the sector where the rotor of the motor is located according to the maximum current value, and obtaining the position of the rotor of the motor according to the sector where the rotor of the motor is located.
8. The rotor positioning apparatus of a brushless dc motor according to claim 7, wherein after the current value of the stator winding at any one phase is obtained by the current obtaining unit, the control unit further applies a reverse voltage detection pulse for a second preset time at the any one phase by the given unit to cancel the energy accumulated on the stator winding by the voltage detection pulse for the first preset time.
9. The rotor positioning apparatus of a brushless DC motor according to claim 7 or 8, wherein the control unit is further configured to determine whether each of the plurality of current values is within a preset current range, wherein,
if each current value in the plurality of current values is within the preset current range, the control unit acquires the maximum current value in the plurality of current values;
if at least one current value in the plurality of current values is not in the preset current range, the control unit determines an invalid sector according to the at least one current value so as to perform fault processing according to the invalid sector.
10. The rotor positioning apparatus of a brushless dc motor according to claim 9, wherein the control unit further obtains a to-be-rotated direction of the motor after obtaining the rotor position of the motor, and obtains a start-up conduction phase of the stator winding at the start-up of the motor based on the rotor position of the motor and the to-be-rotated direction, wherein the to-be-rotated direction includes a clockwise rotation direction and a counterclockwise rotation direction.
11. A control system for a brushless dc motor, comprising a rotor positioning device for a brushless dc motor according to any one of claims 7 to 10.
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| CN110518841B (en) * | 2019-09-21 | 2021-01-15 | 深圳和而泰智能控制股份有限公司 | Motor starting method and device and computer storage medium |
| CN111228107A (en) * | 2020-01-14 | 2020-06-05 | 深圳市恒瑞灵机电有限公司 | Control method and device of massage gun and readable storage medium |
| CN113746390B (en) * | 2021-10-09 | 2023-12-19 | 陕西航空电气有限责任公司 | Method for presetting rotor switching positions of multiple pump motors of aviation general motor controller |
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