CN110165963A

CN110165963A - A kind of motor list resistance sampling control method and device

Info

Publication number: CN110165963A
Application number: CN201910423067.9A
Authority: CN
Inventors: 涂小平; 唐婷婷; 王声纲; 赵鹏飞; 朱绯; 陈跃; 杨正; 潘军
Original assignee: Sichuan Hongmei Intelligent Technology Co Ltd
Current assignee: Changhong Meiling Co Ltd; Sichuan Hongmei Intelligent Technology Co Ltd
Priority date: 2019-05-21
Filing date: 2019-05-21
Publication date: 2019-08-23
Anticipated expiration: 2039-05-21
Also published as: CN110165963B

Abstract

The present invention provides a kind of motor list resistance sampling control method and device, include: the second high level according to the three-phase of motor to be sampled in three high level of PWM wave, single resistance sampling control circuit open delay duration, turn-off delay duration, electric current stablize duration, dead zone duration and the sampling duration for controlling chip, determine the second target point of first object point and the second phase current, wherein, the duration of the second high level is the median in three high level；When the time interval of first object point and the second target point is less than the conversion duration of control chip analog-to-digital conversion, the first sampled point and the second sampled point are determined according to conversion duration, first object point and the second target point, and the first phase current and the second phase current are acquired according to the first sampled point and the second sampled point control control chip, and then determine the third phase current of motor to be sampled.This programme can be by having the control chip of independent ADC all the way to complete the sampling of single resistance sampling control circuit phase current.

Description

A kind of motor list resistance sampling control method and device

Technical field

The present invention relates to motor-drive technique field, in particular to a kind of motor list resistance sampling control method and device.

Background technique

In motor operation course, need to realize the control to motor using the phase current of motor three-phase coil.And it adopts Carrying out sampling with electric current of which kind of mode to three-phase coil will affect the cost of control motor operating.

Currently, the mode for being often used three resistance or double resistance samples in the three-phase current method of sampling of traditional motor The phase current of motor.But since the sampling control circuit using double resistance and three resistance is complex, and cost of manufacture is higher, because This, has gradually replaced traditional sampling side in such a way that single resistance sampling control circuit samples the three-phase current of motor Formula.

But in such a way that single resistance sampling control circuit samples phase current, need independent by control chip two-way A/D converter (Analog-to-Digital Converter, ADC), different moments in a PWM cycle complete Current sample twice, and when control resources of chip is limited, when only all the way independent ADC, then it is difficult to realize single resistor current and adopts Sample.

Summary of the invention

The embodiment of the invention provides a kind of motor list resistance sampling control method and device, can be by having all the way solely The control chip of vertical ADC completes the sampling of single resistance sampling control circuit phase current.

In a first aspect, a kind of motor list resistance sampling control method, comprising:

Predefine when opening delay duration, turn-off delay of the single resistance sampling control circuit being connected with motor to be sampled The dead zone duration that long, electric current stablizes duration and is inserted into dead zone, and control chip acquisition single resistance sampling control circuit are defeated The sampling duration of a phase current out；

Determine second high level of three phase currents of the motor to be sampled in three high level of a PWM wave Duration, wherein the duration of second high level is less than continuing for the first high level in three high level Duration, and the duration for the third high level being greater than in three high level, wherein the PWM wave uses central symmetry Mode；

According to the turn-off delay duration and the sampling duration, determine before second high level turns off described in acquisition The first object point that motor to be sampled passes through the first phase current of single resistance sampling control circuit output；

According to the turn-off delay duration, the dead zone duration, it is described open delay duration, the electric current stablize duration and The sampling duration determines that the motor to be sampled is acquired after second high level shutdown passes through single resistance sampling control Second target point of the second phase current of circuit output processed；

When the time interval of the first object point and second target point is less than the analog-to-digital conversion of the control chip Conversion duration when, the first object point and the second target point are adjusted according to the conversion duration, and will adjustment after The first object o'clock as the first sampled point, using the second target point adjusted as the second sampled point；

According to first sampled point and second sampled point, controls the control chip and acquire corresponding first phase electricity Stream and the second phase current；

According to the first phase current and the second phase current of acquisition, the third phase current of the motor to be sampled is determined.

Preferably,

It is described according to the turn-off delay duration and the sampling duration, determine the acquisition before second high level turns off The first object point that the motor to be sampled passes through the first phase current of single resistance sampling control circuit output, comprising:

The sampling duration, comprising: sampling delay duration and sampling keep duration；

The stage is counted up in the PWM wave, by the first moment before second high level shutdown, as described in acquisition Motor to be sampled passes through the first object point of the first phase current of single resistance sampling control circuit output, wherein described the One moment met following first formula:

M₁=Y+K-F

Wherein, M₁First moment is characterized, F characterizes the turn-off delay duration, and Y characterizes the sampling delay duration, K It characterizes the sampling and keeps duration.

Preferably,

It is described according to the turn-off delay duration, the dead zone duration, it is described open delay duration, the electric current stablize when The long and sampling duration determines that the motor to be sampled is acquired after second high level shutdown to be adopted by single resistance Second target point of the second phase current of sample control circuit output, comprising:

The stage is counted up in the PWM wave,

When the electric current, which stablizes duration, is greater than the sampling delay duration, according to the turn-off delay duration, described dead Area's duration, described open postpone the stable duration of duration, the electric current and the sampling delay duration, determine in the described second high electricity The second moment after flat shutdown, and pass through single resistance sampling control using second moment as the motor to be sampled is acquired Second target point of the second phase current of circuit output processed；

When the electric current, which stablizes duration, is not more than the sampling delay duration, according to the turn-off delay duration, described Dead zone duration and the third moment opened delay duration, determine after second high level shutdown, and by the third Moment passes through the second mesh of the second phase current of single resistance sampling control circuit output as the motor to be sampled is acquired Punctuate.

Preferably,

It is described according to the turn-off delay duration, the dead zone duration, it is described open delay duration, the electric current stablize when The long and sampling delay duration determines the second moment after second high level shutdown, comprising:

According to following second formula, the second moment after second high level turns off is determined:

M₂=F+D+O+W-Y

Wherein, M₂Second moment is characterized, F characterizes the turn-off delay duration, and D characterizes the dead zone duration, O characterization Described to open delay duration, W characterizes electric current and stablizes duration, and Y characterizes the sampling delay duration.

Preferably,

It is described according to the turn-off delay duration, the dead zone duration and it is described open delay duration, determine described the The third moment after the shutdown of two high level, comprising:

According to following third formula, the third moment after second high level turns off is determined:

M₃=F+D+O

Wherein, M₃The third moment is characterized, F characterizes the turn-off delay duration, and D characterizes the dead zone duration, O characterization It is described to open delay duration.

Preferably,

Described according to the turn-off delay duration and the sampling duration, determine and adopted before second high level shutdown Before collecting first object point of the motor to be sampled by the first phase current of single resistance sampling control circuit output, into One step includes:

Determine the difference of the duration of second high level and the duration of the third high level and described The difference of the duration of first high level and the duration of second high level whether hold by preset not less than 2 times Row duration, if so, execute it is described count up the stage in the PWM wave, by before second high level shutdown first when It carves, passes through the first object of the first phase current of single resistance sampling control circuit output as the motor to be sampled is acquired Point, wherein the execution duration meets following 4th formula:

Z=F+D+O+K+R

Wherein, Z characterizes the execution duration, and F characterizes the turn-off delay duration, and D characterizes the dead zone duration, O characterization Described to open delay duration, K characterizes the sampling and keeps duration, stablizes duration when the sampling delay duration is greater than the electric current When, R characterizes the sampling delay duration, when the sampling delay duration stablizes duration no more than the electric current, described in R characterization Electric current stablizes duration.

Preferably,

It is described that the first object point and the second target point are adjusted according to the conversion duration, and will be adjusted The first object o'clock is as the first sampled point, using the second target point adjusted as the second sampled point, comprising:

According to following 5th formula, first sampled point is determined；

5th formula are as follows:

Wherein, S₁Characterize first sampled point, N₁Characterize the first object point, N₂Characterize second target point, Z The conversion duration is characterized, a characterizes preset denominator value, and b characterizes preset numerator value, wherein a is the positive integer greater than 0, b Less than a；

According to following 6th formula, second sampled point is determined；

6th formula are as follows:

Wherein, S₂Characterize second sampled point.

Preferably,

First phase current and the second phase current according to acquisition, determines the third phase current of the motor to be sampled, Include:

It sums to the first phase current values and second phase current values, obtains summing value；

Using the opposite number of the summing value as the third phase current values of the motor to be sampled.

Second aspect, the embodiment of the invention provides a kind of motor list resistance sampling control devices, comprising:

Duration information determining module, for predefining opening for the single resistance sampling control circuit being connected with motor to be sampled The dead zone duration that logical delay duration, turn-off delay duration, electric current stablize duration and be inserted into dead zone, and described in control chip acquisition The sampling duration of one phase current of single resistance sampling control circuit output；

PWM wave management module, for determining three high electricity of three phase currents in a PWM wave of the motor to be sampled The duration of the second high level in flat, wherein the duration of second high level is less than in three high level The first high level duration, and be greater than three high level in third high level duration, wherein it is described PWM wave uses central symmetry mode；

Sample information determining module, for according to the duration information determining module determine the turn-off delay duration and The sampling duration determines that acquisition is described to be sampled before second high level shutdown that the PWM wave management module determines The first object point that motor passes through the first phase current of single resistance sampling control circuit output；When according to the turn-off delay Long, described dead zone duration, it is described open delay duration, the electric current stablizes duration and the sampling duration, determine described the The second phase current that the motor to be sampled is exported by single resistance sampling control circuit is acquired after the shutdown of two high level Second target point；When the modulus that the time interval of the first object point and second target point is less than the control chip turns When the conversion duration changed, the first object point and the second target point are adjusted according to the conversion duration, and will adjustment The first object o'clock afterwards is as the first sampled point, using the second target point adjusted as the second sampled point；

Sampling management module 304, for according to the sample information determining module 303 determine first sampled point and Second sampled point controls the control chip and acquires corresponding first phase current and the second phase current；According to the of acquisition One phase current and the second phase current determine the third phase current of the motor to be sampled.

Preferably,

The sample information determining module turns off second high level for counting up the stage in the PWM wave The first preceding moment passes through the first phase current of single resistance sampling control circuit output as the motor to be sampled is acquired First object point, wherein first moment meets following first formula:

M₁=Y+K-F

Preferably,

The sample information determining module is further used for determining the duration of second high level and the third The duration of the difference of the duration of high level and the duration of first high level and second high level Difference whether be not less than 2 times of preset execution duration, if so, execute it is described count up the stage in the PWM wave, By the first moment before second high level shutdown, pass through single resistance sampling control as the motor to be sampled is acquired The first object point of first phase current of circuit output, wherein the execution duration meets following 4th formula:

Z=F+D+O+K+R

Preferably,

The sample information determining module, for determining first sampled point according to following 5th formula；

5th formula are as follows:

According to following 6th formula, second sampled point is determined；

6th formula are as follows:

Wherein, S₂Characterize second sampled point.

Preferably,

The sampling management module obtains summing value for summing to the first phase current values and second phase current values； Using the opposite number of the summing value as the third phase current values of the motor to be sampled.

The embodiment of the invention provides a kind of motor list resistance sampling control method and device, pass through determination motor to be sampled Connected single resistance sampling control circuit switches to required for high level state from low level state opens delay duration, from height Level state switches to turn-off delay duration required for low level state and electric current stablizes duration, in order to prevent single resistance sampling Control circuit upper and lower bridge arm leads directly to the dead zone duration in be inserted into dead zone, and control chip is acquired and adopted required for a phase current Sample duration, further according to motor to be sampled three-phase PWM wave action time median, i.e. second in three high level be high Level can determine that control chip acquires the first object point of the first phase current and the second target point of the second phase current, by It needs to carry out analog-to-digital conversion after having acquired the first phase current in the control chip of independent ADC all the way, therefore, when the first mesh When time interval between punctuate and the second target point is less than the conversion duration of ADC, need according to conversion duration to first object Point and the second target point are adjusted, to form corresponding first sampled point and the second sampled point, according still further to the first sampled point and The acquisition of the first phase current and the second phase current can be completed in second sampled point, and then determines the third phase electricity of motor to be sampled Stream, so that realizing can be by having the control chip of independent ADC all the way to complete adopting for single resistance sampling control circuit phase current It is all.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.

Fig. 1 is a kind of flow chart for motor list resistance sampling control method that one embodiment of the invention provides；

Fig. 2 is the flow chart for another motor list resistance sampling control method that one embodiment of the invention provides；

Fig. 3 is a kind of structural schematic diagram for motor list resistance sampling control device that one embodiment of the invention provides.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.

As shown in Figure 1, the embodiment of the invention provides a kind of motor list resistance sampling control methods, comprising:

Step 101: predefining opening delay duration, closing for the single resistance sampling control circuit being connected with motor to be sampled The dead zone duration that disconnected delay duration, electric current stablize duration and be inserted into dead zone, and control chip acquisition single resistance sampling control The sampling duration of one phase current of circuit output processed；

Step 102: determining second of three phase currents of the motor to be sampled in three high level of a PWM wave The duration of high level, wherein the duration of second high level is less than the first high electricity in three high level Flat duration, and the duration for the third high level being greater than in three high level；

Step 103: according to the turn-off delay duration and the sampling duration, determining before second high level shutdown It acquires the motor to be sampled and passes through the first object point of the first phase current of single resistance sampling control circuit output；

Step 104: according to the turn-off delay duration, the dead zone duration, described to open delay duration, the electric current steady Timing length and the sampling duration determine that the motor to be sampled is acquired after second high level shutdown passes through the list electricity Hinder the second target point of the second phase current of sampling control circuit output；

Step 105: when the time interval of the first object point and second target point is less than the control chip When the conversion duration of analog-to-digital conversion, the first object point and the second target point are adjusted according to the conversion duration, and By the first object o'clock adjusted as the first sampled point, using the second target point adjusted as the second sampled point；

Step 106: according to first sampled point and second sampled point, it is corresponding to control the control chip acquisition First phase current and the second phase current；

Step 107: according to the first phase current and the second phase current of acquisition, determining the third phase electricity of the motor to be sampled Stream.

In embodiments of the present invention, the single resistance sampling control circuit being connected by determination motor to be sampled is from low level shape State switches to required for high level state and opens delay duration, switches to pass required for low level state from high level state Disconnected delay duration and electric current stablize duration, straight-through the be inserted into dead zone of single resistance sampling control circuit upper and lower bridge arm is dead in order to prevent Area's duration, and control chip acquire and sample duration required for phase current, further according to motor to be sampled three-phase in PWM The median of the action time of wave, i.e. the second high level in three high level can determine that control chip acquires the first phase electricity The first object point of stream and the second target point of the second phase current, due to having the control chip of independent ADC all the way acquiring It needs to carry out analog-to-digital conversion after complete first phase current, therefore, when the time interval between first object point and the second target point is small When the conversion duration of ADC, need to be adjusted first object point and the second target point according to conversion duration, to form correspondence The first sampled point and the second sampled point, the first phase current and second can be completed according still further to the first sampled point and the second sampled point The acquisition of phase current, and then determine the third phase current of motor to be sampled, so that realizing can be by with independent ADC's all the way Control the sampling that chip completes single resistance sampling control circuit phase current.

In an embodiment of the present invention, described according to the turn-off delay duration and the sampling duration, it determines described The first phase current that the acquisition motor to be sampled passes through single resistance sampling control circuit output before the shutdown of second high level First object point, comprising:

M₁=Y+K-F

In embodiments of the present invention, control chip sampling duration may include sampling before sampling delay duration and sampling When sampling keep duration, due to the second high level from high level state switch to low level state after turn-off delay duration It is interior, the acquisition of phase current can be still carried out, therefore, counts up the stage in PWM wave, control chip acquires needed for the first phase current The sampling delay duration and sampling wanted keep the sum of duration, and the difference with turn-off delay duration, as control chip is to be sampled Motor exports before i.e. the second high level switches to the low level state moment from high level state before the shutdown of the second high level) first Moment, and then determine that control chip acquires the first object point of the first phase current.

In an embodiment of the present invention, it is described according to the turn-off delay duration, the dead zone duration, described open delay Duration, electric current stabilization duration and the sampling duration, determination acquire described to be sampled after second high level shutdown The second target point that motor passes through the second phase current of single resistance sampling control circuit output, comprising:

The stage is counted up in the PWM wave,

In embodiments of the present invention, when determining the second target point of the second phase current of acquisition, comparison electricity can be first passed through It flows and stablizes duration and sampling delay duration, when to determine being duration, the turn-off delay duration, dead zone by the second high level Length opens the stable duration of delay duration, electric current and sampling delay duration to determine the second moment point after the second high level of output As the second target point, or by the duration of the second high level, turn-off delay duration, dead zone duration and when opening delay The long third moment point determined after exporting the second high level is as the second target point.

M₂=F+D+O+W-Y

In embodiments of the present invention, due to the wave that PWM wave is using central symmetry mode, so being counted up in PWM wave Stage, when switching to turn-off delay existing for low level state from high level state by the corresponding upper bridge arm of the second high level Long, to prevent straight-through the be inserted into dead zone of upper and lower bridge arm dead zone duration, the corresponding lower bridge arm of the second high level are from low level state Switch to high level state open delay duration and the electric current of electric current stablizes the sum of duration, when sampling delay with control chip Long difference determines the second moment after exporting the shutdown of the second high level.

In an embodiment of the present invention, described to be prolonged according to the turn-off delay duration, the dead zone duration and described open Slow duration determines the third moment after second high level shutdown, comprising:

M₃=F+D+O

In embodiments of the present invention, due to the wave that PWM wave is using central symmetry mode, so being counted up in PWM wave Stage, thus electric current stablize duration no more than control chip sampling delay duration when, by the second high level it is corresponding on Bridge arm from high level state switch to turn-off delay duration, insertion required for low level state dead zone dead zone duration, The corresponding lower bridge arm of two high level switches to opening for high level state from low level state and postpones the sum of duration, and determination is exporting The third moment after second high level.

In an embodiment of the present invention, it is determined according to the turn-off delay duration and the sampling duration in institute described The acquisition motor to be sampled passes through the first phase electricity that single resistance sampling control circuit exports before stating the shutdown of the second high level Before the first object point of stream, further comprise:

Z=F+D+O+K+R

In embodiments of the present invention, determining acquisition motor to be sampled by the first of single resistance sampling control circuit output Before the first object point of phase current, it is also necessary to determine the difference of the duration of the second high level and third high level, and Whether the difference of the duration of the first high level and the second high level is not less than 2 times of preset execution duration, with determination The stage is counted up in PWM wave, after third high level switches to low level state from high level state, in the second high level from height Whether level state can complete the acquisition of a phase current before switching to low level state, and determines and count up in PWM wave Stage switches in the first high level from high level state after the second high level switches to low level state from high level state The acquisition that a phase current whether can be completed before low level state, when the acquisition that can carry out the first phase current and the second phase current When, it can determine first object point when the first phase current of acquisition.

In an embodiment of the present invention, described that the first object point and the second target are clicked through according to the conversion duration Row adjustment, and by the first object o'clock adjusted as the first sampled point, using the second target point adjusted as second Sampled point, comprising:

According to following 5th formula, first sampled point is determined；

5th formula are as follows:

According to following 6th formula, second sampled point is determined；

6th formula are as follows:

Wherein, S₂Characterize second sampled point.

In embodiments of the present invention, the duration between first object point and the second target point is less than the ADC of control chip It when carrying out the conversion duration of analog-to-digital conversion, needs to be adjusted first object point and the second target point, that is, passes through Z- (N₂+N₁) It can determine that needing to increase how many duration control chips between first object point and the second target point just can be carried out normal sample, then By the 5th formula by first object o'clock before the shutdown of the second high level to preceding adjustment, by the 6th formula by the second target point from To rear adjustment after the shutdown of second high level, corresponding first sampled point of the first phase current of acquisition and the second phase current pair can be obtained The second sampled point answered.

In an embodiment of the present invention, first phase current and the second phase current according to acquisition determines described wait adopt The third phase current of sample motor, comprising:

In embodiments of the present invention, the identical three-phase current of size of current at any time, always there is phase current and another Two phase currents it is contrary, so passing through after determining the first phase current values and the second phase current values and determining the first phase The opposite number of the sum of current value and the second phase current values, that is, can determine the third phase current values of motor to be sampled.

In order to more clearly illustrate technical solution of the present invention and advantage, below to one kind provided in an embodiment of the present invention Motor list resistance sampling control method, is described in detail, as shown in Fig. 2, can specifically include following steps:

Step 201: predefining opening delay duration, closing for the single resistance sampling control circuit being connected with motor to be sampled The dead zone duration that disconnected delay duration, electric current stablize duration and be inserted into dead zone, and control chip acquire single resistance sampling control electricity The sampling delay duration of one phase current of road output and sampling keep duration.

Specifically, due to the electric current stabilization after the opening, turn off and hold of single resistance sampling control circuit can exist it is corresponding Delay, and single resistance sampling control circuit in order to prevent upper and lower bridge arm it is straight-through can be inserted into dead zone, and control chip and exist Also there can be delay when acquiring phase current, certain sampling is also required in collection process, duration is kept to acquire phase current.

For example, the single resistance sampling control circuit being connected with motor to be sampled opens a length of 0.1s when delay, closes A length of 0.2s when disconnected delay, the electric current of electric current a length of 0.3s when stablizing, are inserted into a length of 0.4s when the dead zone in dead zone, and control chip is adopted Collect a length of 0.05s when the sampling delay of phase current, sampling a length of 2s when keeping.

Step 202: determining second high electricity of three phase currents of motor to be sampled in three high level of a PWM wave Flat duration, wherein the duration of the second high level less than the first high level in three high level duration, And it is greater than the duration of the third high level in three high level, wherein PWM wave uses central symmetry mode.

It can immediately, since PWM wave uses central symmetry mode, so the duration of three high level is PWM Duration of the wave when counting up.

For example, using in a PWM wave period of central symmetry mode, three phase currents of motor to be sampled are held A length of 22s when continuous, the second duration are 15s, and third duration is 6s.

Step 203: determining the difference and first of the duration of the second high level and the duration of third high level Whether the difference of the duration of high level and the duration of the second high level is not less than 2 times of preset execution duration.

Specifically, by following 4th formula, it can determine and execute duration required for one phase current of acquisition, when second high The difference of the duration of the duration and third high level of level and the duration of the second high level and the first high electricity When the difference of flat duration is not less than the 2 times execution duration, it can determine and count up the stage in PWM wave, it can After third high level switches to low level state from high level, before the second high level switches to low level state from high level Time in complete the first phase current acquisition；The stage is counted up in PWM wave, is switched in the second high level from high level low After level state, adopting for the second phase current is completed within the time before the first high level switches to low level state from high level Collection.

4th formula are as follows:

Z=F+D+O+K+R

Wherein, Z characterization executes duration, and F characterizes turn-off delay duration, and D characterizes dead zone duration, and O characterization opens delay duration, K characterization sampling keeps duration, and when sampling delay duration, which is greater than electric current, stablizes duration, R characterizes sampling delay duration, when sampling is prolonged When slow duration stablizes duration no more than electric current, R characterizes electric current and stablizes duration.

For example, electric current stablizes duration 0.3s and is greater than sampling delay duration 0.05s, and therefore, when execution, a length of shutdown was prolonged The slow dead zone duration 0.2s+ duration 0.4s+ opens a length of 0.3s+ sampling when delay duration 0.1s+ electric current is stablized and keeps duration 2s= 3s；

Since the difference of the duration 6s of the duration 15s and third high level of the second high level is 9s, it is greater than 2 times Execution duration 6s, therefore after third high level switches to low level state from high level state, in the second high level from height Level state switches to the acquisition that the second phase current can be completed in the time before low level state.

Since the difference of the duration 15s of the duration 22s and the second high level of the first high level is 7s, it is greater than 2 Times execution duration 3s, therefore after the second high level switches to low level state from high level state, the first high level from High level state switches to the acquisition that the second phase current can be completed in the time before low level state.

Step 204: if so, keeping duration according to turn-off delay duration, sampling delay duration, sampling, determining in PWM wave The first moment before counting up the shutdown of the second high level of stage, and pass through single electricity using the first moment as motor to be sampled is acquired Hinder the first object point of the first phase current of sampling control circuit output.

Specifically, since PWM wave is using central symmetry mode, so being counted PWM wave upwards according to following first formula The first moment before number the second high level of stage shutdown passes through single resistance sampling control circuit output as motor to be sampled is acquired The first phase current first object point.

First formula:

M₁=Y+K-F

Wherein, M₁Characterized for the first moment, F characterizes turn-off delay duration, Y characterizes sampling delay duration, and K characterization sampling is kept Duration.

For example, motor to be sampled exports the first moment before the shutdown of the second high level are as follows: sampling delay duration 0.05s + sampling keeps duration 2s- turn-off delay duration 0.2s=1.85s, that is, acquires the first object point of the first phase current as output the 1.85s before the shutdown of two high level.

Step 205: determine that electric current stablizes whether duration is greater than sampling delay duration, if so, step 206 is executed, otherwise, Execute step 207.

Step 206: according to turn-off delay duration, dead zone duration, opening the stable duration of delay duration, electric current and sampling delay Duration, determine PWM wave count up the second high level of stage shutdown after the second moment, and using the second moment as acquire to Sample motor passes through the second target point of the second phase current of single resistance sampling control circuit output, executes step 208.

Specifically, when electric current, which stablizes duration, is greater than sampling delay duration, since PWM wave is to use central symmetry mode, The stage is counted up in PWM wave so can determine according to following second formula, by the second moment after the shutdown of the second high level The second sampled point as the second phase current of acquisition.

Second formula are as follows:

M₂=F+D+O+W-Y

Wherein, M₂Characterized for the second moment, F characterizes turn-off delay duration, and D characterizes dead zone duration, when O characterization opens delay Long, W characterizes electric current and stablizes duration, and Y characterizes sampling delay duration.

For example, motor to be sampled exports the second moment M after the second high level₂Are as follows: turn-off delay duration 0.2s+ is dead Area duration 0.4s+ opens delay duration 0.1s+ electric current and stablizes duration 0.3s- sampling delay duration 0.05s=1.95s, i.e., the 1.95s after the shutdown of two high level is the second target point.

Step 207: according to turn-off delay duration, dead zone duration and delay duration is opened, after determining the shutdown of the second high level The third moment, and using the third moment as the two phase electricity for acquiring motor to be sampled and passing through single resistance sampling control circuit output Second target point of stream executes step 208.

It specifically,, can be by second according to following third formula when electric current, which stablizes duration, is not more than sampling delay duration Second sampled point of second moment as the second phase current of acquisition after high level shutdown.

M₃=F+D+O

Wherein, M₃It characterizes motor to be sampled and exports the third moment after the second high level, F characterizes turn-off delay duration, D table Dead zone duration is levied, O characterization opens delay duration.

Step 208: when the time interval of first object point and the second target point is less than turning for the analog-to-digital conversion of control chip When changing duration, according to first object point, the second target point, conversion duration, preset denominator value, numerator value, respectively to the first mesh Punctuate and the second target point are adjusted, and by first object o'clock adjusted as the first sampled point, by adjusted second Target point is as the second sampled point.

Specifically, control chip needs to be converted to after the analog signal for having acquired the first phase current corresponding number letter Number, since analog-to-digital conversion needs the regular hour, so control chip can not acquire the immediately after having acquired the first phase current Two-phase current, therefore, it is necessary to by the time interval between first object point and the second target point, with control chip analog-to-digital conversion Conversion duration is compared, and when the time interval between first object point and the second target point is not less than conversion duration, then may be used To carry out the acquisition of phase current by first object point and the second target point, and between first object point and the second target point When time interval is less than conversion duration, need according to Z- (N₂+N₁) determine and need to increase between first object point and the second target point Duration, and increased duration moves forward first object point as needed, to determine the first sampled point, further according to needing to increase The duration added moves backward the second target point, to determine the second sampled point.Wherein, it is public to meet following five for the first sampled point Formula, the second sampled point meet following 6th formula.

5th formula are as follows:

Wherein, S₁Characterize the first sampled point, N₁Characterize first object point, N₂The second target point is characterized, Z characterization converts duration, A characterizes preset denominator value, and b characterizes preset numerator value, wherein a is the positive integer greater than 0, and b is less than a.

6th formula are as follows:

Wherein, S₂Characterize the second sampled point, N₁Characterize first object point, N₂The second target point is characterized, Z characterization converts duration, A characterizes preset denominator value, and b characterizes preset numerator value, wherein a is the positive integer greater than 0, and b is less than a.

For example, a length of 4s when the conversion of chip analog-to-digital conversion is controlled, preset denominator value is 2, preset numerator value It is 1.

Since the sum of 1.85s before the shutdown of the second high level and 1.95s after the shutdown of the second high level is 3.8s, it is less than and turns Change duration 4s, it is therefore desirable to move back by first object point Xiang Qianyi, and by the second target point.

First sampled point are as follows: before the shutdown of the second high level

Second sampled point are as follows:

After motor to be sampled exports the second phase current

Step 209: control control chip acquires the first phase current according to the first sampled point, and controls according to the second sampled point It controls chip and acquires the second phase current.

Specifically, 1.95s of the control control chip before the shutdown of the second high level acquires the first phase current, and high second 2.05s after level shutdown acquires the second phase current.

Step 210: summing to the first phase current values and the second phase current values, summing value is obtained, by the opposite number of summing value Third phase current values as motor to be sampled.

Specifically, it is equal to zero by the sum of three-phase current, can determines the third phase current values of motor to be sampled.

As shown in figure 3, the embodiment of the invention provides a kind of motor list resistance sampling control devices, comprising:

Duration information determining module 301, for predefining the single resistance sampling control circuit being connected with motor to be sampled Open delay duration, turn-off delay duration, electric current stablize duration and be inserted into dead zone dead zone duration, and control chip acquisition The sampling duration of one phase current of the list resistance sampling control circuit output；

PWM wave management module 302, for determining three phase currents of the motor to be sampled at three of a PWM wave The duration of the second high level in high level, wherein the duration of second high level is less than described three high electricity The duration of the first high level in flat, and the duration for the third high level being greater than in three high level, wherein The PWM wave uses central symmetry mode；

Sample information determining module 303, the turn-off delay for being determined according to the duration information determining module 301 Duration and the sampling duration determine and acquire institute before second high level shutdown that the PWM wave management module 302 determines It states motor to be sampled and passes through the first object point of the first phase current of single resistance sampling control circuit output；According to the pass Disconnected delay duration, the dead zone duration, described open postpone the stable duration of duration, the electric current and the sampling duration, determine The motor to be sampled is acquired after second high level shutdown by the second of single resistance sampling control circuit output Second target point of phase current；When the time interval of the first object point and second target point is less than the control chip Analog-to-digital conversion conversion duration when, the first object point and the second target point are adjusted according to the conversion duration, And by the first object o'clock adjusted as the first sampled point, using the second target point adjusted as the second sampled point；

In embodiments of the present invention, the connected single resistance sampling control of motor to be sampled is determined by duration information determining module Circuit processed switches to required for high level state from low level state and opens delay duration, switches to low electricity from high level state Turn-off delay duration required for level state and the stable duration of electric current, single resistance sampling control circuit upper and lower bridge arm is straight in order to prevent The dead zone duration in logical be inserted into dead zone, and control chip acquire and sample duration required for a phase current, are believed by sampling Median of the three-phase for the motor to be sampled that breath determining module is determined according to PWM wave management module in the action time of PWM wave, i.e., The second high level in three high level can determine that control chip acquires the first object point and the second phase of the first phase current Second target point of electric current, due to needing to carry out mould after having acquired the first phase current with the control chip of independent ADC all the way Therefore number conversion when the time interval between first object point and the second target point is less than the conversion duration of ADC, needs root First object point and the second target point are adjusted according to conversion duration, to form corresponding first sampled point and the second sampling Adopting for the first phase current and the second phase current can be completed according still further to the first sampled point and the second sampled point in point, sampling management module Collection, and then determine the third phase current of motor to be sampled, so that realizing can be by having the control chip of independent ADC all the way complete At the sampling sample of single resistance sampling control circuit phase current.

In an embodiment of the present invention, the sampling duration, comprising: sampling delay duration and sampling keep duration；

M₁=Y+K-F

In an embodiment of the present invention, the sample information determining module is further used for determining second high level Duration and the third high level duration difference and first high level duration with it is described Whether the difference of the duration of the second high level is not less than 2 times of preset execution duration, if so, executing described in institute It states PWM wave and counts up the stage, the first moment before second high level shutdown leads to as the motor to be sampled is acquired Cross the first object point of the first phase current of single resistance sampling control circuit output, wherein under the execution duration meets State the 4th formula:

Z=F+D+O+K+R

In an embodiment of the present invention, the sample information determining module, described in determining according to following 5th formula First sampled point；

5th formula are as follows:

According to following 6th formula, second sampled point is determined；

6th formula are as follows:

Wherein, S₂Characterize second sampled point.

In an embodiment of the present invention, the sampling management module, for the first phase current values and the two phase electricity Flow valuve summation, obtains summing value；Using the opposite number of the summing value as the third phase current values of the motor to be sampled.

In an embodiment of the present invention, the sample information determining module, for counting up the stage in the PWM wave, When the electric current, which stablizes duration, is greater than the sampling delay duration, according to the turn-off delay duration, the dead zone duration, institute It states and opens delay duration, the stable duration of the electric current and the sampling delay duration, determine after second high level shutdown The second moment, and it is second moment is defeated by the list resistance sampling control circuit as the motor to be sampled is acquired Second target point of the second phase current out；When the electric current, which stablizes duration, is not more than the sampling delay duration, according to institute State turn-off delay duration, the dead zone duration and it is described open delay duration, determine the after second high level shutdown Three moment, and pass through single resistance sampling control circuit output using the third moment as the motor to be sampled is acquired Second target point of the second phase current.

In an embodiment of the present invention, the sample information determining module, described in determining according to following second formula The second moment after the shutdown of second high level:

M₂=F+D+O+W-Y

In an embodiment of the present invention, the sample information determining module, described in determining according to following third formula The third moment after the shutdown of second high level:

M₃=F+D+O

The each embodiment of the present invention at least has the following beneficial effects:

1, the single resistance sampling control circuit in an embodiment of the present invention, being connected by determination motor to be sampled is from low electricity Level state switches to required for high level state and opens delay duration, switches to required for low level state from high level state Turn-off delay duration and electric current stablize that duration, single resistance sampling control circuit upper and lower bridge arm leads directly to be inserted into dead zone in order to prevent Dead zone duration, and control chip acquires and samples duration required for phase current, further according to the three-phase of motor to be sampled The second high level in the median of the action time of PWM wave, i.e. three high level can determine control chip acquisition first The first object point of phase current and the second target point of the second phase current, due to having the control chip of independent ADC all the way to exist It needs to carry out analog-to-digital conversion after having acquired the first phase current, therefore, when between the time between first object point and the second target point When being less than the conversion duration of ADC, need to be adjusted first object point and the second target point according to conversion duration, to be formed Corresponding first sampled point and the second sampled point, according still further to the first sampled point and the second sampled point can be completed the first phase current and The acquisition of second phase current, and then determine the third phase current of motor to be sampled, so that realizing can be independent all the way by having The control chip of ADC completes the sampling of single resistance sampling control circuit phase current.

2, in an embodiment of the present invention, control chip sampling duration may include sampling before sampling delay duration and Sampling when sampling keeps duration, due to the second high level from high level state switch to low level state after turn-off delay when In length, the acquisition of phase current can be still carried out, therefore, counts up the stage in PWM wave, control chip acquires the first phase current institute The sampling delay duration and sampling needed keeps the sum of duration, and the difference with turn-off delay duration, as control chip is wait adopt Sample motor exports before i.e. the second high level switches to the low level state moment from high level state before the shutdown of the second high level) the One moment, and then determine that control chip acquires the first object point of the first phase current.

3, it in an embodiment of the present invention, when determining the second target point of the second phase current of acquisition, can first pass through pair Stablize duration and sampling delay duration than electric current, is by the duration of the second high level, turn-off delay duration, dead to determine Area's duration opens the stable duration of delay duration, electric current and sampling delay duration come when determining second after the second high level of output Punctum prolongs as the second target point, or by the duration of the second high level, turn-off delay duration, dead zone duration and opening Slow duration determines the third moment point after exporting the second high level as the second target point.

4, low electricity in an embodiment of the present invention, is switched to from high level state by the corresponding upper bridge arm of the second high level There are turn-off delay duration, the dead zone duration for preventing straight-through the be inserted into dead zone of upper and lower bridge arm, the second high level correspondences for level state Lower bridge arm from low level state switch to high level state open delay duration and electric current electric current stablize duration and second The sum of duration of high level, and control chip sampling delay duration difference, determine the after exporting the second high level Two moment, to carry out the acquisition of the second phase current.

5, in an embodiment of the present invention, when electric current stablizes sampling delay duration of the duration no more than control chip, lead to Cross the duration of the second high level, the corresponding upper bridge arm of the second high level switches to needed for low level state from high level state Dead zone duration, the corresponding lower bridge arm of the second high level in the dead zone of the turn-off delay duration, insertion wanted switch from low level state The sum of delay duration is opened to high level state, the third moment after exporting the second high level is determined, to carry out second The acquisition of phase current.

It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non- It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements, It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged Except there is also other identical factors in the process, method, article or apparatus that includes the element.

Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention, Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.

Claims

1. a kind of motor list resistance sampling control method characterized by comprising

Predefine be connected with motor to be sampled single resistance sampling control circuit open postpone duration, turn-off delay duration, The dead zone duration that electric current stablizes duration and is inserted into dead zone, and control chip acquire single resistance sampling control circuit output The sampling duration of one phase current；

Determine continuing for second high level of three phase currents of the motor to be sampled in three high level of a PWM wave Duration, wherein the duration of second high level is less than the duration of the first high level in three high level, And it is greater than the duration of the third high level in three high level, wherein the PWM wave uses central symmetry mode；

According to the turn-off delay duration and the sampling duration, determine that acquisition is described wait adopt before second high level turns off The first object point that sample motor passes through the first phase current of single resistance sampling control circuit output；

According to the turn-off delay duration, the dead zone duration, it is described open delay duration, the electric current stablizes duration and described Duration is sampled, determines that acquiring the motor to be sampled after second high level shutdown passes through single resistance sampling control electricity Second target point of the second phase current of road output；

When the time interval of the first object point and second target point is less than turning for the analog-to-digital conversion of the control chip When changing duration, the first object point and the second target point are adjusted according to the conversion duration, and by institute adjusted First object o'clock is stated as the first sampled point, using the second target point adjusted as the second sampled point；

According to first sampled point and second sampled point, control the control chip acquire corresponding first phase current with Second phase current；

2. the method according to claim 1, wherein

It is described according to the turn-off delay duration and the sampling duration, determine before second high level turns off described in acquisition The first object point that motor to be sampled passes through the first phase current of single resistance sampling control circuit output, comprising:

The stage is counted up in the PWM wave, it is the first moment before second high level is turned off, described wait adopt as acquisition The first object point that sample motor passes through the first phase current of single resistance sampling control circuit output, wherein when described first Meet following first formula quarter:

M₁=Y+K-F

Wherein, M₁First moment is characterized, F characterizes the turn-off delay duration, and Y characterizes the sampling delay duration, K characterization The sampling keeps duration.

3. according to the method described in claim 2, it is characterized in that,

It is described according to the turn-off delay duration, the dead zone duration, it is described open delay duration, the electric current stablize duration and The sampling duration determines that the motor to be sampled is acquired after second high level shutdown passes through single resistance sampling control Second target point of the second phase current of circuit output processed, comprising:

The stage is counted up in the PWM wave,

When the electric current, which stablizes duration, is greater than the sampling delay duration, when according to the turn-off delay duration, the dead zone It is long, described to open delay duration, the stable duration of the electric current and the sampling delay duration, it determines and is closed in second high level The second moment having no progeny, and pass through single resistance sampling control electricity using second moment as the motor to be sampled is acquired Second target point of the second phase current of road output；

When the electric current, which stablizes duration, is not more than the sampling delay duration, according to the turn-off delay duration, the dead zone Duration and the third moment opened delay duration, determine after second high level shutdown, and by the third moment Pass through the second target point of the second phase current of single resistance sampling control circuit output as the motor to be sampled is acquired.

4. according to the method described in claim 3, it is characterized in that,

It is described according to the turn-off delay duration, the dead zone duration, it is described open delay duration, the electric current stablize duration and The sampling delay duration determines the second moment after second high level shutdown, comprising:

M₂=F+D+O+W-Y

Wherein, M₂Characterize second moment, F characterizes the turn-off delay duration, and D characterizes the dead zone duration, described in O characterization Delay duration is opened, W characterizes electric current and stablizes duration, and Y characterizes the sampling delay duration；

And/or

It is described according to the turn-off delay duration, the dead zone duration and it is described open delay duration, determination is high described second The third moment after level shutdown, comprising:

M₃=F+D+O

Wherein, M₃Characterize the third moment, F characterizes the turn-off delay duration, and D characterizes the dead zone duration, described in O characterization Open delay duration.

5. according to the method described in claim 2, it is characterized in that,

Described according to the turn-off delay duration and the sampling duration, determine and acquire institute before second high level turns off Before stating first object point of the motor to be sampled by the first phase current of single resistance sampling control circuit output, further Include:

Determine the difference and described first of the duration of second high level and the duration of the third high level When whether the difference of the duration of high level and the duration of second high level is not less than 2 times of preset execution It is long, if so, counting up the stage in the PWM wave described in executing, the first moment before second high level shutdown is made For the first object point for acquiring the first phase current that the motor to be sampled is exported by single resistance sampling control circuit, In, the execution duration meets following 4th formula:

Z=F+D+O+K+R

Wherein, Z characterizes the execution duration, and F characterizes the turn-off delay duration, and D characterizes the dead zone duration, described in O characterization Delay duration is opened, K characterizes the sampling and keeps duration, when the sampling delay duration, which is greater than the electric current, stablizes duration, R The sampling delay duration is characterized, when the sampling delay duration stablizes duration no more than the electric current, R characterizes the electric current Stablize duration.

6. according to claim 1 to any method in 5, which is characterized in that

It is described that the first object point and the second target point are adjusted according to the conversion duration, and will be adjusted described First object o'clock is as the first sampled point, using the second target point adjusted as the second sampled point, comprising:

According to following 5th formula, first sampled point is determined；

5th formula are as follows:

Wherein, S₁Characterize first sampled point, N₁Characterize the first object point, N₂Characterize second target point, Z characterization The conversion duration, a characterize preset denominator value, and b characterizes preset numerator value, wherein a is the positive integer greater than 0, and b is less than a；

According to following 6th formula, second sampled point is determined；

6th formula are as follows:

Wherein, S₂Characterize second sampled point；

And/or

First phase current and the second phase current according to acquisition, determines the third phase current of the motor to be sampled, comprising:

7. a kind of motor list resistance sampling control device characterized by comprising

Duration information determining module is prolonged for predefining single the opening for resistance sampling control circuit being connected with motor to be sampled The dead zone duration that slow duration, turn-off delay duration, electric current stablize duration and be inserted into dead zone, and control chip acquisition single electricity Hinder the sampling duration of a phase current of sampling control circuit output；

PWM wave management module, for determining three phase currents of the motor to be sampled in three high level of a PWM wave The second high level duration, wherein the duration of second high level is less than the in three high level The duration of one high level, and the duration for the third high level being greater than in three high level, wherein the PWM Wave uses central symmetry mode；

Sample information determining module, the turn-off delay duration and described for being determined according to the duration information determining module Duration is sampled, determines the acquisition motor to be sampled before second high level shutdown that the PWM wave management module determines Pass through the first object point of the first phase current of single resistance sampling control circuit output；According to the turn-off delay duration, The dead zone duration, described open postpone the stable duration of duration, the electric current and the sampling duration, and determination is high described second The second of the second phase current that the motor to be sampled is exported by single resistance sampling control circuit is acquired after level shutdown Target point；When the time interval of the first object point and second target point is less than the analog-to-digital conversion of the control chip When converting duration, the first object point and the second target point are adjusted according to the conversion duration, and will be adjusted The first object o'clock is as the first sampled point, using the second target point adjusted as the second sampled point；

Sampling management module 304, first sampled point and described for being determined according to the sample information determining module 303 Second sampled point controls the control chip and acquires corresponding first phase current and the second phase current；According to the first phase of acquisition Electric current and the second phase current determine the third phase current of the motor to be sampled.

8. device according to claim 7, which is characterized in that

The sample information determining module, for counting up the stage in the PWM wave, before second high level shutdown First moment, the as the first phase current for acquiring the motor to be sampled and being exported by single resistance sampling control circuit One target point, wherein first moment meets following first formula:

M₁=Y+K-F

9. device according to claim 8, which is characterized in that

The sample information determining module is further used for determining the duration of second high level and the high electricity of the third The difference of the difference of flat duration and the duration of first high level and the duration of second high level Whether value is not less than 2 times of preset execution duration, if so, the stage is counted up in the PWM wave described in executing, by institute The first moment before stating the shutdown of the second high level passes through single resistance sampling control circuit as the motor to be sampled is acquired The first object point of first phase current of output, wherein the execution duration meets following 4th formula:

Z=F+D+O+K+R

10. according to the device any in claim 7 to 9, which is characterized in that

5th formula are as follows:

According to following 6th formula, second sampled point is determined；

6th formula are as follows:

Wherein, S₂Characterize second sampled point；

And/or

The sampling management module obtains summing value for summing to the first phase current values and second phase current values；By institute State third phase current values of the opposite number of summing value as the motor to be sampled.