CN110165963B - Motor single-resistor sampling control method and device - Google Patents

Motor single-resistor sampling control method and device Download PDF

Info

Publication number
CN110165963B
CN110165963B CN201910423067.9A CN201910423067A CN110165963B CN 110165963 B CN110165963 B CN 110165963B CN 201910423067 A CN201910423067 A CN 201910423067A CN 110165963 B CN110165963 B CN 110165963B
Authority
CN
China
Prior art keywords
time
sampling
duration
high level
phase current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910423067.9A
Other languages
Chinese (zh)
Other versions
CN110165963A (en
Inventor
涂小平
唐婷婷
王声纲
赵鹏飞
朱绯
陈跃
杨正
潘军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changhong Meiling Co Ltd
Sichuan Hongmei Intelligent Technology Co Ltd
Original Assignee
Sichuan Hongmei Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sichuan Hongmei Intelligent Technology Co Ltd filed Critical Sichuan Hongmei Intelligent Technology Co Ltd
Priority to CN201910423067.9A priority Critical patent/CN110165963B/en
Publication of CN110165963A publication Critical patent/CN110165963A/en
Application granted granted Critical
Publication of CN110165963B publication Critical patent/CN110165963B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage

Abstract

The invention provides a motor single-resistor sampling control method and a device, comprising the following steps: determining a first target point and a second target point of a second phase current according to a second high level of three phases of a motor to be sampled in three high levels of a PWM wave, the turn-on delay time, the turn-off delay time, the current stabilization time, the dead zone time and the sampling time of a control chip, wherein the duration time of the second high level is a middle value of the three high levels; when the time interval between the first target point and the second target point is smaller than the conversion time length of analog-to-digital conversion of the control chip, determining a first sampling point and a second sampling point according to the conversion time length, the first target point and the second target point, controlling the control chip to collect the first phase current and the second phase current according to the first sampling point and the second sampling point, and further determining the third phase current of the motor to be sampled. According to the scheme, the sampling of the phase current of the single-resistor sampling control circuit can be completed through the control chip with one independent ADC.

Description

Motor single-resistor sampling control method and device
Technical Field
The invention relates to the technical field of motor driving, in particular to a motor single-resistor sampling control method and device.
Background
In the running process of the motor, the phase current of a three-phase coil of the motor is needed to realize the control of the motor. The cost of controlling the operation of the motor is affected by which way the current of the three-phase coil is sampled.
At present, in a three-phase current sampling method of a traditional motor, a three-resistor or two-resistor mode is often used for sampling phase current of the motor. However, the sampling control circuit using the double resistor and the triple resistor is complex and has high manufacturing cost, so that the traditional sampling mode is gradually replaced by the mode of sampling the three-phase current of the motor by using the single-resistor sampling control circuit.
However, in the method of sampling the phase current by using the single-resistor sampling control circuit, two independent Analog-to-Digital converters (ADCs) of the control chip are required to complete two current samplings at different times in a PWM period, and when the resources of the control chip are limited and only one independent ADC is provided, it is difficult to realize the single-resistor current sampling.
Disclosure of Invention
The embodiment of the invention provides a motor single-resistor sampling control method and device, which can finish the sampling of the phase current of a single-resistor sampling control circuit through a control chip with an independent ADC.
In a first aspect, a motor single resistance sampling control method includes:
the method comprises the steps that the switching-on delay time, the switching-off delay time, the current stabilization time and the dead zone time of an insertion dead zone of a single-resistor sampling control circuit connected with a motor to be sampled are predetermined, and the sampling time of one phase current output by the single-resistor sampling control circuit is acquired by a control chip;
determining the duration of the second high level of the three phase currents of the motor to be sampled in the three high levels of a PWM wave, wherein the duration of the second high level is less than the duration of the first high level of the three high levels and greater than the duration of the third high level of the three high levels, and the PWM wave adopts a central symmetry mode;
determining a first target point for acquiring the first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level is switched off according to the switching-off delay time length and the sampling time length;
determining a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is switched off according to the switching-off delay time, the dead zone time, the switching-on delay time, the current stabilization time and the sampling time;
when the time interval between the first target point and the second target point is smaller than the conversion time length of the analog-to-digital conversion of the control chip, adjusting the first target point and the second target point according to the conversion time length, taking the adjusted first target point as a first sampling point, and taking the adjusted second target point as a second sampling point;
controlling the control chip to acquire corresponding first phase current and second phase current according to the first sampling point and the second sampling point;
and determining the third phase current of the motor to be sampled according to the acquired first phase current and the acquired second phase current.
Preferably, the first and second electrodes are formed of a metal,
the determining, according to the turn-off delay duration and the sampling duration, a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level is turned off includes:
the sampling duration includes: a sample delay duration and a sample hold duration;
in the PWM wave up-counting stage, a first time before the second high level is turned off is used as a first target point for collecting a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the first time satisfies a first formula:
M1＝Y+K-F
wherein M is1And characterizing the first moment, F characterizing the turn-off delay time, Y characterizing the sampling delay time, and K characterizing the sampling holding time.
Preferably, the first and second electrodes are formed of a metal,
determining a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is turned off according to the turn-off delay time, the dead zone time, the turn-on delay time, the current stabilization time and the sampling time, and the determining includes:
during the PWM wave count-up phase,
when the current stabilization duration is longer than the sampling delay duration, determining a second moment after the second high level is turned off according to the turn-off delay duration, the dead zone duration, the turn-on delay duration, the current stabilization duration and the sampling delay duration, and taking the second moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit;
and when the current stabilization duration is not greater than the sampling delay duration, determining a third moment after the second high level is turned off according to the turn-off delay duration, the dead zone duration and the turn-on delay duration, and taking the third moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit.
Preferably, the first and second electrodes are formed of a metal,
determining a second time after the second high level is turned off according to the turn-off delay time, the dead zone time, the turn-on delay time, the current stabilization time and the sampling delay time, including:
determining a second time after the second high level shutdown according to a second formula:
M2＝F+D+O+W-Y
wherein M is2And characterizing the second moment, F characterizing the turn-off delay time, D characterizing the dead zone time, O characterizing the turn-on delay time, W characterizing the current stabilization time and Y characterizing the sampling delay time.
Preferably, the first and second electrodes are formed of a metal,
determining a third time after the second high level is turned off according to the turn-off delay time, the dead time and the turn-on delay time, including:
determining a third time instant after the second high level is turned off according to a third formula as follows:
M3＝F+D+O
wherein M is3Characterizing said third moment of time, F characterizing saidAnd D represents the dead zone time length, and O represents the opening delay time length.
Preferably, the first and second electrodes are formed of a metal,
before determining a first target point for acquiring the first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level is turned off according to the turn-off delay time length and the sampling time length, the method further includes:
determining whether the difference between the duration of the second high level and the duration of the third high level and whether the difference between the duration of the first high level and the duration of the second high level are not less than 2 times of a preset execution duration, if so, executing the PWM wave direction up-counting stage, and using a first time before the second high level is turned off as a first target point for collecting a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the execution duration satisfies a fourth formula:
Z＝F+D+O+K+R
wherein Z characterizes the execution time, F characterizes the turn-off delay time, D characterizes the dead time, O characterizes the turn-on delay time, K characterizes the sample hold time, R characterizes the sample delay time when the sample delay time is greater than the current stabilization time, and R characterizes the current stabilization time when the sample delay time is not greater than the current stabilization time.
Preferably, the first and second electrodes are formed of a metal,
the adjusting the first target point and the second target point according to the conversion duration, taking the adjusted first target point as a first sampling point, and taking the adjusted second target point as a second sampling point includes:
determining the first sampling point according to the following fifth formula;
the fifth formula is:
Figure BDA0002066617700000051
wherein S is1Characterizing the first sample point, N1Characterizing the first target point, N2Representing the second target point, Z representing the conversion time length, a representing a preset denominator value, and b representing a preset molecular value, wherein a is a positive integer larger than 0, and b is smaller than a;
determining the second sampling point according to the following sixth formula;
the sixth formula is:
Figure BDA0002066617700000052
wherein S is2Characterizing the second sample point.
Preferably, the first and second electrodes are formed of a metal,
the determining the third phase current of the motor to be sampled according to the collected first phase current and second phase current comprises the following steps:
summing the first phase current value and the second phase current value to obtain a summed value;
and taking the opposite number of the summation value as a third phase current value of the motor to be sampled.
In a second aspect, an embodiment of the present invention provides a single resistance sampling control apparatus for a motor, including:
the time length information determining module is used for predetermining the switching-on delay time length, the switching-off delay time length, the current stabilization time length and the dead zone time length of the insertion dead zone of the single-resistor sampling control circuit connected with the motor to be sampled, and the sampling time length of one phase current output by the single-resistor sampling control circuit acquired by the control chip;
the PWM wave management module is used for determining the duration of the second high level of the three phase currents of the motor to be sampled in the three high levels of one PWM wave, wherein the duration of the second high level is less than the duration of the first high level of the three high levels and greater than the duration of the third high level of the three high levels, and the PWM wave adopts a central symmetry mode;
the sampling information determining module is used for determining a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level determined by the PWM wave management module is switched off according to the switching-off delay time and the sampling time determined by the time information determining module; determining a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is switched off according to the switching-off delay time, the dead zone time, the switching-on delay time, the current stabilization time and the sampling time; when the time interval between the first target point and the second target point is smaller than the conversion time length of the analog-to-digital conversion of the control chip, adjusting the first target point and the second target point according to the conversion time length, taking the adjusted first target point as a first sampling point, and taking the adjusted second target point as a second sampling point;
the sampling management module 304 is configured to control the control chip to acquire a corresponding first phase current and a corresponding second phase current according to the first sampling point and the second sampling point determined by the sampling information determining module 303; and determining the third phase current of the motor to be sampled according to the acquired first phase current and the acquired second phase current.
Preferably, the first and second electrodes are formed of a metal,
the sampling duration includes: a sample delay duration and a sample hold duration;
the sampling information determining module is configured to, in the PWM wave direction up-counting stage, use a first time before the second high level is turned off as a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the first time satisfies a first formula as follows:
M1＝Y+K-F
wherein M is1And characterizing the first moment, F characterizing the turn-off delay time, Y characterizing the sampling delay time, and K characterizing the sampling holding time.
Preferably, the first and second electrodes are formed of a metal,
the sampling information determining module is further configured to determine whether a difference between a duration of the second high level and a duration of the third high level and whether a difference between a duration of the first high level and a duration of the second high level are not less than 2 times of a preset execution duration, if so, execute the PWM wave direction up-counting stage, and use a first time before the second high level is turned off as a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the execution duration satisfies a fourth formula:
Z＝F+D+O+K+R
wherein Z characterizes the execution time, F characterizes the turn-off delay time, D characterizes the dead time, O characterizes the turn-on delay time, K characterizes the sample hold time, R characterizes the sample delay time when the sample delay time is greater than the current stabilization time, and R characterizes the current stabilization time when the sample delay time is not greater than the current stabilization time.
Preferably, the first and second electrodes are formed of a metal,
the sampling information determining module is used for determining the first sampling point according to the following fifth formula;
the fifth formula is:
Figure BDA0002066617700000071
wherein S is1Characterizing the first sample point, N1Characterizing the first target point, N2Representing the second target point, Z representing the conversion time length, a representing a preset denominator value, and b representing a preset molecular value, wherein a is a positive integer larger than 0, and b is smaller than a;
determining the second sampling point according to the following sixth formula;
the sixth formula is:
Figure BDA0002066617700000072
wherein S is2Characterizing the second sample point.
Preferably, the first and second electrodes are formed of a metal,
the sampling management module is used for summing the first phase current value and the second phase current value to obtain a summed value; and taking the opposite number of the summation value as a third phase current value of the motor to be sampled.
The embodiment of the invention provides a motor single-resistor sampling control method and a device, which can determine a first target point of a control chip for acquiring a first phase current and a second target point of a second phase current according to the middle value of the action time of three phases of a motor to be sampled in a PWM wave, namely the second high level of three high levels, by determining the opening delay time required by a single-resistor sampling control circuit connected with the motor to be sampled to switch from a low level state to a high level state, the closing delay time and the current stabilization time required by switching from the high level state to the low level state, the dead zone time inserted in a straight-through dead zone for preventing upper and lower bridge arms of the single-resistor sampling control circuit, and the sampling time required by the control chip for acquiring the phase current, wherein the control chip with an independent ADC is required to carry out analog-to-digital conversion after the first phase current is acquired, therefore, when the time interval between the first target point and the second target point is smaller than the conversion time length of the ADC, the first target point and the second target point need to be adjusted according to the conversion time length to form a corresponding first sampling point and a second sampling point, and then the acquisition of the first phase current and the second phase current can be completed according to the first sampling point and the second sampling point, so as to determine the third phase current of the motor to be sampled, thereby realizing that the sampling of the phase current of the single-resistor sampling control circuit can be completed through the control chip with one independent ADC.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a single resistance sampling control method of a motor according to an embodiment of the present invention;
fig. 2 is a flowchart of another method for controlling single resistance sampling of a motor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a motor single-resistor sampling control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a motor single resistance sampling control method, including:
step 101: the method comprises the steps that the switching-on delay time, the switching-off delay time, the current stabilization time and the dead zone time of an insertion dead zone of a single-resistor sampling control circuit connected with a motor to be sampled are predetermined, and the sampling time of one phase current output by the single-resistor sampling control circuit is acquired by a control chip;
step 102: determining the duration of the second high level of the three phase currents of the motor to be sampled in the three high levels of one PWM wave, wherein the duration of the second high level is less than the duration of the first high level of the three high levels and greater than the duration of the third high level of the three high levels;
step 103: determining a first target point for acquiring the first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level is switched off according to the switching-off delay time length and the sampling time length;
step 104: determining a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is switched off according to the switching-off delay time, the dead zone time, the switching-on delay time, the current stabilization time and the sampling time;
step 105: when the time interval between the first target point and the second target point is smaller than the conversion time length of the analog-to-digital conversion of the control chip, adjusting the first target point and the second target point according to the conversion time length, taking the adjusted first target point as a first sampling point, and taking the adjusted second target point as a second sampling point;
step 106: controlling the control chip to acquire corresponding first phase current and second phase current according to the first sampling point and the second sampling point;
step 107: and determining the third phase current of the motor to be sampled according to the acquired first phase current and the acquired second phase current.
In the embodiment of the invention, by determining the switching-on delay time required by a single resistance sampling control circuit connected with a motor to be sampled to switch from a low level state to a high level state, the switching-off delay time and the current stabilization time required by the single resistance sampling control circuit to switch from the high level state to the low level state, the dead zone time inserted for preventing upper and lower bridge arms of the single resistance sampling control circuit from being directly connected, and the sampling time required by a control chip to collect a phase current, and then according to the middle value of the action time of three phases of the motor to be sampled in a PWM wave, namely the second high level of three high levels, a first target point of the control chip for collecting the first phase current and a second target point of the second phase current can be determined, because the control chip with one path of independent ADC needs to carry out analog-to-digital conversion after the first phase current is collected, when the time interval between the first target point and the second target point is less, the first target point and the second target point need to be adjusted according to the conversion duration to form a corresponding first sampling point and a second sampling point, the first phase current and the second phase current can be collected according to the first sampling point and the second sampling point, and then the third phase current of the motor to be sampled is determined, so that the phase current of the single-resistor sampling control circuit can be sampled through a control chip with one independent ADC.
In an embodiment of the present invention, the determining, according to the turn-off delay time and the sampling time, a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level is turned off includes:
the sampling duration includes: a sample delay duration and a sample hold duration;
in the PWM wave up-counting stage, a first time before the second high level is turned off is used as a first target point for collecting a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the first time satisfies a first formula:
M1＝Y+K-F
wherein M is1And characterizing the first moment, F characterizing the turn-off delay time, Y characterizing the sampling delay time, and K characterizing the sampling holding time.
In the embodiment of the present invention, the sampling duration of the control chip may include a sampling delay duration before sampling and a sampling hold duration during sampling, and since the phase current may still be acquired within the turn-off delay duration after the second high level is switched from the high level state to the low level state, in the PWM wave direction up-counting stage, a difference between a sum of the sampling delay duration and the sampling hold duration, which are required by the control chip to acquire the first phase current, and the turn-off delay duration, is a first time when the control chip is before the motor to be sampled outputs the second high level is turned off, that is, before the second high level is switched from the high level state to the low level state), and then a first target point at which the control chip acquires the first phase current is determined.
In an embodiment of the present invention, the determining, according to the turn-off delay time, the dead zone time, the turn-on delay time, the current stabilization time, and the sampling time, a second target point for acquiring a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is turned off includes:
during the PWM wave count-up phase,
when the current stabilization duration is longer than the sampling delay duration, determining a second moment after the second high level is turned off according to the turn-off delay duration, the dead zone duration, the turn-on delay duration, the current stabilization duration and the sampling delay duration, and taking the second moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit;
and when the current stabilization duration is not greater than the sampling delay duration, determining a third moment after the second high level is turned off according to the turn-off delay duration, the dead zone duration and the turn-on delay duration, and taking the third moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit.
In the embodiment of the present invention, when determining the second target point for acquiring the second phase current, it may be determined by comparing the current stabilization duration with the sampling delay duration to determine whether the second time point after the second high level is output as the second target point by the duration of the second high level, the turn-off delay duration, the dead time, the turn-on delay duration, the current stabilization duration, and the sampling delay duration, or determine the third time point after the second high level is output as the second target point by the duration of the second high level, the turn-off delay duration, the dead time, and the turn-on delay duration.
Determining a second time after the second high level is turned off according to the turn-off delay time, the dead zone time, the turn-on delay time, the current stabilization time and the sampling delay time, including:
determining a second time after the second high level shutdown according to a second formula:
M2＝F+D+O+W-Y
wherein M is2And characterizing the second moment, F characterizing the turn-off delay time, D characterizing the dead zone time, O characterizing the turn-on delay time, W characterizing the current stabilization time and Y characterizing the sampling delay time.
In the embodiment of the invention, as the PWM wave is a wave in a central symmetric mode, in the up-counting stage of the PWM wave, the second time after the second high level is output is determined by the difference between the sum of the off delay time existing when the upper bridge arm corresponding to the second high level is switched from the high level state to the low level state, the dead zone time of the dead zone in which the upper bridge arm and the lower bridge arm are prevented from being directly inserted, the on delay time of the lower bridge arm corresponding to the second high level switched from the low level state to the high level state, and the current stabilization time of the current, and the sampling delay time of the control chip.
In an embodiment of the present invention, the determining a third time after the second high level is turned off according to the turn-off delay time, the dead time and the turn-on delay time includes:
determining a third time instant after the second high level is turned off according to a third formula as follows:
M3＝F+D+O
wherein M is3And characterizing the third moment, F characterizing the turn-off delay time, D characterizing the dead zone time, and O characterizing the turn-on delay time.
In the embodiment of the invention, as the PWM wave is a wave in a central symmetric mode, in the up-counting stage of the PWM wave, when the current stabilization duration is not greater than the sampling delay duration of the control chip, the third time after the second high level is output is determined by the sum of the off delay duration required for the upper arm corresponding to the second high level to switch from the high level state to the low level state, the dead zone duration of the inserted dead zone, and the on delay duration for the lower arm corresponding to the second high level to switch from the low level state to the high level state.
In an embodiment of the present invention, before determining, according to the turn-off delay time and the sampling time, a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high-level turn-off, further includes:
determining whether the difference between the duration of the second high level and the duration of the third high level and whether the difference between the duration of the first high level and the duration of the second high level are not less than 2 times of a preset execution duration, if so, executing the PWM wave direction up-counting stage, and using a first time before the second high level is turned off as a first target point for collecting a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the execution duration satisfies a fourth formula:
Z＝F+D+O+K+R
wherein Z characterizes the execution time, F characterizes the turn-off delay time, D characterizes the dead time, O characterizes the turn-on delay time, K characterizes the sample hold time, R characterizes the sample delay time when the sample delay time is greater than the current stabilization time, and R characterizes the current stabilization time when the sample delay time is not greater than the current stabilization time.
In the embodiment of the present invention, before determining the first target point for collecting the first phase current output by the motor to be sampled through the single-resistor sampling control circuit, it is further required to determine a difference between the duration of the second high level and the duration of the third high level, and whether the difference between the duration of the first high level and the duration of the second high level is not less than 2 times of the preset execution duration, so as to determine whether collection of one phase current can be completed before the second high level is switched from the high level state to the low level state after the third high level is switched from the high level state to the low level state in the PWM wave direction up counting stage, and determine whether collection of one phase current can be completed before the first high level is switched from the high level state to the low level state after the second high level is switched from the high level state to the low level state in the PWM wave direction up counting stage, and when collection of the first phase current and the second phase current can be performed, a first target point at which the first phase current is collected may be determined.
In an embodiment of the present invention, the adjusting the first target point and the second target point according to the conversion duration, and taking the adjusted first target point as a first sampling point and the adjusted second target point as a second sampling point includes:
determining the first sampling point according to the following fifth formula;
the fifth formula is:
Figure BDA0002066617700000131
wherein S is1Characterizing the first sample point, N1Characterizing the first target point, N2Representing the second target point, Z representing the conversion time length, a representing a preset denominator value, and b representing a preset molecular value, wherein a is a positive integer larger than 0, and b is smaller than a;
determining the second sampling point according to the following sixth formula;
the sixth formula is:
Figure BDA0002066617700000132
wherein S is2Characterizing the second sample point.
In the embodiment of the present invention, when the time duration between the first target point and the second target point is less than the conversion time duration of the ADC of the control chip for analog-to-digital conversion, the first target point and the second target point need to be adjusted, that is, the time duration passes through Z- (N)2+N1) The time length control chip can be used for determining how much time length between the first target point and the second target point needs to be increased for normal sampling, the first target point is adjusted from the second high level to the front from the turn-off of the second high level through a fifth formula, and the second target point is adjusted from the second high level to the back through a sixth formula, so that the first sampling point corresponding to the collected first phase current and the second phase current can be obtainedThe second sample point.
In an embodiment of the present invention, the determining a third phase current of the motor to be sampled according to the collected first phase current and second phase current includes:
summing the first phase current value and the second phase current value to obtain a summed value;
and taking the opposite number of the summation value as a third phase current value of the motor to be sampled.
In the embodiment of the invention, the directions of one phase current and the other two phase currents of three-phase currents with the same current magnitude are opposite at any time, so that after the first phase current value and the second phase current value are determined, the third phase current value of the motor to be sampled can be determined by determining the opposite number of the sum of the first phase current value and the second phase current value.
In order to more clearly illustrate the technical solution and advantages of the present invention, the following describes in detail a method for controlling sampling of a single resistance of a motor according to an embodiment of the present invention, as shown in fig. 2, the method may specifically include the following steps:
step 201: the method comprises the steps of predetermining the turn-on delay time, the turn-off delay time, the current stabilization time and the dead zone time of an insertion dead zone of a single-resistor sampling control circuit connected with a motor to be sampled, and acquiring the sampling delay time and the sampling holding time of one phase current output by the single-resistor sampling control circuit through a control chip.
Specifically, the on/off of the single-resistor sampling control circuit and the stability of the switched-on current have corresponding delays, dead zones are inserted for preventing the upper bridge arm and the lower bridge arm of the single-resistor sampling control circuit from being directly connected, a control chip has delay in phase current collection, and a certain sampling and holding time is required for collecting phase current in the collection process.
For example, the on delay time of the single-resistor sampling control circuit connected with the motor to be sampled is 0.1s, the off delay time is 0.2s, the current stabilization time of the current is 0.3s, the dead zone time of the insertion dead zone is 0.4s, the sampling delay time of the control chip for acquiring the phase current is 0.05s, and the sampling holding time is 2 s.
Step 202: and determining the duration of the second high level of the three phase currents of the motor to be sampled in the three high levels of a PWM wave, wherein the duration of the second high level is less than the duration of the first high level of the three high levels and greater than the duration of the third high level of the three high levels, and the PWM wave adopts a central symmetry mode.
It is immediately possible that since the PWM wave adopts the central symmetrical mode, the duration of the three high levels is the duration of the PWM wave when counting up.
For example, in one PWM wave period of the central symmetry mode, the duration of three phase currents of the motor to be sampled is 22s, the second duration is 15s, and the third duration is 6 s.
Step 203: and determining whether the difference between the duration of the second high level and the duration of the third high level and the difference between the duration of the first high level and the duration of the second high level are both less than 2 times of the preset execution duration.
Specifically, by the following fourth formula, the execution time period required for acquiring one phase current may be determined, and when the difference between the duration of the second high level and the duration of the third high level and the difference between the duration of the second high level and the duration of the first high level are not less than 2 times of the execution time period, it may be determined that, in the PWM wave direction up-counting stage, the acquisition of the first phase current can be completed within the time before the second high level is switched from the high level to the low level state after the third high level is switched from the high level to the low level state; in the up-counting stage of the PWM wave, after the second high level is switched from the high level to the low level state, the collection of the second phase current is completed in the time before the first high level is switched from the high level to the low level state.
The fourth formula is:
Z＝F+D+O+K+R
z represents execution time length, F represents turn-off delay time length, D represents dead zone time length, O represents turn-on delay time length, K represents sampling holding time length, R represents sampling delay time length when the sampling delay time length is greater than the current stabilization time length, and R represents current stabilization time length when the sampling delay time length is not greater than the current stabilization time length.
For example, the current stabilization duration 0.3s is greater than the sampling delay duration 0.05s, so the execution duration is the turn-off delay duration 0.2s + the dead zone duration 0.4s + the turn-on delay duration 0.1s + the current stabilization duration 0.3s + the sampling hold duration 2s — 3 s;
since the difference between the duration 15s of the second high level and the duration 6s of the third high level is 9s, which is greater than 2 times the execution duration 6s, the second phase current can be collected within the time before the second high level switches from the high level state to the low level state after the third high level switches from the high level state to the low level state.
Since the difference between the duration 22s of the first high level and the duration 15s of the second high level is 7s, which is greater than 2 times the execution duration 3s, the second phase current can be collected within the time before the first high level switches from the high level state to the low level state after the second high level switches from the high level state to the low level state.
Step 204: if so, determining a first moment before the second high level is turned off in the PWM wave direction up-counting stage according to the turn-off delay time length, the sampling delay time length and the sampling holding time length, and taking the first moment as a first target point for collecting the first phase current output by the motor to be sampled through the single-resistor sampling control circuit.
Specifically, since the PWM wave is in a central symmetric mode, according to a first formula described below, a first time before the PWM wave is turned off to a second high level in the up-counting stage is used as a first target point for collecting a first phase current output by the motor to be sampled through the single-resistor sampling control circuit.
The first formula:
M1＝Y+K-F
wherein M is1And F represents the turn-off delay time, Y represents the sampling delay time, and K represents the sampling holding time at the first time.
For example, the first time before the motor to be sampled outputs the second high level and is turned off is: the sampling delay time length 0.05s + the sampling holding time length 2 s-the turn-off delay time length 0.2s is 1.85s, that is, the first target point for acquiring the first phase current is 1.85s before the second high level is output to turn off.
Step 205: it is determined whether the current stabilization period is greater than the sample delay period, if so, step 206 is performed, otherwise, step 207 is performed.
Step 206: and determining a second moment after the second high level is turned off in the PWM wave direction up-counting stage according to the turn-off delay time, the dead zone time, the turn-on delay time, the current stabilization time and the sampling delay time, taking the second moment as a second target point for collecting the second phase current output by the motor to be sampled through the single-resistor sampling control circuit, and executing the step 208.
Specifically, when the current stabilization duration is longer than the sampling delay duration, since the PWM wave adopts a central symmetry mode, the second time after the second high level is turned off may be used as the second sampling point for collecting the second phase current in the PWM wave up-counting stage according to the following second formula.
The second formula is:
M2＝F+D+O+W-Y
wherein M is2And F represents the turn-off delay time, D represents the dead zone time, O represents the turn-on delay time, W represents the current stabilization time, and Y represents the sampling delay time at the second moment.
For example, the second time M after the motor to be sampled outputs the second high level2Comprises the following steps: the turn-off delay time length 0.2s + the dead zone time length 0.4s + the turn-on delay time length 0.1s + the current stabilization time length 0.3 s-the sampling delay time length 0.05 s-1.95 s, that is, 1.95s after the second high level is turned off is the second target point.
Step 207: and determining a third moment after the second high level is turned off according to the turn-off delay time length, the dead zone time length and the turn-on delay time length, taking the third moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit, and executing the step 208.
Specifically, when the current stabilization duration is not greater than the sampling delay duration, according to a third formula described below, a second time after the second high level is turned off may be used as a second sampling point for collecting the second phase current.
M3＝F+D+O
Wherein M is3And representing a third moment after the motor to be sampled outputs a second high level, F representing the turn-off delay time, D representing the dead zone time, and O representing the turn-on delay time.
Step 208: when the time interval between the first target point and the second target point is smaller than the conversion time length of the analog-to-digital conversion of the control chip, the first target point and the second target point are respectively adjusted according to the first target point, the second target point, the conversion time length, a preset denominator value and a preset numerator value, the adjusted first target point is used as a first sampling point, and the adjusted second target point is used as a second sampling point.
Specifically, the control chip needs to convert the analog signal of the first phase current into a corresponding digital signal after acquiring the analog signal of the first phase current, and since analog-to-digital conversion needs a certain time, the control chip cannot acquire the second phase current immediately after acquiring the first phase current, therefore, the time interval between the first target point and the second target point needs to be compared with the conversion duration of the analog-to-digital conversion of the control chip, when the time interval between the first target point and the second target point is not less than the conversion duration, the phase current can be acquired through the first target point and the second target point, and when the time interval between the first target point and the second target point is less than the conversion duration, the phase current needs to be acquired according to Z- (N) — N)2+N1) Determining the time length required to be increased between the first target point and the second target point, moving the first target point forwards according to the time length required to be increased to determine a first sampling point, and moving the second target point backwards according to the time length required to be increased to determine a second sampling point. Wherein the first sampling point satisfies the following fifth formula, and the second sampling point satisfies the following sixth formula.
The fifth formula is:
Figure BDA0002066617700000181
wherein S is1Characterizing a first sample point, N1Characterizing the first target Point, N2And representing a second target point, Z representing the conversion time length, a representing a preset denominator value, and b representing a preset molecular value, wherein a is a positive integer larger than 0, and b is smaller than a.
The sixth formula is:
Figure BDA0002066617700000182
wherein S is2Characterizing the second sample point, N1Characterizing the first target Point, N2And representing a second target point, Z representing the conversion time length, a representing a preset denominator value, and b representing a preset molecular value, wherein a is a positive integer larger than 0, and b is smaller than a.
For example, the conversion time of the analog-to-digital conversion of the control chip is 4s, the preset denominator value is 2, and the preset numerator value is 1.
Since the sum of 1.85s before the second high level is turned off and 1.95s after the second high level is turned off is 3.8s, which is less than the transition time period of 4s, it is necessary to move the first target point forward and the second target point backward.
The first sample point is: before the second high level is turned off
Figure BDA0002066617700000183
The second sampling point is:
after the motor to be sampled outputs the second phase current
Figure BDA0002066617700000184
Step 209: the control chip is used for collecting a first phase current according to the first sampling point and controlling the control chip to collect a second phase current according to the second sampling point.
Specifically, the control chip collects the first phase current 1.95s before the second high level is turned off, and collects the second phase current 2.05s after the second high level is turned off.
Step 210: and summing the first phase current value and the second phase current value to obtain a summed value, and taking the opposite number of the summed value as a third phase current value of the motor to be sampled.
Specifically, the third phase current value of the motor to be sampled may be determined by the sum of the three phase currents being equal to zero.
As shown in fig. 3, an embodiment of the present invention provides a motor single-resistor sampling control apparatus, including:
the time length information determining module 301 is used for predetermining the turn-on delay time length, the turn-off delay time length, the current stabilization time length and the dead zone time length of the insertion dead zone of the single-resistor sampling control circuit connected with the motor to be sampled, and the sampling time length of one phase current output by the single-resistor sampling control circuit collected by the control chip;
a PWM wave management module 302, configured to determine a duration of a second high level of three phase currents of the motor to be sampled in three high levels of a PWM wave, where the duration of the second high level is less than a duration of a first high level of the three high levels and greater than a duration of a third high level of the three high levels, where the PWM wave adopts a central symmetry mode;
a sampling information determining module 303, configured to determine, according to the turn-off delay time and the sampling time determined by the time length information determining module 301, a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level determined by the PWM wave managing module 302 is turned off; determining a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is switched off according to the switching-off delay time, the dead zone time, the switching-on delay time, the current stabilization time and the sampling time; when the time interval between the first target point and the second target point is smaller than the conversion time length of the analog-to-digital conversion of the control chip, adjusting the first target point and the second target point according to the conversion time length, taking the adjusted first target point as a first sampling point, and taking the adjusted second target point as a second sampling point;
the sampling management module 304 is configured to control the control chip to acquire a corresponding first phase current and a corresponding second phase current according to the first sampling point and the second sampling point determined by the sampling information determining module 303; and determining the third phase current of the motor to be sampled according to the acquired first phase current and the acquired second phase current.
In the embodiment of the invention, the time length information determining module determines the switching-on delay time length required by a single resistance sampling control circuit connected with a motor to be sampled to switch from a low level state to a high level state, the switching-off delay time length and the current stabilizing time length required by the single resistance sampling control circuit to switch from the high level state to the low level state, the dead zone time length inserted into a dead zone for preventing the upper bridge arm and the lower bridge arm of the single resistance sampling control circuit from being directly connected, and the sampling time length required by a control chip to collect a phase current, the sampling information determining module determines the middle value of the three phases of the motor to be sampled in the action time of a PWM wave, namely the second high level of the three high levels according to the PWM wave processing module, so that a first target point of the control chip for collecting the first phase current and a second target point of the second phase current can be determined, and the control chip with one, therefore, when the time interval between the first target point and the second target point is smaller than the conversion time length of the ADC, the first target point and the second target point need to be adjusted according to the conversion time length to form a corresponding first sampling point and a second sampling point, and the sampling management module can complete the acquisition of the first phase current and the second phase current according to the first sampling point and the second sampling point, and further determine the third phase current of the motor to be sampled, thereby realizing that the sampling of the phase current of the single-resistor sampling control circuit can be completed through the control chip with one independent ADC.
In an embodiment of the present invention, the sampling duration includes: a sample delay duration and a sample hold duration;
the sampling information determining module is configured to, in the PWM wave direction up-counting stage, use a first time before the second high level is turned off as a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the first time satisfies a first formula as follows:
M1＝Y+K-F
wherein M is1And characterizing the first moment, F characterizing the turn-off delay time, Y characterizing the sampling delay time, and K characterizing the sampling holding time.
In an embodiment of the present invention, the sampling information determining module is further configured to determine a difference between a duration of the second high level and a duration of the third high level, and whether a difference between a duration of the first high level and a duration of the second high level is not less than 2 times of a preset execution duration, if so, execute the PWM wave direction up-counting stage, and use a first time before the second high level is turned off as a first target point for collecting a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the execution duration satisfies a fourth formula:
Z＝F+D+O+K+R
wherein Z characterizes the execution time, F characterizes the turn-off delay time, D characterizes the dead time, O characterizes the turn-on delay time, K characterizes the sample hold time, R characterizes the sample delay time when the sample delay time is greater than the current stabilization time, and R characterizes the current stabilization time when the sample delay time is not greater than the current stabilization time.
In an embodiment of the present invention, the sampling information determining module is configured to determine the first sampling point according to a fifth formula;
the fifth formula is:
Figure BDA0002066617700000211
wherein S is1Characterizing the first sample point，N1Characterizing the first target point, N2Representing the second target point, Z representing the conversion time length, a representing a preset denominator value, and b representing a preset molecular value, wherein a is a positive integer larger than 0, and b is smaller than a;
determining the second sampling point according to the following sixth formula;
the sixth formula is:
Figure BDA0002066617700000212
wherein S is2Characterizing the second sample point.
In an embodiment of the present invention, the sampling management module is configured to sum the first phase current value and the second phase current value to obtain a sum value; and taking the opposite number of the summation value as a third phase current value of the motor to be sampled.
In an embodiment of the present invention, the sampling information determining module is configured to, in the PWM wave direction up-counting stage, determine a second time after the second high level is turned off according to the turn-off delay duration, the dead zone duration, the turn-on delay duration, the current stabilization duration, and the sampling delay duration when the current stabilization duration is greater than the sampling delay duration, and use the second time as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit; and when the current stabilization duration is not greater than the sampling delay duration, determining a third moment after the second high level is turned off according to the turn-off delay duration, the dead zone duration and the turn-on delay duration, and taking the third moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit.
In an embodiment of the present invention, the sampling information determining module is configured to determine a second time after the second high level is turned off according to a second formula as follows:
M2＝F+D+O+W-Y
wherein M is2And characterizing the second moment, F characterizing the turn-off delay time, D characterizing the dead zone time, O characterizing the turn-on delay time, W characterizing the current stabilization time and Y characterizing the sampling delay time.
In an embodiment of the present invention, the sampling information determining module is configured to determine a third time after the second high level is turned off according to a third formula as follows:
M3＝F+D+O
wherein M is3And characterizing the third moment, F characterizing the turn-off delay time, D characterizing the dead zone time, and O characterizing the turn-on delay time.
The embodiments of the invention have at least the following beneficial effects:
1. in an embodiment of the invention, by determining an on delay time required for a single resistance sampling control circuit connected with a motor to be sampled to switch from a low level state to a high level state, an off delay time and a current stabilization time required for switching from the high level state to the low level state, a dead zone time inserted for preventing upper and lower bridge arms of the single resistance sampling control circuit from being directly connected with a dead zone, and a sampling time required for a control chip to acquire a phase current, and then according to a middle value of action time of three phases of the motor to be sampled in a PWM wave, namely a second high level of three high levels, a first target point of the control chip for acquiring the first phase current and a second target point of the second phase current can be determined, because the control chip with one path of independent ADCs needs to perform analog-to-digital conversion after acquiring the first phase current, when a time interval between the first target point and the second target point is less than the conversion time of the ADCs, the first target point and the second target point need to be adjusted according to the conversion duration to form a corresponding first sampling point and a second sampling point, the first phase current and the second phase current can be collected according to the first sampling point and the second sampling point, and then the third phase current of the motor to be sampled is determined, so that the phase current of the single-resistor sampling control circuit can be sampled through a control chip with one independent ADC.
2. In an embodiment of the present invention, the sampling duration of the control chip may include a sampling delay duration before sampling and a sampling hold duration during sampling, and since the phase current may still be acquired within the turn-off delay duration after the second high level is switched from the high level state to the low level state, in the PWM wave direction up-counting stage, a difference between a sum of the sampling delay duration and the sampling hold duration, which are required by the control chip to acquire the first phase current, and the turn-off delay duration, is a first time when the control chip is before the motor to be sampled outputs the second high level is turned off, that is, before the second high level is switched from the high level state to the low level state), and then a first target point at which the control chip acquires the first phase current is determined.
3. In an embodiment of the present invention, when determining the second target point for acquiring the second phase current, it may be determined by comparing the current stabilization duration and the sampling delay duration to determine whether the second time point after outputting the second high level is determined as the second target point by the duration of the second high level, the turn-off delay duration, the dead time, the turn-on delay duration, the current stabilization duration, and the sampling delay duration, or determine the third time point after outputting the second high level as the second target point by the duration of the second high level, the turn-off delay duration, the dead time, and the turn-on delay duration.
4. In an embodiment of the present invention, a second time after the second high level is output is determined to collect the second phase current by using a difference between a dead zone time length for preventing the dead zone inserted by the upper and lower bridge arms from being directly connected to the upper and lower bridge arms, a sum of a current stabilization time length and a current stabilization time length of the current, which is obtained by switching the lower bridge arm corresponding to the second high level from the low level state to the high level state, and a sampling delay time length of the control chip, and by using a switching delay time length for switching the upper and lower bridge arms from the low level state to the high level state.
5. In an embodiment of the present invention, when the current stabilization duration is not greater than the sampling delay duration of the control chip, a third time after the second high level is output is determined according to a sum of a duration of the second high level, a turn-off delay duration required for switching the upper bridge arm corresponding to the second high level from the high level state to the low level state, a dead zone duration of the inserted dead zone, and a turn-on delay duration for switching the lower bridge arm corresponding to the second high level from the low level state to the high level state, so as to collect the second phase current.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (7)

1. A motor single resistance sampling control method is characterized by comprising the following steps:
the method comprises the steps that the switching-on delay time, the switching-off delay time, the current stabilization time and the dead zone time of an insertion dead zone of a single-resistor sampling control circuit connected with a motor to be sampled are predetermined, and the sampling time of one phase current output by the single-resistor sampling control circuit is acquired by a control chip;
determining the duration of the second high level of the three phase currents of the motor to be sampled in the three high levels of a PWM wave, wherein the duration of the second high level is less than the duration of the first high level of the three high levels and greater than the duration of the third high level of the three high levels, and the PWM wave adopts a central symmetry mode;
determining a first target point for acquiring the first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level is switched off according to the switching-off delay time length and the sampling time length;
determining a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is switched off according to the switching-off delay time, the dead zone time, the switching-on delay time, the current stabilization time and the sampling time;
when the time interval between the first target point and the second target point is smaller than the conversion time length of the analog-to-digital conversion of the control chip, adjusting the first target point and the second target point according to the conversion time length, taking the adjusted first target point as a first sampling point, and taking the adjusted second target point as a second sampling point;
controlling the control chip to acquire corresponding first phase current and second phase current according to the first sampling point and the second sampling point;
determining a third phase current of the motor to be sampled according to the collected first phase current and second phase current;
the determining, according to the turn-off delay duration and the sampling duration, a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level is turned off includes:
the sampling duration includes: a sample delay duration and a sample hold duration;
in the PWM wave up-counting stage, a first time before the second high level is turned off is used as a first target point for collecting a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the first time satisfies a first formula:
M1＝Y+K-F
wherein M is1Characterizing the first moment, F characterizing the turn-off delay duration, Y characterizing the sampling delay duration, and K characterizing the sample-hold duration;
determining a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is turned off according to the turn-off delay time, the dead zone time, the turn-on delay time, the current stabilization time and the sampling time, and the determining includes:
during the PWM wave count-up phase,
when the current stabilization duration is longer than the sampling delay duration, determining a second moment after the second high level is turned off according to the turn-off delay duration, the dead zone duration, the turn-on delay duration, the current stabilization duration and the sampling delay duration, and taking the second moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit;
and when the current stabilization duration is not greater than the sampling delay duration, determining a third moment after the second high level is turned off according to the turn-off delay duration, the dead zone duration and the turn-on delay duration, and taking the third moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit.
2. The method of claim 1,
determining a second time after the second high level is turned off according to the turn-off delay time, the dead zone time, the turn-on delay time, the current stabilization time and the sampling delay time, including:
determining a second time after the second high level shutdown according to a second formula:
M2＝F+D+O+W-Y
wherein the content of the first and second substances,M2characterizing the second moment, F characterizing the turn-off delay time, D characterizing the dead zone time, O characterizing the turn-on delay time, W characterizing the current stabilization time, and Y characterizing the sampling delay time;
and/or the presence of a gas in the gas,
determining a third time after the second high level is turned off according to the turn-off delay time, the dead time and the turn-on delay time, including:
determining a third time instant after the second high level is turned off according to a third formula as follows:
M3＝F+D+O
wherein M is3And characterizing the third moment, F characterizing the turn-off delay time, D characterizing the dead zone time, and O characterizing the turn-on delay time.
3. The method of claim 1,
before determining a first target point for acquiring the first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level is turned off according to the turn-off delay time length and the sampling time length, the method further includes:
determining whether the difference between the duration of the second high level and the duration of the third high level and whether the difference between the duration of the first high level and the duration of the second high level are not less than 2 times of a preset execution duration, if so, executing the PWM wave direction up-counting stage, and using a first time before the second high level is turned off as a first target point for collecting a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the execution duration satisfies a fourth formula:
Z＝F+D+O+K+R
wherein Z characterizes the execution time, F characterizes the turn-off delay time, D characterizes the dead time, O characterizes the turn-on delay time, K characterizes the sample hold time, R characterizes the sample delay time when the sample delay time is greater than the current stabilization time, and R characterizes the current stabilization time when the sample delay time is not greater than the current stabilization time.
4. The method according to any one of claims 1 to 3,
the adjusting the first target point and the second target point according to the conversion duration, taking the adjusted first target point as a first sampling point, and taking the adjusted second target point as a second sampling point includes:
determining the first sampling point according to the following fifth formula;
the fifth formula is:
Figure FDA0002966682260000051
wherein S is1Characterizing the first sampling point, N1 characterizing the first target point, N2Representing the second target point, Z representing the conversion time length, a representing a preset denominator value, and b representing a preset molecular value, wherein a is a positive integer larger than 0, and b is smaller than a;
determining the second sampling point according to the following sixth formula;
the sixth formula is:
Figure FDA0002966682260000052
wherein S is2Characterizing the second sample point;
and/or the presence of a gas in the gas,
the determining the third phase current of the motor to be sampled according to the collected first phase current and second phase current comprises the following steps:
summing the first phase current value and the second phase current value to obtain a summed value;
and taking the opposite number of the summation value as a third phase current value of the motor to be sampled.
5. A single resistance sampling control device of a motor is characterized by comprising:
the time length information determining module is used for predetermining the switching-on delay time length, the switching-off delay time length, the current stabilization time length and the dead zone time length of the insertion dead zone of the single-resistor sampling control circuit connected with the motor to be sampled, and the sampling time length of one phase current output by the single-resistor sampling control circuit acquired by the control chip;
the PWM wave management module is used for determining the duration of the second high level of the three phase currents of the motor to be sampled in the three high levels of one PWM wave, wherein the duration of the second high level is less than the duration of the first high level of the three high levels and greater than the duration of the third high level of the three high levels, and the PWM wave adopts a central symmetry mode;
the sampling information determining module is used for determining a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit before the second high level determined by the PWM wave management module is switched off according to the switching-off delay time and the sampling time determined by the time information determining module; determining a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is switched off according to the switching-off delay time, the dead zone time, the switching-on delay time, the current stabilization time and the sampling time; when the time interval between the first target point and the second target point is smaller than the conversion time length of the analog-to-digital conversion of the control chip, adjusting the first target point and the second target point according to the conversion time length, taking the adjusted first target point as a first sampling point, and taking the adjusted second target point as a second sampling point;
the sampling management module 304 is configured to control the control chip to acquire a corresponding first phase current and a corresponding second phase current according to the first sampling point and the second sampling point determined by the sampling information determining module 303; determining a third phase current of the motor to be sampled according to the collected first phase current and second phase current;
the sampling duration includes: a sample delay duration and a sample hold duration;
the sampling information determining module is configured to, in the PWM wave direction up-counting stage, use a first time before the second high level is turned off as a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the first time satisfies a first formula as follows:
M1＝Y+K-F
wherein M is1Characterizing the first moment, F characterizing the turn-off delay duration, Y characterizing the sampling delay duration, and K characterizing the sample-hold duration;
determining a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit after the second high level is turned off according to the turn-off delay time, the dead zone time, the turn-on delay time, the current stabilization time and the sampling time, and the determining includes:
during the PWM wave count-up phase,
when the current stabilization duration is longer than the sampling delay duration, determining a second moment after the second high level is turned off according to the turn-off delay duration, the dead zone duration, the turn-on delay duration, the current stabilization duration and the sampling delay duration, and taking the second moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit;
and when the current stabilization duration is not greater than the sampling delay duration, determining a third moment after the second high level is turned off according to the turn-off delay duration, the dead zone duration and the turn-on delay duration, and taking the third moment as a second target point for collecting a second phase current output by the motor to be sampled through the single-resistor sampling control circuit.
6. The apparatus of claim 5,
the sampling information determining module is further configured to determine whether a difference between a duration of the second high level and a duration of the third high level and whether a difference between a duration of the first high level and a duration of the second high level are not less than 2 times of a preset execution duration, if so, execute the PWM wave direction up-counting stage, and use a first time before the second high level is turned off as a first target point for acquiring a first phase current output by the motor to be sampled through the single-resistor sampling control circuit, where the execution duration satisfies a fourth formula:
Z＝F+D+O+K+R
wherein Z characterizes the execution time, F characterizes the turn-off delay time, D characterizes the dead time, O characterizes the turn-on delay time, K characterizes the sample hold time, R characterizes the sample delay time when the sample delay time is greater than the current stabilization time, and R characterizes the current stabilization time when the sample delay time is not greater than the current stabilization time.
7. The apparatus according to any one of claims 5 to 6,
the sampling information determining module is used for determining the first sampling point according to the following fifth formula;
the fifth formula is:
Figure FDA0002966682260000081
wherein S is1Characterizing the first sample point, N1Characterizing the first target point, N2Representing the second target point, Z representing the conversion time length, a representing a preset denominator value, and b representing a preset molecular value, wherein a is a positive integer larger than 0, and b is smaller than a;
determining the second sampling point according to the following sixth formula;
the sixth formula is:
Figure FDA0002966682260000091
wherein S is2Characterizing the second sample point;
and/or the presence of a gas in the gas,
the sampling management module is used for summing the first phase current value and the second phase current value to obtain a summed value; and taking the opposite number of the summation value as a third phase current value of the motor to be sampled.
CN201910423067.9A 2019-05-21 2019-05-21 Motor single-resistor sampling control method and device Active CN110165963B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910423067.9A CN110165963B (en) 2019-05-21 2019-05-21 Motor single-resistor sampling control method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910423067.9A CN110165963B (en) 2019-05-21 2019-05-21 Motor single-resistor sampling control method and device

Publications (2)

Publication Number Publication Date
CN110165963A CN110165963A (en) 2019-08-23
CN110165963B true CN110165963B (en) 2021-04-13

Family

ID=67631571

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910423067.9A Active CN110165963B (en) 2019-05-21 2019-05-21 Motor single-resistor sampling control method and device

Country Status (1)

Country Link
CN (1) CN110165963B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110632379B (en) * 2019-10-30 2020-11-13 四川中微芯成科技有限公司 Motor-controlled single-resistor sampling method
CN111055892B (en) * 2019-12-26 2021-11-30 中国铁道科学研究院集团有限公司通信信号研究所 Railway signal acquisition information fault-tolerant method based on threshold delay processing

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1059261A (en) * 1996-08-20 1998-03-03 Sanyo Electric Co Ltd Battery control method of electric-motor car
JP2004015946A (en) * 2002-06-10 2004-01-15 Toshiba Corp Motor drive circuit arrangement for laundry instrument
CN105450093A (en) * 2015-12-16 2016-03-30 四川长虹电器股份有限公司 Direct current motor phase current sampling method and electronic equipment
CN105548676B (en) * 2015-12-16 2019-05-07 四川长虹电器股份有限公司 A kind of list resistor current method of sampling and air-conditioning equipment
CN207720054U (en) * 2018-01-09 2018-08-10 广州市韦德电气机械有限公司 A kind of servo-driver list resistance sampling detecting system

Also Published As

Publication number Publication date
CN110165963A (en) 2019-08-23

Similar Documents

Publication Publication Date Title
CN110165963B (en) Motor single-resistor sampling control method and device
CN111049443B (en) Sampling method for single-resistor current of three-phase permanent magnet synchronous motor
TW200412006A (en) Adaptive compensation of dead time for inverter and converter
CN110365272B (en) Single-resistor sampling control method and device
CN110034712B (en) Single-resistor sampling control method and device
CN109765421B (en) Motor phase current sampling method and device
JP2019080371A (en) Driving circuit of switch
CN106561001B (en) Sampling device
CN111900007B (en) Method for accurately controlling phase selection closing angle
CN107515329B (en) IGBT comprehensive over-current protection method and system based on digital filtering
JP2004247834A (en) Over-current detection circuit of single phase load subjected to pwm voltage control by mos transistor
CN111366779A (en) Voltage zero-crossing detection device and air conditioner
TWI420496B (en) Voltage comparator, liquid crystal display driver having the same and transition acceleration method thereof
CN1275390C (en) Bipolar CMOS latch with NPN control device structure for limiting current of NPN positive feedback device
CN102570425A (en) Start AD (analog-to-digital) start component acting method applied to microcomputer protection for double-AD sampling
CN206506438U (en) A kind of DC DC convert soft switch circuit
JPH0292023A (en) A/d converter
EP4333300A1 (en) Solid state switch device and operation method for solid state switch device
CN215344414U (en) Brushless DC motor and microcontroller thereof
CN108490275A (en) A kind of quick three-phase phase-sequence Digital Detecting Method and its device
JP2005295665A (en) Power supply
JP2006138783A (en) Direct current detecting device
CN112213551B (en) Method for improving phase selection precision of permanent magnet operating mechanism
SU1622940A1 (en) Device for sampling and storing voltage values
CN110632359B (en) Analog quantity isolation system and method based on flying capacitor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20230927

Address after: 621050 No. 303 Jiuzhou Road, Fucheng District, Mianyang, Sichuan.

Patentee after: SICHUAN HONGMEI INTELLIGENT TECHNOLOGY Co.,Ltd.

Patentee after: CHANGHONG MEILING Co.,Ltd.

Address before: 621050 No. 303 Jiuzhou Road, Fucheng District, Mianyang, Sichuan.

Patentee before: SICHUAN HONGMEI INTELLIGENT TECHNOLOGY Co.,Ltd.