CN110474575A - Brushless motor torsion position encoder device - Google Patents
Brushless motor torsion position encoder device Download PDFInfo
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- CN110474575A CN110474575A CN201811488245.8A CN201811488245A CN110474575A CN 110474575 A CN110474575 A CN 110474575A CN 201811488245 A CN201811488245 A CN 201811488245A CN 110474575 A CN110474575 A CN 110474575A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 8
- 238000004804 winding Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 238000005259 measurement Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of brushless motor torsion position encoder devices, including a motor position encoder, a controller, a code selector and a PWM drive circuit, wherein motor position encoder connects a motor, and the angle displacement to measure motor rotor generates a UVW signal and an ABI signal；Position angle of the controller to calculate the motor rotor；The UVW signal and ABI signal of code selector connection motor position encoder, the switching signal of controller output is received when the motor is activated, selection UVW signal is sent to controller, when controller judges UVW signal for specific sections, receive the switching signal of controller output, selection ABI signal is sent to controller, so can quickly and accurately extrapolate the current position angle of motor rotor, allowing the controller to drive motor rotor can operate according to direct torque.
Description
Technical field
The present invention relates to a kind of brushless motor torsion position encoder devices, especially with regard to a kind of estimation brushless motor rotor
The code device of torque position, may be selected output UVW signal or ABI signal is quickly and accurately extrapolated motor rotor
Position angle, with the accurate control of the subsequent motor torque of benefit.
Background technique
The fixed coil of permanent magnet (rotor) and three or more identical spacing that Brushless DC motor is rotated by one
(stator) composition.By the electric current in control stator coil, the magnetic field of an any direction and size can be manufactured.Rotor and stator
Attracting/repel each other effect of the magnetic field in shaft, i.e. generation torque.Brushless DC motor control system needs the angle using rotor
Displacement measurement, to establish a set of locking feedback loop, this measurement can by magnetic position sensor or optical position sensor Lai
It carries out.For the angle displacement measurement feedback of rotor to controller, the electric current that control driving flows through stator coil generates orthogonal magnetic
, driving rotor operating.By measuring the angle displacement of rotor, the system of control stator coil electric current, Jin Erda can be fed back to
At the accurate control of rotor torque.
Encoder used in measurement brushless motor position angle at present, such as the existing motor torque coding circuit side Fig. 1
It is using tradition UVW signal combination orthogonal encoder (QEI, Quadrature Encoder shown in block schematic diagram
Interface ABI signal) is encoded together, and UVW signal, which is only capable of enclosing motor rotation one, is distinguished into six sections, and ABI
It then can accurately estimate the angle position of brushless motor 1.Therefore in addition to providing UVW in existing motor position encoder 2
Signal is input to outside controller 3, has more the encoding function of orthogonal encoder (QEI), it is possible to provide the correlation of motor mechanical angle
Information, including tri- A phase (QEA), B phase (QEB) and Index signals (ABI) are input to controller 3, therefore existing motor position
Encoder 2 is required, and there are six the outputs of foot position.When controller 3 receive the UVW signal that motor position encoder 2 is exported and
When ABI signal, control signal can be exported to PWM drive circuit 4, output control 1 stator coil of brushless motor of PWM drive circuit 4
Driving current, to drive the rotor of brushless motor 1 to rotate angle or torque.
However existing controller 3 is needed when reading ABI signal by wherein Index signal learns brushless motor 1
Beginning position, and when rotor of the Index signal necessarily brushless motor 1 rotates to " zero point " position of encoder settings, can just go out
It is existing, if controller 3 can not learn the position angle of current rotor, after causing not in " zero point " position when brushless motor 1 starts
Continuous control flow can not accurately control motor torque, therefore current existing motor position encoder 2 is in motor starting state
When, have the shortcomings that can not Accurate Estimation go into action up to rotor position angle, it is necessary to wait motor rotors rotation be more than one enclose after, ability
ABI signal is enough properly read, therefore needs to spend and wants the longer reckoning time, this is for needing quick and accurate motor to turn
It is insupportable, therefore the great space for having improvement for square control system.
Summary of the invention
To solve the above problems existing in the prior art, the main object of the present invention is to propose a kind of brushless motor torsion
Position encoder device, including a motor position encoder, a controller, a code selector and a PWM drive circuit, wherein horse
A motor is connected up to position coder, the angle displacement to measure motor rotor generates a UVW signal and an ABI signal；Control
Position angle of the device processed to calculate the motor rotor；Code selector connects the UVW signal and ABI letter of motor position encoder
Number, the switching signal of controller output is received when the motor is activated, UVW signal is selected to be sent to controller, when controller judges
When UVW signal is specific sections, the switching signal of controller output is received, ABI signal is selected to be sent to controller, it so can be fast
Speed and accurately extrapolate the current position angle of motor rotor, allowing the controller to drive motor rotor can transport according to direct torque
Turn.
Detailed description of the invention
Fig. 1 is existing brushless motor torsion coding circuit block schematic diagram.
Fig. 2 is the circuit box schematic diagram of brushless motor torsion position encoder device provided by the invention.
Fig. 3 is the embodiment circuit diagram of code selector of the present invention.
Fig. 4 is the control flow schematic diagram of controller of the present invention.
Fig. 5 A is UVW signal waveform schematic diagram of the present invention.
Fig. 5 B is switching signal waveform diagram of the present invention.
Fig. 5 C is ABI signal waveform schematic diagram of the present invention.
Description of symbols: 1- brushless motor；2- motor position encoder；3- controller；4-PWM driving circuit；10- horse
It reaches；11- motor position encoder；12- controller；13- code selector；14---PWM driving circuit.
Specific embodiment
It please refers to shown in Fig. 2, is the block schematic diagram of brushless motor torsion position encoder device provided by the invention.This hair
It is bright mainly to go into action to Accurate Estimation up to the position angle of 10 rotors, with 10 rotor of drive motor according to the essence of control torque operating
True position, therefore the present invention includes that a motor position encoder 11, a controller 12, a code selector 13 and a PWM drive
Dynamic circuit 14.Wherein motor position encoder 11 be connected to 10 rotor of motor can to measure the angular displacement of 10 rotor of motor
One group of UVW signal and one group of ABI signal are generated, is UVW signal waveform schematic diagram as shown in Figure 5A.UVW signal is hall signal
10 rotor of motor can be revolved to turn around 360 degree and be divided into six sections, each section is 60 degree, is this hair as shown in following table one
The interval value that bright embodiment defines.
Table one: UVW defines rotor angle interval value:
| U | V | W | Rotor angle definition | Section |
| 0 | 0 | 1 | 330 °~30 ° | 4 |
| 1 | 0 | 1 | 30 °~90 ° | 5 |
| 1 | 0 | 0 | 90 °~150 ° | 1 |
| 1 | 1 | 0 | 150 °~210 ° | 3 |
| 0 | 1 | 0 | 210 °~270 ° | 2 |
| 0 | 1 | 1 | 270 °~330 ° | 6 |
| 1 | 1 | 1 | X | X |
| 0 | 0 | 0 | X | X |
X: being not in this combination
It is as shown in Figure 5 C the waveform diagram of ABI signal, ABI signal is obtained the initial position of motor 10, A by I signal
Mutually and B phase signals can count the angle displacement of rotor with pulse (Pulse), such as when A phase and B phase are when setting multiplying power as 1, A
Each pulse (Pulse) mutually counted with B phase signals is that 10 rotor of motor rotates 1 degree.If the pulse of A phase and B phase
(Pulse) when number is 500, the resolution ratio of ABI signal is 333 times (500*22/6=333) of UVW signal.
It, can not when motor 10 starts although ABI signal can accurately extrapolate 10 rotor angular position of motor
Calculate, therefore the present invention extrapolates the place section of 10 rotor of motor first with UVW signal, by UVW signal be transformed into it is specific
Section definition is at a commutation point, and the commutation point is " zero point " position of ABI signal, therefore when motor 10 is in starting state
When, UVW signal is only first read, ABI signal is read again when one goes to commutation point, so can quickly and accurately extrapolate
The angle position of 10 rotor of motor.
Therefore also referring to shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5 A of the present invention, Fig. 5 B, Fig. 5 C, Fig. 5 A, Fig. 5 B, in Fig. 5 C
The connection of vertical lines after can become apparent from and find out between each waveform in temporal corresponding relationship, the embodiment of Fig. 2 of the present invention
In circuit, controller 12 can more existing circuit reduce by three input terminals, as long as using a code selector 13, in UVW
Signal is switched to ABI signal when reaching " commutation point ".And Fig. 3 is the embodiment circuit diagram of code selector 13 of the present invention,
Fig. 4 is the control flow schematic diagram that UVW signal of the present invention is switched to ABI signal.
There are three input terminal, a switch terminals (CS) and three output ends for controller 12 tools of the invention, and controller 12 can
To extrapolate the position angle of 10 rotor of motor, with the rotor torque of precision controlled motor 10, and code selector 13 has
Six input terminals are connected respectively to the UVW signal and ABI signal of motor position encoder 11.PWM drive circuit 14 is connected to control
Three output ends of device 12 processed and the stator coil winding of motor 10, PWM drive circuit 14 receive the direct torque of controller 12,
Output control electric current is operated with 10 rotor of drive motor according to direct torque to stator coil winding.
As Fig. 4 embodiment in, when motor 10 is in starting state (process 100), the first configuration switch of controller 12 end
It (CS) is 0, as reading UVW signal (process 110), code selector 13 receives the switch terminals (CS) that controller 12 exports
" 0 " switching signal, code selector 13 then select the UVW signal to export, are sent to the input terminal of controller 12, at this time controller
12 can judge the section position where 10 rotor of motor according to UVW signal, if reach " commutation point " (process 120), if not reaching
" commutation point " rotor persistently rotates, and controller persistently judges whether UVW signal reaches " commutation point ".
When determining UVW signal and having reached " commutation point ", switching control end (CS) is set as cutting for " 1 " by controller 12
Signal is changed, that is, is cut to ABI signal (process 130), code selector 13 receives " 1 " switching signal of the output of controller 12 then
The output of ABI signal is selected, the input terminal of controller 12 is sent to.At this point, first confirming angle after controller 12 receives ABI signal
Whether degree is correct (process 140), if incorrect 10 rotor of expression motor is not up to " zero point ", UVW signal is read in switchback again, this
One process is that mistake torque angle caused by avoiding interference calculates.If controller confirms that angle is correct, then controller 12 exports
Direct torque carries out direct torque (process 150) according to angle to PWM drive circuit 14, PWM drive circuit 14, produces control electricity
Drive motor 10 is flowed according to direct torque steady running (process 160).
Please again together refering to shown in Fig. 5 A, Fig. 5 B and Fig. 5 C, Fig. 5 A is the UVW signal waveforms of the embodiment of the present invention, figure
5B is the switching signal waveform diagram of the embodiment of the present invention, and Fig. 5 C is the ABI signal waveforms of the embodiment of the present invention.Fig. 5 A's
Its in UVW signal is mutually that section is as shown in Table 1, is distinguished into six sections, and the present embodiment definition is transformed by the 6th phase interval
1st phase interval is " commutation point ", and also as in ABI signal in other words " zero point " position of I signal is believed when rotor goes to UVW
Number " commutation point " when, the signals of switch terminals (CS) can be " 1 " by " 0 " transition, and it is defeated that code selector 13 switches to ABI signal
Out, controller 12 reads ABI signal to calculate corresponding 10 rotor position angle of motor, the A phase and B of ABI signal meet according to
According to the increase of the setting bit rate of controller 12, the waveform of A phase and B phase also be will increase, and controller 12 detects " 0, the 1 " change of A phase and B phase
Change (pulse) Accurate Estimation and goes out the position angle where current rotor.
In conclusion the more existing controller of brushless motor torsion position encoder device provided by the invention reduces encoder
Input pin, 4Pin is changed to by 6Pin to reduce cost, and switched UVW signal by control logic method according to motor rotary speed
To ABI signal, the efficiency of motor can increase, without waiting for rotor and revolve the angle to turn around, reduce motor position aligning time.Therefore
The present invention not only really belongs to innovation in technical idea, and can the above-mentioned multinomial effect of more existing article enhancement.
Claims (5)
1. a kind of brushless motor torsion position encoder device characterized by comprising
One motor position encoder connects a motor, measuring the angle displacement of the motor rotor, generate a UVW signal and
One ABI signal；
One controller has input terminal, switch terminals and output end, to calculate the position angle of the motor rotor；And
One code selector is separately connected the UVW signal and the ABI signal of the motor position encoder with input terminal, when
The switching signal that the switch terminals of controller output are received when motor starting, selects the UVW signal to be sent to the controller
Input terminal, when the controller judges the UVW signal for specific sections, receive the controller output the switching signal selection
The ABI signal is sent to the input terminal of the controller.
2. brushless motor torsion position encoder device as described in claim 1, which is characterized in that further include:
One PWM drive circuit is connected to the output end of the controller and the stator coil winding of the motor, receives the controller
A direct torque, drive the motor rotor to operate according to direct torque.
3. brushless motor torsion position encoder device as described in claim 1, which is characterized in that the motor position encoder is defeated
Motor rotor rotation is turned around 360 degree and is divided into six sections by the UVW signal out, and 60 degree of each section sets UVW letter
Number it is being transformed into specific sections Shi Weiyi commutation point.
4. brushless motor torsion position encoder device as claimed in claim 3, which is characterized in that the commutation point is ABI letter
Number " zero point " position, that is, generate the I signal in the ABI signal, start counting A phase signals and B phase signals in ABI signal
One angle pulse, when A phase signals and B phase signals set multiplying power as 1, each angle pulse of A phase signals and B phase signals is should
1 degree of angle of motor rotor rotation.
5. brushless motor torsion position encoder device as described in claim 1, which is characterized in that the controller is opened in the motor
When dynamic, which exports the switching signal to the code selector, controls the code selector and the UVW signal is selected to be sent to
The input terminal of controller judges whether the rotor of the motor goes to a commutation point to read the UVW signal, changes when going to this
When phase point, which exports the switching signal to the code selector, controls the code selector and the ABI signal is selected to transmit
To the input terminal of the controller, to read the position angle that the ABI signal extrapolates the motor rotor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW107116042A TWI659602B (en) | 2018-05-11 | 2018-05-11 | Brushless motor torque position coding device |
| TW107116042 | 2018-05-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110474575A true CN110474575A (en) | 2019-11-19 |
Family
ID=67348959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811488245.8A Withdrawn CN110474575A (en) | 2018-05-11 | 2018-12-06 | Brushless motor torsion position encoder device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110474575A (en) |
| TW (1) | TWI659602B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110971155A (en) * | 2019-12-13 | 2020-04-07 | 株洲易力达机电有限公司 | PMSM (permanent magnet synchronous motor) control method for redundant position signals |
| CN111795710A (en) * | 2020-07-09 | 2020-10-20 | 赛卓微电子(深圳)有限公司 | Method for outputting UVW signal in incremental encoder IC |
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| US4507590A (en) * | 1982-07-15 | 1985-03-26 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Brushless DC motor |
| CN101409523A (en) * | 2008-12-01 | 2009-04-15 | 哈尔滨理工大学 | Method for determining initial position of permanent magnet motor magnetic pole through incremental encoder |
| CN101464693A (en) * | 2007-12-17 | 2009-06-24 | 台达电子工业股份有限公司 | Signal processing apparatus for motor position |
| CN105978416A (en) * | 2016-06-21 | 2016-09-28 | 卫星电子（中山）有限公司 | Hall-free ceiling fan motor controller and starting method thereof |
| CN209358457U (en) * | 2018-05-11 | 2019-09-06 | 士林电机厂股份有限公司 | Brushless Motor Torque Position Encoder |
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| US5821713A (en) * | 1995-09-11 | 1998-10-13 | Advanced Motion Controls, Inc. | Commutation position detection system and method |
| JP4799653B2 (en) * | 2009-09-15 | 2011-10-26 | 株式会社東芝 | Rotor position detector |
| CN105553364A (en) * | 2015-12-17 | 2016-05-04 | 北京芯盈速腾电子科技有限责任公司 | Motor vector control method based on estimation of interval angle of hall signal |
| TWI623189B (en) * | 2016-12-15 | 2018-05-01 | Kwang Yang Motor Co | Encoder alignment method and device |
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2018
- 2018-05-11 TW TW107116042A patent/TWI659602B/en active
- 2018-12-06 CN CN201811488245.8A patent/CN110474575A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4507590A (en) * | 1982-07-15 | 1985-03-26 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Brushless DC motor |
| CN101464693A (en) * | 2007-12-17 | 2009-06-24 | 台达电子工业股份有限公司 | Signal processing apparatus for motor position |
| CN101409523A (en) * | 2008-12-01 | 2009-04-15 | 哈尔滨理工大学 | Method for determining initial position of permanent magnet motor magnetic pole through incremental encoder |
| CN105978416A (en) * | 2016-06-21 | 2016-09-28 | 卫星电子（中山）有限公司 | Hall-free ceiling fan motor controller and starting method thereof |
| CN209358457U (en) * | 2018-05-11 | 2019-09-06 | 士林电机厂股份有限公司 | Brushless Motor Torque Position Encoder |
Non-Patent Citations (1)
| Title |
|---|
| 檀盼龙等: "一种永磁同步电机带载起动的转子定位方法", 《微电机》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110971155A (en) * | 2019-12-13 | 2020-04-07 | 株洲易力达机电有限公司 | PMSM (permanent magnet synchronous motor) control method for redundant position signals |
| CN110971155B (en) * | 2019-12-13 | 2024-03-12 | 株洲易力达机电有限公司 | PMSM control method for redundant position signals |
| CN111795710A (en) * | 2020-07-09 | 2020-10-20 | 赛卓微电子(深圳)有限公司 | Method for outputting UVW signal in incremental encoder IC |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201947866A (en) | 2019-12-16 |
| TWI659602B (en) | 2019-05-11 |
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Application publication date: 20191119 |
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