CN108631661A - 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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- CN108631661A CN108631661A CN201810295496.8A CN201810295496A CN108631661A CN 108631661 A CN108631661 A CN 108631661A CN 201810295496 A CN201810295496 A CN 201810295496A CN 108631661 A CN108631661 A CN 108631661A
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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 default conduction mode, 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；The maximum current value in multiple current values is obtained, and the corresponding phase of maximum current value is denoted as first phase；The phase that current value is larger in two phases adjacent with first phase is obtained, second phase is denoted as；The sector where the rotor of motor is obtained according to first phase and second phase, and the rotor-position of motor is obtained according to the sector where rotor.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 duty cycle, will increase starting current in this way, increase power consumption, in the occasion that some are battery powered, system effect can be reduced
Rate；3) it is possible that reversion, is not suitable for occasion of the requirement electric motor starting without reversion when positioning；4) it is susceptible to and trembles when positioning
Dynamic and abnormal sound.
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：When carrying out conducting control to the stator winding of motor according to default conduction mode, successively in the motor
The out of phase of stator winding apply the voltage test pulse of the first preset time, and by obtaining the stator winding every
The current value of a phase is to obtain multiple current values；The maximum current value in the multiple current value is obtained, and described in acquisition most
High current is worth corresponding phase, is denoted as first phase；It is larger to obtain current value in two phases adjacent with the first phase
Phase, be denoted as second phase；The fan where the rotor of the motor is obtained according to the first phase and the second phase
Area, and obtain according to the sector where the rotor of the motor rotor-position of the motor.
The rotor fixed position method of brshless DC motor according to the ... of the embodiment of the present invention, according to default conduction mode to motor
When stator winding carries out conducting control, apply the voltage inspection of the first preset time in the out of phase of the stator winding of motor successively
Pulse is surveyed, and multiple current values are obtained in the current value of each phase by obtaining stator winding, and obtains multiple electric currents
Maximum current value in value, and the corresponding phase of maximum current value is denoted as first phase, and obtain adjacent with first phase
Two phases in the larger phase of current value, be denoted as second phase, then, motor obtained according to first phase and second phase
Rotor where sector, and according to where the rotor of motor sector obtain motor rotor-position.It as a result, can not only be big
Width reduces 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
It solves the problems, such as current waveform when pulse positioning and Wrong localization caused by rotor-position mismatch, simplifies pulse positioning rotor
Location recognition 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 default conduction mode is two-phase conduction mode or three sides of being conducted
Formula.
According to one embodiment of present invention, turning for the motor is obtained according to the first phase and the second phase
Sector where sub, including：60 ° of sectors where the rotor are first determined according to the first phase, further according to described second
Phase determines 30 ° of sectors where the rotor to obtain the sector where the rotor.
According to one embodiment of present invention, if the current value of two phases adjacent with the first phase is equal,
Then according to the sector of the first phase and the motor waited for where direction of rotation obtains the rotor.
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.
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 according to pre-
If conduction mode carries out conducting control to the stator winding of motor, by the given unit successively in the stator of the motor
The out of phase of winding applies the voltage test pulse of the first preset time, and described fixed by electric current acquiring unit acquisition
Sub- winding obtains multiple current values in the current value of each phase, and obtains the maximum current in the multiple current value
Value, and the corresponding phase of the maximum current value is obtained, it is denoted as first phase, and obtain two adjacent with the first phase
The larger phase of current value in a phase is denoted as second phase, and obtains institute according to the first phase and the second phase
The sector where the rotor of motor is stated, and obtains the rotor position of the motor according to the sector where the rotor of the motor
It sets.
The rotor fixed position device of brshless DC motor according to the ... of the embodiment of the present invention, control unit is according to default conduction mode
When carrying out conducting control to the stator winding of motor, applied successively in the out of phase of the stator winding of motor by given unit
The voltage test pulse of first preset time, and by electric current acquiring unit obtain stator winding each phase current value with
Multiple current values are obtained, and obtain the maximum current value in multiple current values, and the corresponding phase of maximum current value is denoted as
First phase, and the phase that current value is larger in two phases adjacent with first phase is obtained, it is denoted as second phase, and root
The sector where the rotor of motor is obtained according to first phase and second phase, and is obtained according to the sector where the rotor of motor
The rotor-position of motor.Can not only substantially reduce as a result, electric motor starting positioning time, ensure electric motor starting when will not be anti-
Turn, solve abnormal sound when positioning and shake, additionally it is possible to which current waveform when solving pulse positioning is caused with rotor-position mismatch
Wrong localization problem, simplify pulse positioning rotor-position recognition methods, while can realize the positioning of complete 360 ° of non-blind areas.
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 default conduction mode is two-phase conduction mode or three sides of being conducted
Formula.
According to one embodiment of present invention, described control unit is obtained according to the first phase and the second phase
When sector where the rotor of the motor, wherein described control unit first determines the rotor institute according to the first phase
60 ° of sectors, determine 30 ° of sectors where the rotor to obtain the fan where the rotor further according to the second phase
Area.
According to one embodiment of present invention, if the current value of two phases adjacent with the first phase is equal,
Described control unit is then according to the sector of the first phase and the motor waited for where direction of rotation obtains the rotor.
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.
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 is the impulses injection sequence diagram under two-phase conduction mode according to an embodiment of the invention；
Fig. 5 is the pulse current waveform figure under two-phase conduction mode 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, according to default conduction mode to the stator winding of motor carry out conducting control when, successively the stator of motor around
Group out of phase apply the first preset time voltage test pulse, and by obtain stator winding each phase electric current
Value is to obtain multiple current values.
In some embodiments of the invention, it is two-phase conduction mode or three-phase conduction mode to preset conduction mode.Its
In, hardware principle schematic diagram according to Fig.3, the vector listed under two-phase conduction mode is：
Q1, Q4 conducting → A+B- (being denoted as AB), in other words, when switching tube Q1 and Q4 are connected, current direction is：DC bus
Positive voltage terminal P+ → switching tube Q1 → A phases stator winding → B phases stator winding → switching tube Q4 → DC bus-bar voltage negative terminal P-,
Corresponding vector A+B-, is denoted as the AB phase conductions of stator winding；
Q1, Q2 conducting → A+C- (being denoted as AC)；
Q3, Q2 conducting → B+C- (being denoted as BC)；
Q3, Q6 conducting → B+A- (being denoted as BA)；
Q5, Q6 conducting → C+A- (being denoted as CA)；
Q5, Q4 conducting → C+B- (being denoted as CB).
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 arrow in two-phase conduction mode or three-phase conduction mode can be selected
Amount is used as position pulse vector, by taking two-phase conduction mode as an example.
As shown in figure 3, microcontroller (MCU) can first control switching tube Q1 and Q4 conducting, so that the AB phases of stator winding
Conducting, and (value of Δ t), Tp1 in i.e. above-mentioned principle are by winding inductance size and three contraries by the first preset time T p1 of maintenance
Become the size of current that power device (switching tube Q1~Q6) can bear in bridge and determine that winding inductance is smaller, and winding current is bigger,
Vice versa.In practical applications, above-mentioned formula (2) can be first passed through and estimate the first preset time T p1, then pass through oscillograph
Observation adjusts the value size of Tp1 in software, and the pulse current in stator winding is controlled in acceptable size model
Within enclosing, the value of Tp1 is determined when obtaining suitable pulse current.In the example of the present invention, the value range of Tp1
For 50~80us.When the time reaching the first preset time T p1, microcontroller reads instantaneous electricity this moment by current sampling module
Size is flowed, 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 disconnect.
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 the current value of the AC phases of iCB and stator winding, is denoted as iAC, finally obtains six current values, point
It Wei not iAB, iBC, iCA, iBA, iCB and iAC.
It should be noted that the impulses injection process of above-mentioned examples cited is the sequence according to AB, BC, CA, BA, CB, AC,
But this is sequentially not essential, and can arbitrarily sort, and is not influenced on the sector judging result where rotor.
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 by taking two-phase conduction mode as an example.As shown in Figure 3 and Figure 4, microcontroller can first control switching tube Q1 and
Q4 is connected, so that the AB phase conductions of stator winding, and maintain the first preset time T p1.Reach the first preset time when the time
When Tp1, microcontroller reads transient current size this moment by current sampling module, is denoted as iAB, at the same control switching tube Q1 and
Q4 is disconnected, 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 after the current value for obtaining each phase, carries out current canceling operation, that is, the phase of stator winding
Turn-on sequence is：AB, BA, BC, CB, CA, AC, BA, AB, CB, BC, AC, CA, six current values of final acquisition, respectively iAB,
IBC, iCA, iBA, iCB and iAC.
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, and the corresponding phase of maximum current value is denoted as first phase.
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 phase currents
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, still by taking two-phase conduction mode as an example.Get through the above way six current value iAB, iBC,
After iCA, iBA, iCB and iAC, Effective judgement also is carried out to this six current values.If each of this six current values
Current value is within the scope of predetermined current, then obtains the maximum current value in this six current values again；If this six electric currents
There are at least one current values to be not within the scope of predetermined current in value, then obtains the current value being not within the scope of predetermined current
Corresponding phase, and then invalid sector is determined according to phase, and troubleshooting is done according to these sectors, specifically how to do event
Barrier processing, is not described in detail herein.
S3 obtains the phase that current value is larger in two phases adjacent with first phase, is denoted as second phase.
S4 obtains the sector where the rotor of motor according to first phase and second phase, and according to the rotor of motor institute
Sector obtain motor rotor-position.
In some embodiments of the invention, the fan where the rotor of motor is obtained according to first phase and second phase
Area, including：60 ° of sectors where rotor are first determined according to first phase, and 30 ° of fans where rotor are determined further according to second phase
Area is to obtain the sector where rotor.
In some embodiments of the invention, if the current value of two phases adjacent with first phase is equal, root
According to the sector of first phase and motor waited for where direction of rotation obtains rotor.
Specifically, after obtaining multiple current values, can validity check first be carried out to multiple current values, checked out
At and when determining that each current value is effective, start to obtain the maximum current value in multiple current values, and by maximum current value pair
The phase answered is denoted as first phase Vector1, at this time rotor-position can determine first phase Vector1 directions ±
Within the scope of 30 °, the current value of its two adjacent phase is then judged, and current value larger in two current values is corresponded to
Phase be denoted as second phase Vector2, rotor-position is in first phase Vector1 and close to second phase Vector2 at this time
30 ° of offset within the scope of.Particularly, if the current value of two phases adjacent with first phase Vector1 is equal,
Directly wait for that direction of rotation determines the rotor position of motor (clockwise or counterclockwise) according to first phase Vector1 and motor at this time
It sets.
For example, still by taking two-phase conduction mode as an example.Table 1 gives under two-phase conduction mode maximum current value and time big
Current value combines corresponding sector, and (secondary high current value here refers to the electric current of above-mentioned two phase adjacent with first phase
Larger current value in value, does not mean that the secondary high current value in multiple current values, the current value likely to be less than with the first phase
The current value of the non-conterminous phase in position), table 2 gives maximum current value when motor needs to rotate clockwise under two-phase conduction mode
Corresponding sector.
Table 1
| Maximum current value and time high current value combination | Sector number |
| IBC is maximum, and iBA times big or iBA is maximum, iBC times big | I |
| IAC is maximum, and iBC times big or iBC is maximum, iAC times big | III |
| IAC is maximum, and iAB times big or iAB is maximum, iAC times big | II |
| IAB is maximum, and iCB times big or iCB is maximum, iAB times big | VI |
| ICB is maximum, and iCA times big or iCA is maximum, iCB times big | IV |
| ICA is maximum, and iBA times big or iBA is maximum, iCA times big | V |
Table 2
| Maximum current value | Sector number |
| IBA is maximum | I |
| IBC is maximum | III |
| IAC is maximum | II |
| IAB is maximum | VI |
| ICB is maximum | IV |
| ICA is maximum | V |
As shown in Table 1 and Table 2, it is assumed that the maximum electricity in six current values iAB, iBC, iCA, iBA, iCB, iAC of acquisition
Flow valuve is iBC, and the corresponding phases of maximum current value iBC are BC phases, according to Fig. 6 as can be seen that the rotor position of motor at this time
It sets within the scope of ± 30 ° of BC phases.Also, two phases adjacent with BC phases are AC phases and BA phases respectively,
In, if the current value of AC phases is more than the current value of BA phases, the rotor-position of motor can be determined according to AC phases
Within the scope of 30 ° of AC phases, i.e., the rotor-position of motor is in sector III；If the current value of AC phases is less than BA phases
The current value of position, then can determine the rotor-position of motor within the scope of 30 ° of BA phases according to BA phases, i.e. motor
Rotor-position in sector I；If the current value of AC phases is equal to the current value of BA phases, when motor rotates clockwise
When, the rotor-position of motor can be determined in sector III according to the corresponding phases of maximum current value iBC.Hereby it is achieved that motor
Rotor-position acquisition.
It should be noted that the phase (i.e. vector) and sector number (sector number in Tables 1 and 2) of impulses injection are not must
Must and it is unique, in fact, sector number can arbitrary value, as long as 6 sectors for distinguishing decile within the scope of 360 ° can be reached
.
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 selects the vector under two-phase conduction mode to carry out rotor fixed position as position pulse vector, obtains six electricity
Flow valuve.
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, judges whether current value meets set maximum current value and time high current value combination (e.g., table 1).If
It is to execute step S106；Otherwise, step S105 is executed.
S105 searches the corresponding sector number of maximum current value and (it is corresponding e.g., to search maximum current value from preset table 2
Sector number).
S106 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, also according to motor
The startup conduction phase of stator winding when direction of rotation obtains electric motor starting of rotor-position and motor, wherein motor waits for
Direction of rotation includes rotating clockwise direction and direction of rotation counterclockwise.Specifically, direction of rotation can be waited for according to motor, in electricity
On the basis of sector where the rotor of machine advanced 90 °~120 ° to obtain electric motor starting when stator winding startup be connected phase
Position.
For example, still by taking two-phase conduction mode as an example.Table 3 and table 4 are respectively (CW) clockwise under two-phase conduction mode
With the startup conduction phase table in the case of (CCW) counterclockwise, the side of phase vectors rotation is referred to clockwise and anticlockwise herein
To not necessarily consistent with real electrical machinery shaft direction of rotation.
Table 3
Table 4
| 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 3 and Table 4, 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 3 and table 4.
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, by taking two-phase conduction mode as an example.It is rotated both clockwise and counterclockwise and following method also can be used：Assuming that pressing
Sequence and Tables 1 and 2 according to AB, BC, CA, BA, CB, AC obtain the rotor-position of motor, and are led using starting shown in table 3
Logical phase is rotated clockwise, then when needing rotation counterclockwise, it can will be arbitrary in A, B and C three-phase specified in Fig. 3
Two-phase is exchanged, and is such as exchanged the corresponding driving pin of A phases and C and the back-emf acquisition channel of A phases and C phases, then in software
In still according to AB, BC, CA, BA, CB, AC sequence and Tables 1 and 2 obtain motor rotor-position, and still use table 3
Shown in start conduction phase control motor rotation, you can realize the startup counterclockwise of motor.That is, using the arbitrary two-phase side of exchanging
The positioning and startup for rotating clockwise and rotating counterclockwise can be realized in formula.
It should be noted that three-phase conduction mode is similar to two-phase conduction mode, just no longer it is 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, according to default conducting side
When formula carries out conducting control to the stator winding of motor, successively when the out of phase of the stator winding of motor application first is default
Between voltage test pulse, and obtain multiple current values in the current value of each phase by obtaining stator winding, and obtain
It takes the maximum current value in multiple current values, and the corresponding phase of maximum current value is denoted as first phase, and obtain and the
The larger phase of current value, is denoted as second phase, then, according to first phase and the second phase in two adjacent phases of one phase
Sector where the rotor of position acquisition motor, and according to the rotor-position of the sector acquisition motor where the rotor of motor.As a result,
Can not only substantially reduce electric motor starting positioning time, ensure electric motor starting when will not invert, solve positioning when abnormal sound and
Shake, additionally it is possible to solve the problems, such as current waveform when pulse positioning and Wrong localization caused by rotor-position mismatch, simplify
Pulse positions 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 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 is used for according to pre-
If conduction mode carries out conducting control to the stator winding of motor, by given unit 10 successively in the stator winding of motor
Out of phase applies the voltage test pulse of the first preset time, and obtains stator winding each by electric current acquiring unit 20
The current value of phase is to obtain multiple current values, and obtains the maximum current value in multiple current values, and by maximum current value
Corresponding phase is denoted as first phase, and obtains the phase that current value is larger in two phases adjacent with first phase, note
For second phase, and the sector where the rotor of motor is obtained according to first phase and second phase, and is turned according to motor
Sector where sub obtains the rotor-position of motor.
According to one embodiment of present invention, it is two-phase conduction mode or three-phase conduction mode to preset conduction mode.
According to one embodiment of present invention, control unit 30 obtains the rotor of motor according to first phase and second phase
When the sector at place, wherein control unit 30 first determines 60 ° of sectors where rotor according to first phase, further according to the second phase
30 ° of sectors where the determining rotor in position are to obtain the sector where rotor.
According to one embodiment of present invention, if the current value of two phases adjacent with first phase is equal, control
Unit 30 is then according to the sector of first phase and motor waited for where direction of rotation obtains rotor.
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.
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 is according to default conduction mode
When carrying out conducting control to the stator winding of motor, applied successively in the out of phase of the stator winding of motor by given unit
The voltage test pulse of first preset time, and by electric current acquiring unit obtain stator winding each phase current value with
Multiple current values are obtained, and obtain the maximum current value in multiple current values, and the corresponding phase of maximum current value is denoted as
First phase, and the phase that current value is larger in two phases adjacent with first phase is obtained, it is denoted as second phase, and root
The sector where the rotor of motor is obtained according to first phase and second phase, and is obtained according to the sector where the rotor of motor
The rotor-position of motor.Can not only substantially reduce as a result, electric motor starting positioning time, ensure electric motor starting when will not be anti-
Turn, solve abnormal sound when positioning and shake, additionally it is possible to which current waveform when solving pulse positioning is caused with rotor-position mismatch
Wrong localization problem, simplify pulse positioning rotor-position recognition methods, while can realize the positioning of complete 360 ° of non-blind areas.
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 (12)
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 default conduction mode, successively in the stator winding of the motor
Out of phase applies the voltage test pulse of the first preset time, and by obtain the stator winding each phase electric current
Value is to obtain multiple current values；
The maximum current value in the multiple current value is obtained, and the corresponding phase of the maximum current value is denoted as the first phase
Position；
The phase that current value is larger in two phases adjacent with the first phase is obtained, second phase is denoted as；
The sector where the rotor of the motor is obtained according to the first phase and the second phase, and according to the motor
Rotor where sector obtain 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 the default conduction mode
For two-phase conduction mode or three-phase conduction mode.
3. the rotor fixed position method of brshless DC motor as claimed in claim 1 or 2, which is characterized in that according to described first
Phase and the second phase obtain the sector where the rotor of the motor, including：
60 ° of sectors where the rotor are first determined according to the first phase, and described turn is determined further according to the second phase
30 ° of sectors where sub are to obtain the sector where the rotor.
4. the rotor fixed position method of brshless DC motor as claimed in claim 3, which is characterized in that wherein, if with described
The current value of two adjacent phases of first phase is equal, then waits for that direction of rotation is obtained according to the first phase and the motor
Obtain the sector where the rotor.
5. the rotor fixed position method of the brshless DC motor as described in any one of claim 1-4, which is characterized in that obtaining
The stator winding also applies the backward voltage of the second preset time after the current value of any phase in any phase
Detect pulse, the energy that the voltage test pulse to offset first preset time is accumulated on the stator winding.
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, when for carrying out conducting control to the stator winding of motor according to default conduction mode, by described given
Unit applies the voltage test pulse of the first preset time in the out of phase of the stator winding of the motor successively, and passes through institute
It states electric current acquiring unit and obtains the stator winding in the current value of each phase to obtain multiple current values, and described in acquisition
Maximum current value in multiple current values, and the corresponding phase of the maximum current value is obtained, it is denoted as first phase, and obtain
The larger phase of current value in two phases adjacent with the first phase, is denoted as second phase, and according to first phase
Position and the second phase obtain the sector where the rotor of the motor, and according to the sector where the rotor of the motor
Obtain the 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 the default conduction mode
For two-phase conduction mode or three-phase conduction mode.
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
When obtaining the sector where the rotor of the motor according to the first phase and the second phase, wherein
Described control unit first determines 60 ° of sectors where the rotor according to the first phase, further according to second phase
30 ° of sectors where the determining rotor in position are to obtain the sector where the rotor.
10. the rotor fixed position device of brshless DC motor as claimed in claim 9, which is characterized in that wherein, if with described
The current value of two adjacent phases of first phase is equal, and described control unit is then according to the first phase and the motor
Wait for that direction of rotation obtains the sector where the rotor.
11. the rotor fixed position device of the brshless DC motor as described in any one of claim 7-10, which is characterized in that logical
It crosses the electric current acquiring unit and obtains the stator winding after the current value of any phase, described control unit also passes through institute
The backward voltage detection pulse that given unit applies the second preset time in any phase is stated, it is default to offset described first
The energy that the voltage test pulse of time is accumulated on the stator winding.
12. a kind of control system of brshless DC motor, which is characterized in that include as described in any one of claim 7-11
The rotor fixed position device of brshless DC motor.
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