CN109981000A - A kind of brshless DC motor phase change method based on digital hall sensor - Google Patents
A kind of brshless DC motor phase change method based on digital hall sensor Download PDFInfo
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- CN109981000A CN109981000A CN201910313302.7A CN201910313302A CN109981000A CN 109981000 A CN109981000 A CN 109981000A CN 201910313302 A CN201910313302 A CN 201910313302A CN 109981000 A CN109981000 A CN 109981000A
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- phase
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- motor
- hall
- brshless
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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
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of brshless DC motor phase change method based on digital hall sensor, the rotor of brshless DC motor and the rotational speed difference of stator is allowed to reach 10Hz first, then the timer capture three-phase Hall control word in controller is utilized, then three-phase Hall control word is tested, and start motor, enter circulation later, when controller detects the hopping edge of three-phase Hall, motor commutation, the final speed control for realizing motor are carried out according to the model of setting.The present invention can start motor in the state of stator rotation, make motor with correct phase sequence commutation, and control the revolving speed of motor.Applicability of the present invention is wide, can be applied to the brshless DC motor to work in particular circumstances.
Description
Technical field
The present invention relates to brshless DC motor control field, especially a kind of brushless direct-current based on digital hall sensor
Motor commutation method.
Background technique
Brshless DC motor is grown up from brushed DC motor.Opposite and brush motor, brshless DC motor knot
Structure is simple, power output is big, speed adjusting performance is good.Therefore, brshless DC motor is widely used in industrial circle.In order to change
Into phase change method, in recent years, domestic research institution has developed the control based on different hardware structure and software programming in succession
Method, including designing the installation site of Hall sensor and the execution process of design software.
Number of patent application proposes " a kind of DC brushless motor Hall sensor control algolithm " for 201510724513.1,
Using Hall A, Hall B, Hall C it is adjacent between 120 ° of installation method of difference, rotor-position is detected, when Hall breaks down
Can detect rapidly the Hall that is out of order position and effective troubleshooting measure.
Number of patent application is that the patent of invention of 201210467230.X proposes a kind of " Brushless DC Motor Position detection side
Method " detects rising edge by capture mouth or failing edge jumps, commutation control word obtained, to carry out commutation.
Above-mentioned Hall commutation is mainly used to improve the stability of detection and the validity of troubleshooting, runs to rotor
Commutation in the process is played the role of preferable, is not involved with the sub-state of motor, when the stator rotation of motor, with working as
Preceding motor commutation method, after starting rotor, if the rotor of motor is allowed to become smaller with fixed rotational speed difference, it will commutation occur
The phenomenon that disorder.
Summary of the invention:
It is double to be suitable for control low speed for the present invention provides a kind of brshless DC motor phase change method based on digital hall sensor
It is rotated with the bullet motor for determining duck rudder, can start motor in the state of stator rotation or fixation and control motor and reach predetermined
Revolving speed.
Realize the technical solution of the object of the invention are as follows: a kind of brshless DC motor commutation side based on digital hall sensor
Method, the specific steps are as follows:
Step 1, the original state of motor are three-phase windings no power, i.e. P-state, commutation are carried out since this state, when D=0
When, 2 are entered step, as D=1, enters step 4；
Step 2, the value for detecting three-phase Hall control word Y, are transferred to step 3；
If Y=1, it is powered to AB phase；
If Y=2, it is powered to BC phase；
If Y=3, it is powered to AC phase；
If Y=4, it is powered to CA phase；
If Y=5, it is powered to CB phase；
If Y=6, it is powered to BA phase；
Step 3, the state being powered into circulation, i.e. AB → AC → BC → BA → CA → CB → AB, when AB phase is powered and detects X
It when=1, is then powered to AC phase, when AC phase is powered and detects X=1, is then powered to BC phase, when BC phase is powered and detects X=1
When, then it is powered to BA phase, when BA phase is powered and detects X=1, is then powered to CA phase, when CA phase is powered and detects X=1,
It is then powered to CB phase, when CB phase is powered and detects X=1, is then powered to AB phase；
Step 4, the value for detecting three-phase Hall control word Y, are transferred to step 5；
If Y=1, it is powered to CA phase；
If Y=2, it is powered to AB phase；
If Y=3, it is powered to CB phase；
If Y=4, it is powered to BC phase；
If Y=5, it is powered to BA phase；
If Y=6, it is powered to AC phase；
Step 5, the state being powered into circulation, i.e. AB → CB → CA → BA → BC → AC → AB, when AB phase is powered and detects X
It when=1, is then powered to CB phase, when CB phase is powered and detects X=1, is then powered to CA phase, when CA phase is powered and detects X=1
When, then it is powered to BA phase, when BA phase is powered and detects X=1, is then powered to BC phase, when BC phase is powered and detects X=1,
It is then powered to AC phase, when AC phase is powered and detects X=1, is then powered to AB phase.
Compared with prior art, the present invention its remarkable advantage are as follows:
1) Hall A, Hall B, Hall C are placed by clock-wise order, and the angle between adjacent two-phase is 120 °, with a timing
Three channels of device obtain three-phase Hall control word simultaneously, improve motor control real-time.
2) present invention not only can start motor in the state that stator is fixed, according to correct phase sequence commutation, and can be with
Start motor in the state of stator rotation, makes motor with correct phase sequence commutation, finally control motor positive and inverse.
3) applicability is wide, can be applied to the brshless DC motor to work in particular circumstances, such as: the control of steering gear machinery in the missile
System.
Detailed description of the invention
Fig. 1 is that the present invention is based on the positive commutation state diagrams of the brshless DC motor phase change method of digital hall sensor.
Fig. 2 is that the present invention is based on the reversed commutation state diagrams of the brshless DC motor phase change method of digital hall sensor.
Fig. 3 is the control circuit block diagram of brshless DC motor of the present invention.
Specific embodiment
The experiment porch of brshless DC motor phase change method of the present invention based on digital hall sensor, including high speed
Turntable, body and torque motor.Brshless DC motor is had on the body, high speed turntable drives body to turn in a counterclockwise direction
Dynamic, the arm of force of torque motor and the rotor of brshless DC motor are fixed together, and torque motor drives brushless DC motor rotor
It rotates clockwise.After high speed turntable and torque motor are rotated respectively with 5Hz clockwise and 5Hz counterclockwise, start brushless direct-current
Motor, phase change method according to the invention can make the rotor of brshless DC motor drop to certain speed.It is this special to realize
The starting and control of brshless DC motor under state.
The brshless DC motor includes three parts: motor body, commutation circuit and three position sensors.The present invention
Brshless DC motor used is three-phase brushless dc motor, and three-phase windings are respectively A, B, C, and the commutation circuit of use is complete
Bridge-type commutation circuit, position sensor used are Hall sensors.Three Hall sensors and three-phase windings A, B, C mono- are a pair of
It answers, is referred to as Hall A, Hall B, Hall C, the Hall A, Hall B, Hall C according to clockwise direction placement, every two-phase is suddenly
Angle between you is 120 °.
In conjunction with Fig. 3, the control circuit of the brshless DC motor includes power circuit, clock circuit, download circuit, drive
Dynamic circuit and controller, power circuit: 12V power supply generates 5V voltage by LM2576, and 5V voltage generates 3.3V by LDS3985
Voltage, to power.Clock circuit: the clock of 8MHz is generated using XO53, as external clock.Download circuit: JTAG is used
The SW mode of interface.Driving circuit: selection IRS2003 chip drives brshless DC motor.Controller: it uses
STM32F407VGT6 receives three-phase hall signal, and generates PWM control motor.The 5V interface and clock circuit of power circuit,
Download circuit, driving circuit VCC interface be connected, the 5V interface of power circuit again with three-phase hall sensing in brshless DC motor
The VCC interface of device is connected, and the VVC interface of the 3.3V Interface and Controler of power circuit is connected.The output clock of clock circuit connects
Mouth is connected with the external clock interface of controller.The SW interface of the SW Interface and Controler of download circuit is connected.Driving circuit
Signal output interface is connected with the signal input interface of the full-bridge type commutation circuit of brshless DC motor.The PWM interface of controller
It is connected with the signal input interface of driving circuit.The three of three channels of the same timer and brshless DC motor in controller
The signal wire of a Hall sensor is connected.
AB, AC, BC, BA, CA, CB indicate the on state of brshless DC motor combined with Figure 1 and Figure 2,.Variable X indicates
The rising edge or failing edge of Hall is not detected as X=0 in the jump of the no rising edge or failing edge for detecting three-phase Hall
Jump, as X=1, detects the jump of the rising edge or failing edge of Hall, carries out commutation at this time, and variable Y indicates 4*hc+2*hb
The value of+ha, hc are the level value of Hall C, and hb is the level value of Hall B, and ha is the level value of Hall A, and the meaning that Y is indicated is three
Phase Hall control word, P indicate motor status when no power, and variables D indicates the steering of motor, as D=0, are indicating motor just
Turn, as D=1, indicates motor reversal.
Brshless DC motor phase change method of the present invention based on digital hall sensor, the specific steps are as follows:
Step 1, the original state of motor are three-phase windings no power, i.e. P-state, commutation are carried out since this state, when D=0
When, 2 are entered step, as D=1, enters step 4；
Step 2, the value for detecting three-phase Hall control word Y, are transferred to step 3；
If Y=1, it is powered to AB phase；
If Y=2, it is powered to BC phase；
If Y=3, it is powered to AC phase；
If Y=4, it is powered to CA phase；
If Y=5, it is powered to CB phase；
If Y=6, it is powered to BA phase；
Step 3, the state being powered into circulation, i.e. AB → AC → BC → BA → CA → CB → AB, when AB phase is powered and detects X
It when=1, is then powered to AC phase, when AC phase is powered and detects X=1, is then powered to BC phase, when BC phase is powered and detects X=1
When, then it is powered to BA phase, when BA phase is powered and detects X=1, is then powered to CA phase, when CA phase is powered and detects X=1,
It is then powered to CB phase, when CB phase is powered and detects X=1, is then powered to AB phase；
Step 4, the value for detecting three-phase Hall control word Y, are transferred to step 5；
If Y=1, it is powered to CA phase；
If Y=2, it is powered to AB phase；
If Y=3, it is powered to CB phase；
If Y=4, it is powered to BC phase；
If Y=5, it is powered to BA phase；
If Y=6, it is powered to AC phase；
Step 5, the state being powered into circulation, i.e. AB → CB → CA → BA → BC → AC → AB, when AB phase is powered and detects X
It when=1, is then powered to CB phase, when CB phase is powered and detects X=1, is then powered to CA phase, when CA phase is powered and detects X=1
When, then it is powered to BA phase, when BA phase is powered and detects X=1, is then powered to BC phase, when BC phase is powered and detects X=1,
It is then powered to AC phase, when AC phase is powered and detects X=1, is then powered to AB phase.
Claims (4)
1. a kind of brshless DC motor phase change method based on digital hall sensor, it is characterised in that: specific step is as follows:
Step 1, the original state of motor are three-phase windings no power, i.e. P-state, commutation are carried out since this state, when D=0
When, 2 are entered step, as D=1, enters step 4；
Step 2, the value for detecting three-phase Hall control word Y, are transferred to step 3；
If Y=1, it is powered to AB phase；
If Y=2, it is powered to BC phase；
If Y=3, it is powered to AC phase；
If Y=4, it is powered to CA phase；
If Y=5, it is powered to CB phase；
If Y=6, it is powered to BA phase；
Step 3, the state being powered into circulation, i.e. AB → AC → BC → BA → CA → CB → AB, when AB phase is powered and detects X
It when=1, is then powered to AC phase, when AC phase is powered and detects X=1, is then powered to BC phase, when BC phase is powered and detects X=1
When, then it is powered to BA phase, when BA phase is powered and detects X=1, is then powered to CA phase, when CA phase is powered and detects X=1,
It is then powered to CB phase, when CB phase is powered and detects X=1, is then powered to AB phase；
Step 4, the value for detecting three-phase Hall control word Y, are transferred to step 5；
If Y=1, it is powered to CA phase；
If Y=2, it is powered to AB phase；
If Y=3, it is powered to CB phase；
If Y=4, it is powered to BC phase；
If Y=5, it is powered to BA phase；
If Y=6, it is powered to AC phase；
Step 5, the state being powered into circulation, i.e. AB → CB → CA → BA → BC → AC → AB, when AB phase is powered and detects X
It when=1, is then powered to CB phase, when CB phase is powered and detects X=1, is then powered to CA phase, when CA phase is powered and detects X=1
When, then it is powered to BA phase, when BA phase is powered and detects X=1, is then powered to BC phase, when BC phase is powered and detects X=1,
It is then powered to AC phase, when AC phase is powered and detects X=1, is then powered to AB phase.
2. the brshless DC motor phase change method according to claim 1 based on digital hall sensor, it is characterised in that:
The brshless DC motor includes motor body, commutation circuit and three position sensors, brshless DC motor using three-phase without
Brushless motor, three-phase windings are respectively A, B, C, and the commutation circuit of use is full-bridge type commutation circuit, and position sensor is
Hall sensor, three Hall sensors and three-phase windings A, B, C are corresponded, and are referred to as Hall A, Hall B, Hall C, institute
It states Hall A, Hall B, Hall C to place according to clockwise direction, the angle between every two-phase Hall is 120 °.
3. the brshless DC motor phase change method according to claim 1 based on digital hall sensor, it is characterised in that:
The on state of AB, AC, BC, BA, CA, CB expression brshless DC motor；Variable X indicates whether to detect the rising of three-phase Hall
The jump of edge or failing edge, as X=0, the jump that the rising edge or failing edge of Hall is not detected detects suddenly as X=1
The jump of your rising edge or failing edge carries out commutation at this time, and variable Y indicates the value of 4*hc+2*hb+ha, and hc is the electricity of Hall C
Level values, hb are the level value of Hall B, and ha is the level value of Hall A, and the meaning that Y is indicated is three-phase Hall control word, and P is indicated not
Motor status when energization, variables D indicates the steering of motor, as D=0, indicates that motor rotates forward, and as D=1, indicates that motor is anti-
Turn.
4. the brshless DC motor phase change method according to claim 1 based on digital hall sensor, it is characterised in that:
The control circuit of the brshless DC motor includes power circuit, clock circuit, download circuit, driving circuit and controller；
Power circuit: 12V power supply by LM2576 generate 5V voltage, 5V voltage by LDS3985 generation 3.3V voltage, with for
Electricity；
Clock circuit: the clock of 8MHz is generated using XO53, as external clock；
Download circuit: the SW mode of jtag interface is used；
Driving circuit: selection IRS2003 chip drives brshless DC motor；Controller: using STM32F407VGT6, receives three
Phase hall signal, and generate PWM control motor；
The 5V interface of power circuit is passed with three-phase Hall in clock circuit, download circuit, driving circuit, brshless DC motor respectively
Sensor is connected, and the 3.3V Interface and Controler of power circuit are connected；Clock circuit is connected with controller, download circuit and controller
It is connected, brshless DC motor is connected with driving circuit and controller respectively, and controller is connected with driving circuit.
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| CN201910313302.7A CN109981000B (en) | 2019-04-18 | 2019-04-18 | Brushless direct current motor phase commutation method based on digital Hall sensor |
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| CN201910313302.7A CN109981000B (en) | 2019-04-18 | 2019-04-18 | Brushless direct current motor phase commutation method based on digital Hall sensor |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3924166A (en) * | 1972-10-19 | 1975-12-02 | Papst Motoren Kg | Speed control system for low speed brushless d-c motors |
| CN102025305A (en) * | 2010-12-07 | 2011-04-20 | 南京邮电大学 | Hall phase sequence detecting method and device of brushless direct-current motor |
| CN105450100A (en) * | 2015-07-03 | 2016-03-30 | 浙江海洋学院 | Brushless motor driving circuit and control method thereof |
| CN106452214A (en) * | 2016-11-16 | 2017-02-22 | 深圳拓邦股份有限公司 | Phase change control method of direct current brushless motor and phase change controller and direct current brushless motor |
| CN107154756A (en) * | 2017-06-07 | 2017-09-12 | 深圳市高德威技术有限公司 | Brshless DC motor Hall phase sequence automatic identifying method |
| CN107659226A (en) * | 2017-11-07 | 2018-02-02 | 南京理工大学 | A kind of phase change control method of electric steering engine drive device |
-
2019
- 2019-04-18 CN CN201910313302.7A patent/CN109981000B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3924166A (en) * | 1972-10-19 | 1975-12-02 | Papst Motoren Kg | Speed control system for low speed brushless d-c motors |
| CN102025305A (en) * | 2010-12-07 | 2011-04-20 | 南京邮电大学 | Hall phase sequence detecting method and device of brushless direct-current motor |
| CN105450100A (en) * | 2015-07-03 | 2016-03-30 | 浙江海洋学院 | Brushless motor driving circuit and control method thereof |
| CN106452214A (en) * | 2016-11-16 | 2017-02-22 | 深圳拓邦股份有限公司 | Phase change control method of direct current brushless motor and phase change controller and direct current brushless motor |
| CN107154756A (en) * | 2017-06-07 | 2017-09-12 | 深圳市高德威技术有限公司 | Brshless DC motor Hall phase sequence automatic identifying method |
| CN107659226A (en) * | 2017-11-07 | 2018-02-02 | 南京理工大学 | A kind of phase change control method of electric steering engine drive device |
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