CN110247588B - Single-pulse control method and system of Hall motor - Google Patents
Single-pulse control method and system of Hall motor Download PDFInfo
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- CN110247588B CN110247588B CN201910468489.8A CN201910468489A CN110247588B CN 110247588 B CN110247588 B CN 110247588B CN 201910468489 A CN201910468489 A CN 201910468489A CN 110247588 B CN110247588 B CN 110247588B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/15—Controlling commutation time
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
Abstract
The invention relates to the technical field of brushless direct current motors, in particular to a single-pulse control method and a single-pulse control system for a Hall motor, wherein the method comprises the following steps: s1, detecting a Hall level signal of a motor and determining the position of a motor rotor; s2, giving an excitation signal to the motor to start the motor; and S3, performing phase change on the excitation signal according to the change of the Hall level signal to drive a motor. The system is provided with a microcontroller for detecting the level signal change of a Hall sensor to determine a commutation period, only one pulse excitation signal for driving a motor is generated in one commutation period, and excessive electromagnetic interference is avoided, so that the product can pass EMC verification, and can be used in an environment with higher requirements on electromagnetic interference; the microcontroller can keep the actual rotating speed of the motor consistent with the set rotating speed by adjusting the duty ratio of the single pulse excitation signal; and according to the difference of the motor, the microcontroller can also carry out advanced or delayed commutation treatment, thereby improving the working efficiency of the motor.
Description
Technical Field
The invention relates to the technical field of brushless direct current motors, in particular to a single-pulse control method and a single-pulse control system for a Hall motor.
Background
A direct current motor is a rotating electrical machine that can convert direct current electrical energy into mechanical energy (a direct current motor) or convert mechanical energy into direct current electrical energy (a direct current generator). The motor can realize the mutual conversion of direct current electric energy and mechanical energy. When the motor is used as a motor, the motor is a direct current motor and converts electric energy into mechanical energy; when the generator is operated, the generator is a direct current generator and converts mechanical energy into electric energy. The direct current motor comprises a brushless direct current motor and a brush direct current motor, and the brush direct current motor adopts a mechanical brush and a commutator to commutate current in the winding.
As shown in fig. 1, the brushless dc motor electronically commutates the winding current, mainly by detecting the position of the rotor rotating magnetic field through a hall position sensor, and exciting the corresponding winding through a logic and driving circuit. The existing method for controlling the motor to operate mostly adopts a multi-pulse method, namely, a plurality of pulses are driven in one electric cycle, but the method is easy to generate electromagnetic interference, and the product can not pass EMC verification.
Disclosure of Invention
The invention provides a single-pulse control method and a single-pulse control system for a Hall motor, and solves the technical problem that an existing brushless direct current motor adopts a multi-pulse motor driving method, so that electromagnetic interference is easy to generate, and a product cannot pass EMC verification.
In order to solve the technical problems, the invention provides a single-pulse control method of a Hall motor, which comprises the following steps:
s1, detecting a Hall level signal of a motor and determining the position of a motor rotor;
s2, giving an excitation signal to the motor to start the motor;
and S3, performing phase change on the excitation signal according to the change of the Hall level signal to drive a motor.
Further, the step S3 specifically includes:
s31, recording the time point of the Hall level signal conversion;
s32, calculating the time interval between two adjacent time points, and taking the time interval as the basic period of the single-pulse excitation signal;
s33, determining a commutation period of the single-pulse excitation signal according to a commutation requirement and the basic period;
and S34, driving the motor by the single-pulse excitation signal with the determined phase change period.
Further, in the step S33, the commutation request includes an immediate commutation, an advanced commutation, and a delayed commutation;
when the phase change requirement is instant phase change, the phase change period of the single-pulse excitation signal is the basic period;
when the phase change requirement is phase change in advance, the phase change period of the single-pulse excitation signal is equal to the basic period minus the advance time;
when the phase change requirement is delayed phase change, the phase change period of the single-pulse excitation signal is equal to the basic period plus the delay time.
Further, after the step S3, the method further includes the steps of:
s4, calculating the current rotating speed of the motor according to the phase change period of the single pulse excitation signal;
and S5, comparing the current rotating speed with a set rotating speed, and reducing or increasing the duty ratio of the single-pulse excitation signal when the current rotating speed is greater than or less than the set rotating speed until the current rotating speed is stabilized at the set rotating speed.
The invention also provides a single pulse control system of the Hall motor, which comprises a three-phase drive circuit, a motor peripheral drive circuit, a motor, three Hall sensors and a microcontroller, wherein the three-phase drive circuit, the motor peripheral drive circuit and the motor are sequentially connected;
the microcontroller is used for firstly acquiring a level signal of the Hall sensor, determining the position of a motor rotor and starting a motor through the three-phase drive circuit and the motor peripheral drive circuit;
the microcontroller is also used for carrying out phase conversion on the excitation signal according to the conversion of the Hall level signal and driving the motor through the three-phase driving circuit and the motor peripheral driving circuit.
Specifically, the microcontroller is provided with a first timer;
the first timer is used for recording the time point of the Hall level signal conversion;
the microcontroller is used for calculating the time interval between two adjacent time points and taking the time interval as the basic period of the single-pulse excitation signal; and is also used for determining the commutation period of the single-pulse excitation signal according to the commutation requirement and the basic period.
Specifically, the microcontroller is further provided with a second timer;
the second timer is used for generating an interruption every time the commutation period is reached, and is used for carrying out commutation on the single-pulse excitation signal.
Specifically, the commutation requirements include an immediate commutation, an early commutation, and a late commutation;
when the phase change requirement is instant phase change, the phase change period of the single-pulse excitation signal is the basic period;
when the phase change requirement is phase change in advance, the phase change period of the single-pulse excitation signal is equal to the basic period minus the advance time;
when the phase change requirement is delayed phase change, the phase change period of the single-pulse excitation signal is equal to the basic period plus the delay time.
Specifically, the microcontroller is further configured to calculate a current rotation speed of the motor according to a commutation period of the single-pulse excitation signal; and comparing the current rotating speed with a set rotating speed, and when the current rotating speed is greater than or less than the set rotating speed, reducing or increasing the duty ratio of the single-pulse excitation signal until the current rotating speed is stabilized at the set rotating speed.
Preferably, the microcontroller is PIC16F 1578.
According to the single-pulse control method of the Hall motor, the phase change period is determined by detecting the level signal change of the Hall sensor, and only one pulse excitation signal is generated in one phase change period, so that excessive electromagnetic interference is avoided, the product can be subjected to EMC verification, and the product can be used in an environment with high requirements on electromagnetic interference; the actual rotating speed of the motor can be kept consistent with the set rotating speed by adjusting the duty ratio of the single pulse excitation signal; according to different motors, the phase change processing can be performed in advance or in a delayed mode, and the working efficiency of the motor can be improved;
according to the single-pulse control system of the Hall motor, the microcontroller is arranged for detecting the level signal change of the Hall sensor to determine the phase change period, only one pulse excitation signal for driving the motor is generated in one phase change period, and excessive electromagnetic interference is avoided, so that the product can be subjected to EMC verification, and the product can be used in an environment with high requirements on electromagnetic interference; the microcontroller can keep the actual rotating speed of the motor consistent with the set rotating speed by adjusting the duty ratio of the single pulse excitation signal; and according to the difference of the motor, the microcontroller can also carry out advanced or delayed commutation treatment, thereby improving the working efficiency of the motor.
Drawings
Fig. 1 is a schematic diagram illustrating an operation of a conventional brushless dc motor according to an embodiment of the present invention;
FIG. 2 is a flow chart of steps of a single pulse control method for a Hall motor according to an embodiment of the present invention;
FIG. 3 is a flowchart of a single pulse control method for a Hall motor according to an embodiment of the present invention;
fig. 4 is a block diagram of a single pulse control system of a hall motor according to an embodiment of the present invention;
FIG. 5 is an electrical connection diagram of the microcontroller PIC16F1578 of FIG. 4 according to an embodiment of the present invention;
FIG. 6 is an electrical connection diagram of the three-phase driving circuit of FIG. 4 (taking the U-phase as an example, and the same driving circuit is used for the V-phase and the W-phase) according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating electrical connection between the peripheral driver circuit of the Motor and the Motor of FIG. 4 according to an embodiment of the present invention;
FIG. 8 is a graph comparing the level signal of the Hall sensor with the position driving phase in the method and system provided by the embodiment of the invention;
FIG. 9 is a graph illustrating the relationship between the level signal of the Hall sensor and the level of the single-pulse excitation signal during the instant phase change in the method and system according to the embodiment of the present invention;
FIG. 10 is a graph illustrating the relationship between the level signal of the Hall sensor and the level of the single-pulse excitation signal during the early commutation in the method and system provided by the embodiment of the invention;
fig. 11 is a comparison chart of the relationship between the level signal of the hall sensor and the level of the single-pulse excitation signal during the delayed phase inversion in the method and system provided by the embodiment of the invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are given for illustrative purposes only and are not to be construed as limiting the invention, and the embodiments and the dimensions of the components and the drawings are merely preferred embodiments, which are provided for reference and illustrative purposes only and do not limit the scope of the invention, since many changes may be made therein without departing from the spirit and scope thereof.
The single-pulse control method for the hall motor provided by the embodiment of the invention, as shown in a step flow chart shown in fig. 2, specifically comprises the following steps:
s1, detecting a Hall level signal of a motor and determining the position of a motor rotor;
s2, giving an excitation signal to the motor to start the motor;
and S3, performing phase change on the excitation signal according to the change of the Hall level signal to drive a motor.
Further, the step S3 specifically includes:
s31, recording the time point of the Hall level signal conversion;
s32, calculating the time interval between two adjacent time points, and taking the time interval as the basic period of the single-pulse excitation signal;
s33, determining a commutation period of the single-pulse excitation signal according to a commutation requirement and the basic period;
and S34, driving the motor by the single-pulse excitation signal with the determined phase change period.
Further, in the step S33, the commutation request includes an immediate commutation, an advanced commutation, and a delayed commutation;
when the phase change requirement is instant phase change, the phase change period of the single-pulse excitation signal is the basic period;
when the phase change requirement is phase change in advance, the phase change period of the single-pulse excitation signal is equal to the basic period minus the advance time;
when the phase change requirement is delayed phase change, the phase change period of the single-pulse excitation signal is equal to the basic period plus the delay time.
Further, after the step S3, the method further includes the steps of:
s4, calculating the current rotating speed of the motor according to the phase change period of the single pulse excitation signal;
and S5, comparing the current rotating speed with a set rotating speed, and reducing or increasing the duty ratio of the single-pulse excitation signal when the current rotating speed is greater than or less than the set rotating speed until the current rotating speed is stabilized at the set rotating speed.
The working flow chart of the single-pulse control method of the hall motor provided by the embodiment of the invention is shown in fig. 3.
As shown in a module structure diagram of fig. 4, an embodiment of the present invention further provides a single pulse control system for a hall Motor, which includes a three-phase driving circuit 10, a Motor peripheral driving circuit 20, a Motor, three hall sensors 30 installed at positions corresponding to a rotor of the Motor, and a microcontroller MCU connected to the three-phase driving circuit 10;
the microcontroller MCU is configured to first acquire a level signal of the hall sensor 30, determine a position of a Motor rotor, and start a Motor through the three-phase driving circuit 10 and the Motor peripheral driving circuit 20;
the microcontroller MCU is further configured to perform phase conversion on the excitation signal according to the conversion of the hall level signal, and drive the Motor through the three-phase driving circuit 10 and the Motor peripheral driving circuit 20.
In the implementation, the microcontroller MCU is provided with a first timer;
the first timer is used for recording the time point of the Hall level signal conversion;
the microcontroller MCU is used for calculating the time interval between two adjacent time points and taking the time interval as the basic period of the single-pulse excitation signal; and is also used for determining the commutation period of the single-pulse excitation signal according to the commutation requirement and the basic period.
In this implementation, the microcontroller MCU is further provided with a second timer;
the second timer is used for generating an interruption every time the commutation period is reached, and is used for carrying out commutation on the single-pulse excitation signal.
Corresponding to the single-pulse control method, in the system, the commutation requirement comprises instant commutation, advance commutation and delay commutation;
when the phase change requirement is instant phase change, the phase change period of the single-pulse excitation signal is the basic period;
when the phase change requirement is phase change in advance, the phase change period of the single-pulse excitation signal is equal to the basic period minus the advance time;
when the phase change requirement is delayed phase change, the phase change period of the single-pulse excitation signal is equal to the basic period plus the delay time.
Specifically, the microcontroller MCU is further configured to calculate a current rotation speed of the Motor according to a commutation period of the single pulse excitation signal; and comparing the current rotating speed with a set rotating speed, and when the current rotating speed is greater than or less than the set rotating speed, reducing or increasing the duty ratio of the single-pulse excitation signal until the current rotating speed is stabilized at the set rotating speed.
As a preferred embodiment of the present invention, the microcontroller MCU is a PIC16F1578, and the electrical connection relationships of the entire control system designed based on this are shown in fig. 5 to 7, which are electrical connection diagrams of the microcontroller PIC16F1578, the three-phase driving circuit 10 and the motor peripheral driving circuit 20, respectively.
The PWM1(UH), PWM2(VH) and PWM3(WH) ports of the microcontroller MCU are respectively connected with three input ends PWM1(UH), PWM2(VH) and PWM3(WH) of the three-phase drive circuit 10; UL, VL, WL connect three input terminals UL, VL, WL of the three-phase driving circuit 10 separately; h1, H2, H3 are connected to the three hall sensors 30, respectively. The microcontroller MCU drives the Motor to operate by controlling the levels of the PWM1(UH), PWM2(VH), PWM3(WH), UL, VL, and WL outputs. Output terminals U-DRV-HI, U-DRV-LO, V-DRV-HI, V-DRV-LO, W-DRV-HI and W-DRV-LO of the three-phase drive circuit 10 are connected with corresponding interfaces of FIG. 7 to drive MOS; the U-VS, the V-US and the W-VS are respectively connected with U, V, W of the Motor to directly drive the Motor.
Before driving the Motor, the microcontroller MCU checks the position of the Motor rotor, the rotor position can be obtained by reading the high and low levels of the hall H1, H2, and H3, the corresponding drive is provided after the rotor position is found, the Motor can be rotated, the phase is still inverted according to the levels of the hall H1, H2, and H3 after the rotor position is found, and the relationship between the level signal of the hall sensor 30 and the position drive phase of the Motor is shown in fig. 8 (0: low level; 1: high level).
In specific application, the requirements for phase change of the motor are different according to different motors, and the requirements mainly comprise instant phase change, advance phase change and delay phase change.
For the instant commutation, referring to the relationship map of fig. 9, the microcontroller MCU immediately commutates the monopulse excitation signal once it detects the hall level transition. The first timer records the time difference T1 of two level conversions, and after calculation and conversion, the T1 is used as the basic period and the commutation period of the single-pulse excitation signal, in the application, the single-pulse excitation signal is the center alignment PWM. The microcontroller MCU can calculate the current rotation speed of the Motor according to the basic cycle, compare the current rotation speed with the set rotation speed, and decrease or increase (decrease or increase the value of W1 in fig. 9) the duty ratio of the single pulse excitation signal when the current rotation speed is greater than or less than the set rotation speed until the current rotation speed is stabilized at the set rotation speed.
For the phase change in advance, referring to the relationship comparison diagram of fig. 10, unlike the instant phase change, the microcontroller MCU detects the hall level change, the phase change period of the monopulse excitation signal is T2 ═ T1-T1, T1 is the time difference T2 obtained by the time needing to be advanced, which is used as the time for the second timer to overflow and interrupt, the second timer reaches time T2 to generate an interrupt, and then the motor phase change is interrupted, so that the phase change in advance is achieved. Similarly, referring to the relationship map of fig. 11, for the delayed commutation, T2 is T1+ T1 as the interrupt time of the second timer.
According to the single-pulse control method of the Hall motor, provided by the embodiment of the invention, the commutation period is determined by detecting the level signal change of the Hall sensor 30, and only one pulse excitation signal is generated in one commutation period, so that excessive electromagnetic interference is not generated, the product can pass EMC verification, and the product can be used in an environment with higher requirements on electromagnetic interference; the actual rotating speed of the Motor can be kept consistent with the set rotating speed by adjusting the duty ratio of the single pulse excitation signal; and according to the difference of the Motor, the phase change processing can be performed in advance or in a delayed mode, and the working efficiency of the Motor can be improved.
According to the single-pulse control system of the Hall Motor, provided by the embodiment of the invention, the MCU is arranged to detect the level signal change of the Hall sensor 30 to determine the commutation period, only one pulse excitation signal for driving the Motor is generated in one commutation period, and excessive electromagnetic interference is avoided, so that the product can pass EMC verification, and can be used in an environment with higher requirements on electromagnetic interference; the microcontroller MCU can keep the actual rotating speed of the Motor consistent with the set rotating speed by adjusting the duty ratio of the single pulse excitation signal; and according to the difference of the Motor, the microcontroller MCU can also carry out the commutation processing in advance or in a delayed mode, and the working efficiency of the Motor can be improved.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (6)
1. A single pulse control method of a Hall motor is characterized by comprising the following steps:
s1, detecting a Hall level signal of a motor and determining the position of a motor rotor;
s2, giving an excitation signal to the motor to start the motor;
s3, performing phase change on the excitation signal according to the change of the Hall level signal to drive a motor;
the step S3 specifically includes:
s31, recording the time point of the Hall level signal conversion;
s32, calculating the time interval between two adjacent time points, and taking the time interval as the basic period of the single-pulse excitation signal;
s33, determining a commutation period of the single-pulse excitation signal according to a commutation requirement and the basic period;
s34, driving a motor by the single pulse excitation signal with the determined phase change period;
in the step S33, the commutation request includes an immediate commutation, an advanced commutation, and a delayed commutation;
when the phase change requirement is instant phase change, the phase change period of the single-pulse excitation signal is the basic period;
when the phase change requirement is phase change in advance, the phase change period of the single-pulse excitation signal is equal to the basic period minus the advance time;
when the phase change requirement is delayed phase change, the phase change period of the single-pulse excitation signal is equal to the basic period plus the delay time.
2. The single pulse control method of the hall motor according to claim 1, further comprising, after said step S3, the steps of:
s4, calculating the current rotating speed of the motor according to the phase change period of the single pulse excitation signal;
and S5, comparing the current rotating speed with a set rotating speed, and reducing or increasing the duty ratio of the single-pulse excitation signal when the current rotating speed is greater than or less than the set rotating speed until the current rotating speed is stabilized at the set rotating speed.
3. A single pulse control system of a Hall motor comprises a three-phase drive circuit, a motor peripheral drive circuit, a motor and three Hall sensors which are arranged at the position corresponding to a motor rotor, wherein the three-phase drive circuit, the motor peripheral drive circuit and the motor are sequentially connected;
the microcontroller is used for firstly acquiring a level signal of the Hall sensor, determining the position of a motor rotor and starting a motor through the three-phase drive circuit and the motor peripheral drive circuit;
the microcontroller is also used for carrying out phase conversion on the excitation signal according to the conversion of the Hall level signal and driving the motor through the three-phase driving circuit and the motor peripheral driving circuit;
the microcontroller is provided with a first timer;
the first timer is used for recording the time point of the Hall level signal conversion;
the microcontroller is used for calculating the time interval between two adjacent time points and taking the time interval as the basic period of the single-pulse excitation signal; the phase change period of the single-pulse excitation signal is determined according to the phase change requirement and the basic period;
the commutation requirements comprise instant commutation, advance commutation and delay commutation;
when the phase change requirement is instant phase change, the phase change period of the single-pulse excitation signal is the basic period;
when the phase change requirement is phase change in advance, the phase change period of the single-pulse excitation signal is equal to the basic period minus the advance time;
when the phase change requirement is delayed phase change, the phase change period of the single-pulse excitation signal is equal to the basic period plus the delay time.
4. The single pulse control system of a hall motor according to claim 3, wherein: the microcontroller is also provided with a second timer;
the second timer is used for generating an interruption every time the commutation period is reached, and is used for carrying out commutation on the single-pulse excitation signal.
5. The single pulse control system of a hall motor according to claim 3, wherein: the microcontroller is also used for calculating the current rotating speed of the motor according to the commutation period of the single-pulse excitation signal; and comparing the current rotating speed with a set rotating speed, and when the current rotating speed is greater than or less than the set rotating speed, reducing or increasing the duty ratio of the single-pulse excitation signal until the current rotating speed is stabilized at the set rotating speed.
6. The single pulse control system of a hall motor according to any one of claims 3 to 5, wherein: the microcontroller is PIC16F 1578.
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| CN112072963B (en) * | 2020-08-13 | 2022-05-03 | 惠州拓邦电气技术有限公司 | Electric tool and commutation control method thereof |
| CN116582032B (en) * | 2023-07-12 | 2023-09-15 | 晶艺半导体有限公司 | Commutation control circuit with lead angle, motor system and commutation control method |
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