CN108683368A - A kind of brshless DC motor device - Google Patents
A kind of brshless DC motor device Download PDFInfo
- Publication number
- CN108683368A CN108683368A CN201810372012.5A CN201810372012A CN108683368A CN 108683368 A CN108683368 A CN 108683368A CN 201810372012 A CN201810372012 A CN 201810372012A CN 108683368 A CN108683368 A CN 108683368A
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- Prior art keywords
- motor
- rotating speed
- brshless
- pulse
- speed
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Classifications
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Abstract
The invention discloses a kind of brshless DC motor devices, include mainly control panel, Hall sensor group, man-machine interface circuit, motor driving plate and DC brushless motor；User first passes through the key-press module setting indices of man-machine interface circuit, after being input to control panel calculation processing again, it is changed into PWM drive signal to export to motor driving plate, motor driving plate is run using PWM drive signal driving DC brushless motor, and observes motor real-time operating conditions by liquid crystal screen module；The rotating speed that Hall sensor group passes through detection DC brushless motor, generate the waveform signal that difference is 120 ° of electrical angles, binary coding is carried out to waveform signal again, the pulse signal of six states is obtained and is sent to control panel, digital signal processing module realizes the commutation of motor according to pulse signal and tests the speed.In this way on the basis for not increasing hardware, the accurate measuring rotating speed of rotating speed measurement method of improvement is used, and the result that tests the speed is more accurate, stability higher, the autgmentability of device are stronger.
Description
Technical field
The invention belongs to motor speed measuring technical fields, more specifically, are related to a kind of brshless DC motor device.
Background technology
Brushless direct current motor is along with the development of electronic technology, automatic control technology, computer technology, gradually extensively
A kind of novel AC of application.Have the characteristics that long lifespan, reliable for operation, easy maintenance, while its rotating speed is not by machinery
The limitation of commutation, it can be achieved that tens of thousands of ultrahigh speed operations to hundreds of thousands per minute, national defense industry, vehicle appliance, instrument and meter,
The industries such as robot control have obtained extensive utilization.
And traditional speed-measuring method mainly has periodic method and frequency method, wherein there are two sensor pulses in periodic method
In interval width, clock synchronization main pulse counts the problem of might have the error of 1 unit, when speed is higher, between the time measured
Smaller every width, the ratio shared by error becomes much larger；Frequency method is because there are half of sensor pulses of head and the tail in time of measuring
Problem might have the error of 1 pulse, when speed is relatively low, because the umber of pulse in time of measuring tails off, and the ratio shared by error
Regular meeting becomes larger, and affects the measurement accuracy of brushless motor.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of brshless DC motor devices, according to brushless
The different rotating speeds range of direct current, is tested the speed using different speed-measuring methods, and the result that makes to test the speed is more accurate, and whole device
Stability higher, autgmentability are stronger.
For achieving the above object, a kind of brshless DC motor device of the present invention, which is characterized in that including：
One control panel, including pulse counter and digital signal processing module, with man-machine interface circuit, motor driving plate and Hall
Sensor group connects；The indices of setting are sent to control panel by the key-press module of man-machine interface circuit, and pass through control panel
After calculation processing, it is changed into PWM drive signal and exports to motor driving plate；Believed simultaneously according to the pulse of Hall sensor group detection
Number, it realizes the step-by-step counting to pulse signal using pulse counter, motor commutation, Yi Jiji is realized using digital signal processing module
Calculate the rotating speed of current brshless DC motor；
Its input terminal connects Hall sensor group, for detecting input pulse signal, realizing motor commutation and calculating current
Motor speed；Its output end connects motor driving plate, for exporting pwm control signal；
One Hall sensor group is made of three Hall sensors, and the space of three Hall sensors is separated by 120 degree；Suddenly
That sensor group generates the waveform signal that difference is 120 ° of electrical angles, then by right by the rotating speed of detection DC brushless motor
Waveform signal carries out binary coding, obtains the pulse signal of 001 to 100 six states, is then forwarded to control panel；
One man-machine interface circuit, including key-press module and liquid crystal screen module；User sets brush DC by key-press module
The indices of motor observe the real-time operating conditions of DC brushless motor by liquid crystal screen module；
One motor driving plate is transported for receiving PWM drive signal, and using PWM drive signal driving DC brushless motor
Row；
One DC brushless motor is run according to PWM drive signal size.
What the goal of the invention of the present invention was realized in：
A kind of brshless DC motor device of the present invention, include mainly control panel, Hall sensor group, man-machine interface circuit,
Motor driving plate and DC brushless motor；User first passes through the key-press module setting indices of man-machine interface circuit, then inputs
To control panel calculation processing, it is changed into PWM drive signal and exports to motor driving plate, motor driving plate utilizes PWM driving letters
Number driving DC brushless motor operation, and pass through liquid crystal screen module observe motor real-time operating conditions；Hall sensor group passes through
The rotating speed of DC brushless motor is detected, generates the waveform signal that difference is 120 ° of electrical angles, then by carrying out two to waveform signal
Scale coding obtains the pulse signal of 001 to 100 six states and is sent to control panel, the digital signal processing module in control panel
The commutation of motor is realized according to pulse signal and is tested the speed.In this way on the basis for not increasing hardware, the rotating speed of improvement has been used
The accurate measuring rotating speed of measurement method, and the result that tests the speed is more accurate, stability higher, the autgmentability of device are stronger.
Description of the drawings
Fig. 1 is a kind of brshless DC motor schematic diagram of device of the present invention；
Fig. 2 is the structure and status diagram of Hall sensor group；
Fig. 3 is the circuit diagram of drive circuit board.
Specific implementation mode
The specific implementation mode of the present invention is described below in conjunction with the accompanying drawings, preferably so as to those skilled in the art
Understand the present invention.Requiring particular attention is that in the following description, when known function and the detailed description of design perhaps
When can desalinate the main contents of the present invention, these descriptions will be ignored herein.
Embodiment
Fig. 1 is a kind of brshless DC motor schematic diagram of device of the present invention.
In the present embodiment, as shown in Figure 1, a kind of brshless DC motor device of the present invention, includes mainly control panel, Hall
Sensor group, man-machine interface circuit, motor driving plate and DC brushless motor；In the present embodiment, control panel selects STM32 mono-
Piece machine has the features such as high-performance, low cost, low-power consumption, Hall sensor to select sensitivity higher compared with previous microcontroller
HALL sensors, DC brushless motor select BLDCM model motors；
Wherein, the effect of control panel has the input, processing, output of signal, and structure includes pulse counter and digital processing
Module etc. is connect with man-machine interface circuit, motor driving plate and Hall sensor group；Man-machine interface circuit realizes human-computer interaction work(
Can, wherein the indices of setting are sent to control panel by key-press module, and by control panel calculation processing after, be changed into PWM
Drive signal is exported to motor driving plate so that control system is more convenient to be easy；Control panel is according to Hall sensor group simultaneously
The pulse signal of detection, the step-by-step counting to pulse signal is realized using pulse counter, and electricity is realized using digital signal processing module
Machine commutates, and the rotating speed of current brshless DC motor is calculated using the segmented algorithm after improvement so that result is more accurate；
Step-by-step counting is counted to the state of pulse signal, is 1 when three Hall sensors of regulation export high level,
When output low level is 0, so that it may the pulse signal after coding is represented sequentially as 001 to 100 six states, then step-by-step counting
The count value of device adds one successively.
As shown in Fig. 2, Hall sensor group is made of three Hall sensors, i.e. a, b, c, each Hall sensor by
Hall element and signal processing circuit are constituted, and the space of three Hall sensors is separated by 120 degree；
Its principle is to detect rotating speed by the change of motor-field.When Hall sensor group detects DC brushless motor
When rotating speed, when the poles N in the magnetic field that DC brushless motor generates when running move closer to Hall sensor and reach some strength,
Output is conducting state；When magnetic field is changed into the poles S and reaches certain value, output switching activity is to realize electricity by state
Machine commutates, when the waveform signal that S-N replaces under changing magnetic field, and sensor meeting output duty cycle is 50%, in the present embodiment,
Three Hall sensors that space is separated by 120 degree are used, therefore the waveform signal that its output is 120 ° of electrical angles, such as Fig. 2 institutes
Show, then by carrying out binary coding to waveform signal, obtains the pulse signal of 001 to 100 six states, be then forwarded to control
Plate is counted；
Man-machine interface circuit, including key-press module and liquid crystal screen module；User sets brush DC electricity by key-press module
The indices of machine observe the real-time operating conditions of DC brushless motor by liquid crystal screen module such as rotating speed of target；
As shown in figure 3, motor driving plate, using three-phase inverting circuit, in circuit board shown in Fig. 3, delivery outlet is straight
It connecing and is connect with DC brushless motor delivery outlet, the end M-U, M-V, M-W is separately connected the input port of DC brushless motor, MC-WH,
The end MC-VH, MC-UH keeps low level, reaches commutation by changing the level at the end MC-WI, MC-VL, MC-UL, and then pass through
PWM drive signal drives the DC brushless motor to run.
DC brushless motor is run according to PWM drive signal size.
The pulse that control panel is inputted by Hall sensor uses different algorithms between the different ranges of speeds respectively
The current rotating speed of motor is precisely calculated, it is first determined low, high regime range uses measuring period method in low speed, specifically
For：According to the characteristic of structure, in the present apparatus every 36 pulses be equal to motor a circle, then pass through record 36 pulses time
The time used in motor one number of turns of completion is obtained, one minute rotating speed is being converted into；Frequency method is used in high speed, specially
Meeting：Device can calculate the number of commutation at interval of every 10ms, then divided by 36 obtain the rotating speed in 10ms, be finally converted into one minute
Rotating speed；When the low speed segment upper limit be less than high regime lower limit, then the low speed segment upper limit be less than high regime lower limit between use synthesis
Rotating speed is calculated, that is, periodic method is respectively adopted and frequency method calculates rotating speed, and is averaged as current rotating speed.
The method of digital processing module count brshless DC motor rotating speed is described in detail in we below, detailed process
For：
(1), digital signal processing module tentatively judges the range of speeds of brshless DC motor, if rotating speed be less than K circle/point,
Indicate that the rotating speed of current brshless DC motor is in the low speed segment range of speeds, anyway for the high regime range of speeds；
(2), in the low speed segment range of speeds, rotating speed n is counted using periodic method；
Wherein, TpThe interval width of pulse is generated between expression Hall sensor, P indicates step-by-step counting when motor turns over a circle
The count value of device, fcThe reference clock pulse frequency of plate in order to control, the when main pulse number of m plates in order to control；
Count rotating speed deviation delta n：
Setting relative error is x%, is enabled：N and Δ n are substituted into again, obtained：
It is updated in n again, obtains maximum (top) speed nmaxFor：
Assuming that reference clock pulse frequency is 1Mhz, P numerical value is 36, and error 1%, maximum rotating speed can be calculated to obtain by bringing into
It is 16000 turns.
(3), in the high regime range of speeds, rotating speed n is counted using frequency method；
Wherein, QpIndicate the count value of pulse counter in the unit interval, FsFor count frequency, C indicates umber of pulse/week；
Count rotating speed deviation delta n：
Setting relative error is x%, is enabled：N and Δ n are substituted into again, obtain minimum speed nminFor：
When 50ms carry out pulsatile once counting when, frequency is 20hz and the numerical value of C is 36, and assume error be 1% when, generation
It is 3000 turns to enter the rotating speed that can be calculated to the end.
(4), compare the maximum (top) speed n of low speed segmentmaxWith the minimum speed n of high regimeminIf nmax＜ nmin, then by nmax
And nminIt averages, is re-used as the rotating speed of current brshless DC motor；Otherwise, the rotating speed directly each stage being calculated
It is worth the rotating speed as current brshless DC motor.
Although the illustrative specific implementation mode of the present invention is described above, in order to the technology of the art
Personnel understand the present invention, it should be apparent that the present invention is not limited to the range of specific implementation mode, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the spirit and scope of the present invention in, these
Variation is it will be apparent that all utilize the innovation and creation of present inventive concept in the row of protection.
Claims (4)
1. a kind of brshless DC motor device, which is characterized in that including：
One control panel, including pulse counter and digital signal processing module, with man-machine interface circuit, motor driving plate and hall sensing
Device group connects；The indices of setting are sent to control panel by the key-press module of man-machine interface circuit, and are calculated by control panel
After processing, it is changed into PWM drive signal and exports to motor driving plate；The pulse signal detected simultaneously according to Hall sensor group,
The step-by-step counting to pulse signal is realized using pulse counter, realizes motor commutation using digital signal processing module, and calculate
The rotating speed of current brshless DC motor；
One Hall sensor group is made of three Hall sensors, and the space of three Hall sensors is separated by 12 degree；Hall sensing
Device group generates the waveform signal that difference is 120 ° of electrical angles, then by believing waveform by the rotating speed of detection DC brushless motor
Number carry out binary coding, obtain the pulse signal of 001 to 100 six states, be then forwarded to control panel；
One man-machine interface circuit, including key-press module and liquid crystal screen module；User sets DC brushless motor by key-press module
Indices, pass through liquid crystal screen module observe DC brushless motor real-time operating conditions；
One motor driving plate is run for receiving PWM drive signal, and using PWM drive signal driving DC brushless motor；
One DC brushless motor is run according to PWM drive signal size.
2. a kind of brshless DC motor device according to claim 1, which is characterized in that the step-by-step counting is to arteries and veins
The state for rushing signal is counted, when the pulse signal after coding is followed successively by 001 to 100 six states of appearance, step-by-step counting
The count value of device adds one successively.
3. a kind of brshless DC motor device according to claim 1, which is characterized in that the Hall sensor group inspection
When surveying the rotating speed of DC brushless motor, the poles N in the magnetic field that DC brushless motor generates when running move closer to Hall sensor simultaneously
When reaching some strength, output is conducting state；When magnetic field is changed into the poles S and reaches certain value, output switching activity
By state, to realize motor commutation, under S-N alternating changing magnetic fields, the waveform signal of 120 ° of electrical angles is exported.
4. a kind of brshless DC motor device according to claim 1, which is characterized in that the digital signal processing module meter
The method of number brshless DC motor rotating speeds is：
(1), digital signal processing module tentatively judges the range of speeds of brshless DC motor, if rotating speed be less than K circle/point, then it represents that
The rotating speed of current brshless DC motor is in the low speed segment range of speeds, anyway for the high regime range of speeds；
(2), in the low speed segment range of speeds, rotating speed n is counted using periodic method；
Wherein, TpThe interval width of pulse is generated between expression Hall sensor, P indicates pulse counter when motor turns over a circle
Count value, fcThe reference clock pulse frequency of plate in order to control, the when main pulse number of m plates in order to control；
Count rotating speed deviation delta n：
Setting relative error is x%, is enabled：N and Δ n are substituted into again, obtained：
It is updated in n again, obtains maximum (top) speed nmaxFor：
(3), in the high regime range of speeds, rotating speed n is counted using frequency method；
Wherein, QpIndicate the count value of pulse counter in the unit interval, FsFor count frequency, C indicates umber of pulse/week；
Count rotating speed deviation delta n：
Setting relative error is x%, is enabled：N and Δ n are substituted into again, obtaining minimum minimum speed is：
(4), compare the maximum (top) speed n of low speed segmentmaxWith the minimum speed n of high regimeminIf nmax＜ nmin, then by nmaxWith
nminIt averages, is re-used as the rotating speed of current brshless DC motor；Otherwise, the tachometer value directly each stage being calculated
Rotating speed as current brshless DC motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810372012.5A CN108683368A (en) | 2018-04-24 | 2018-04-24 | A kind of brshless DC motor device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810372012.5A CN108683368A (en) | 2018-04-24 | 2018-04-24 | A kind of brshless DC motor device |
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| CN201810372012.5A Pending CN108683368A (en) | 2018-04-24 | 2018-04-24 | A kind of brshless DC motor device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109546900A (en) * | 2019-01-28 | 2019-03-29 | 辽宁工业大学 | A kind of crawler belt type miniature ploughing machine automated steering motor control assembly and its control method |
| CN110702937A (en) * | 2019-09-24 | 2020-01-17 | 江苏科技大学 | Brushless direct current motor speed measuring device based on single chip microcomputer and using method |
| CN111092573A (en) * | 2019-12-12 | 2020-05-01 | 深圳市鼎拓达机电有限公司 | Brushless motor servo driver |
| CN111438709A (en) * | 2020-04-30 | 2020-07-24 | 深圳市鼎拓达机电有限公司 | Mechanical arm monitoring equipment |
| CN112003802A (en) * | 2020-06-19 | 2020-11-27 | 浙江华云信息科技有限公司 | Coding system and method using reactive current pulse |
| CN112039404A (en) * | 2020-08-06 | 2020-12-04 | 东莞佳宏汽车用品有限公司 | Automobile motor control system capable of detecting angle |
| CN112468028A (en) * | 2020-11-17 | 2021-03-09 | 生物岛实验室 | Low-speed detection method and device of brushless motor |
| CN112540189A (en) * | 2020-11-26 | 2021-03-23 | 深圳航天科技创新研究院 | Hall speed measuring method and device, motor, reaction flywheel and storage medium |
| CN112549986A (en) * | 2020-11-23 | 2021-03-26 | 江苏科技大学 | Electric vehicle starting control method |
| CN112737428A (en) * | 2020-12-28 | 2021-04-30 | 珠海格力电器股份有限公司 | Motor rotating speed pulse feedback control method and device, controller and air conditioning system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109546900A (en) * | 2019-01-28 | 2019-03-29 | 辽宁工业大学 | A kind of crawler belt type miniature ploughing machine automated steering motor control assembly and its control method |
| CN110702937A (en) * | 2019-09-24 | 2020-01-17 | 江苏科技大学 | Brushless direct current motor speed measuring device based on single chip microcomputer and using method |
| CN111092573A (en) * | 2019-12-12 | 2020-05-01 | 深圳市鼎拓达机电有限公司 | Brushless motor servo driver |
| CN111438709A (en) * | 2020-04-30 | 2020-07-24 | 深圳市鼎拓达机电有限公司 | Mechanical arm monitoring equipment |
| CN112003802A (en) * | 2020-06-19 | 2020-11-27 | 浙江华云信息科技有限公司 | Coding system and method using reactive current pulse |
| CN112003802B (en) * | 2020-06-19 | 2023-09-19 | 浙江华云信息科技有限公司 | Coding system and method using reactive current pulse |
| CN112039404A (en) * | 2020-08-06 | 2020-12-04 | 东莞佳宏汽车用品有限公司 | Automobile motor control system capable of detecting angle |
| CN112468028A (en) * | 2020-11-17 | 2021-03-09 | 生物岛实验室 | Low-speed detection method and device of brushless motor |
| CN112549986A (en) * | 2020-11-23 | 2021-03-26 | 江苏科技大学 | Electric vehicle starting control method |
| CN112540189A (en) * | 2020-11-26 | 2021-03-23 | 深圳航天科技创新研究院 | Hall speed measuring method and device, motor, reaction flywheel and storage medium |
| CN112737428A (en) * | 2020-12-28 | 2021-04-30 | 珠海格力电器股份有限公司 | Motor rotating speed pulse feedback control method and device, controller and air conditioning system |
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