CN110492798B - Self-adaptive zero crossing point detection method of brushless direct current motor - Google Patents
Self-adaptive zero crossing point detection method of brushless direct current motor Download PDFInfo
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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
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- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
Abstract
An adaptive zero crossing point detection method of a brushless direct current motor comprises the following steps: s1: the brushless motor receives a starting signal and is started by a three-step method; s2: detecting the bus voltage and setting the resistance value of the digital potentiometer while the starting process of the motor is in a positioning stage; s3: the motor enters an open-loop dragging stage and is switched into a closed-loop stage in due time; s4: detecting the size of the duty ratio, judging whether voltage division is needed or not, and determining a zero crossing point detection result according to a judgment result; s5: if the detection signal is stopped, the motor is stopped, otherwise, the operation returns to step S4. The AD acquisition strategy is applied to the back electromotive force zero crossing point detection, so that a terminal voltage fluctuation area caused by follow current can be avoided to the maximum extent, and the accuracy of the zero crossing point detection is improved; in addition, the invention improves the accuracy of zero crossing point detection in a wider rotating speed range and has stronger adaptability to the change of bus voltage.
Description
Technical Field
The invention relates to the field of motor control, in particular to a self-adaptive zero crossing point detection method of a brushless direct current motor.
Background
The brushless DC motor overcomes the congenital defects of the brush DC motor, and replaces a mechanical commutator with an electronic commutator, so the brushless DC motor has the characteristics of good speed regulation performance of the DC motor and the like, and has the advantages of simple structure, no commutation spark, reliable operation, easy maintenance and the like of the AC motor. The motor size is reduced without the position sensor, the motor cost is further reduced, and the motor can adapt to various complex working conditions, so that the brushless direct current motor without the position sensor is more and more widely applied.
Among various methods for detecting the position of the rotor of the brushless direct current motor without the position sensor, the simplest and practical method is a back electromotive force method, the core of the method is the zero crossing point detection of the back electromotive force of the rotor of the motor, and the position detection is mainly applied to a six-step motor control method. When the brushless direct current motor is controlled by a three-phase six-step method, three phases float to the ground in different sectors respectively. Currently, there are two main methods for detecting the zero crossing point of the back electromotive force: indirect back electromotive force zero crossing point detection and direct back electromotive force zero crossing point detection.
The indirect counter electromotive force detection method needs to manually build a virtual neutral point, detect the voltage of the ground floating phase terminal and the voltage of the virtual neutral point at the same time, and obtain the value of the counter electromotive force in the phase by subtracting the two voltages. The method has the following disadvantages: a low-pass filter is added to the detection circuit to filter out the high-frequency signal, so that a phase shift is caused, so that the position information detected by the zero-crossing point is deviated, and the deviation is increased along with the increase of the speed of the motor.
Under the condition of chopping speed regulation, the direct back electromotive force detection rule only needs to detect the terminal voltage of the ground floating phase in the action time of a zero vector and compare the terminal voltage with a reference zero level to obtain zero-crossing point information. However, the method still has limitations, when the motor needs to operate at a high speed, the duty ratio of the chopping speed regulation PWM is large, the low-level detection time is short, namely the zero vector action time is short, and the zero crossing point is difficult to detect due to the influence of follow current and the like.
Jianwen Shao in US patent US7301298B2 proposes that zero crossing point detection is carried out according to the action time of a zero vector and an effective vector respectively according to the rotating speed of a motor, the method enables the duty ratio of chopping speed regulation PWM to reach 1, and the utilization rate of a power supply is guaranteed. However, in the method, voltage division is required when the effective vector action time detects the zero crossing point, so that the zero crossing point detection precision is reduced.
Disclosure of Invention
In order to solve the above problems, the present invention provides an adaptive zero crossing point detection method for a brushless dc motor without a position sensor, which can provide a high precision of zero crossing point detection, can provide more precise control for different types of brushless dc motors, and has strong adaptability and accuracy.
The technical scheme of the invention is as follows:
an adaptive zero crossing point detection method of a brushless DC motor is characterized by comprising the following steps:
s1: the brushless motor receives a starting signal and is started by a three-step method;
s2: detecting the bus voltage and setting the resistance value of the digital potentiometer while the starting process of the motor is in a positioning stage;
s3: the motor enters an open-loop dragging stage and is switched into a closed-loop stage in due time;
s4: detecting the size of the duty ratio, judging whether voltage division is needed or not, and determining a zero crossing point detection result according to a judgment result;
s5: if the detection signal is stopped, the motor is stopped, otherwise, the operation returns to step S4.
The method dynamically changes the voltage division ratio of the terminal voltage detection circuit by identifying the control voltage of the motor, and designs an AD terminal voltage acquisition strategy, so that the counter potential zero crossing point detection accuracy under different conditions is improved, and the motor running state is improved.
Preferably, the specific process of detecting the bus voltage and setting the resistance value of the digital potentiometer in step S2 is as follows: the bus voltage is detected through AD acquisition, and the AD acquisition is carried out in the state that an upper arm switching tube is switched on in the positioning stage, so that the bus voltage is obtained; the resistance value is set by programming the digital potentiometer through the singlechip, which is basic operation of the digital potentiometer without any advanced operation. In this example, since the bus voltage is not easily changed, the resistance of the digital potentiometer is not repeatedly changed in the subsequent control. If the bus voltage fluctuates to a large extent under special working conditions, the resistance value of the digital potentiometer can be set repeatedly through the collected bus voltage value in the closed-loop stage.
Preferably, the specific method for obtaining the zero-crossing point in step S4 includes:
when the duty ratio is less than 50%, voltage division setting is not needed, the counter electromotive force is directly detected at the moment, a voltage division control pin floats to the ground, the digital potentiometer does not participate in counter electromotive force detection, AD acquisition is carried out in zero vector action time, the acquired result is compared with 0 to obtain a zero crossing point, and then the time of 30-degree electrical angle is delayed to obtain an optimal phase change point;
when the duty ratio is greater than 50%, voltage division setting is required, and at this time, the back electromotive force after voltage division needs to be detected, as shown in fig. 3, the voltage division control pin outputs a low level at this timeIntroducing a digital potentiometer for voltage division, performing AD acquisition in the effective vector action time, and comparing the acquired result with the acquired result
And comparing to obtain a zero crossing point, and delaying for 30 degrees of electrical angle to obtain an optimal phase change point.
Preferably, the step S4 further includes the steps of:
two clocks, namely TIM2 and TIM2 are adopted and set to be in a synchronous mode, and the clock frequencies are the same;
the TIM1 is set to a center aligned mode to produce chopped speed PWM. Adopting a PWM1 mode when the duty ratio is less than 50%, wherein the PWM1 mode is low when the count value is greater than the comparison value, and the PWM1 mode is high when the count value is less than the comparison value; adopting a PWM2 mode when the duty ratio is larger than 50%, wherein the duty ratio is high level when the count value is larger than the comparison value, and the duty ratio is low level when the count value is smaller than the comparison value;
the period value of the TIM1 is given artificially, and the comparison value is calculated according to the duty ratio;
the TIM2 is set to edge aligned mode to trigger AD acquisition; the high level is set when the count value is greater than the comparison value, and the low level is set when the count value is less than the comparison value. And setting a trigger event, and setting the event to trigger AD acquisition when the counting value reaches the comparison value.
Preferably, the period value and the comparison value of the TIM2 are calculated according to the following equations:
PR2＝2PR1
CR2＝PR2-CR1-TADf
wherein PR1TIM1 cycle value, CR1For TIM1 comparison; PR2TIM2 cycle value, CR2For TIM2 comparison. T isADFor the AD acquisition time, f is the clock frequency.
Due to the existence of the freewheeling diode, the voltage of the terminal fluctuates for a period of time after the PWM level is switched, and in order to ensure that the acquisition position avoids the influence of the freewheeling, two timers with the same period value are respectively TIM1 and TIM 2.
Preferably, the duty ratio in step S4 is considered to be given, and it is calculated by PI loop, and it is necessary to perform judgment every PWM period.
More preferably, the stop signal in step S5 is a manual control signal, and the stop signal is generated when an error signal is detected during the operation of the motor or when the motor is to be stopped in a normal operation state of the motor.
The invention has the beneficial effects that: the method provided by the invention enhances the compatibility of the controller, can be compatible with the motor control of different bus voltages, improves the accuracy of zero crossing point detection, and is self-adaptive in the whole process without additional operation; by designing an AD acquisition strategy, the influence of follow current on terminal voltage is avoided to the maximum extent, and the accuracy of zero crossing point acquisition is improved; the voltage division ratio is accurately set according to the bus voltage, and the problems that the zero crossing point detection accuracy is reduced due to excessive voltage division or the zero crossing point cannot be detected due to insufficient voltage division ratio can be solved.
Drawings
FIG. 1 is a flow chart of a method provided by the present invention.
Fig. 2 is a schematic diagram of adaptive voltage division using a digital potentiometer.
FIG. 3 is a clock configuration diagram of the PWM1 pattern in TIM1 for zero crossing AD acquisition.
FIG. 4 is a clock configuration diagram of the PWM2 pattern in TIM1 for zero crossing AD acquisition.
Fig. 5 is a diagram of the clock configuration in the TIM2 in zero-crossing point AD acquisition.
Detailed Description
As shown in fig. 1, the overall structure and flow of the patent are as follows:
after the motor receives a starting signal, starting by using a three-step method;
the first step is a positioning stage, in which the bus voltage is detected and the resistance of the digital potentiometer is set while the motor is positioned. If the bus voltage fluctuates to a large extent under special working conditions, the resistance value of the digital potentiometer can be set repeatedly through the collected bus voltage value in the closed-loop stage;
after the positioning stage is finished, the motor enters an open-loop dragging stage and is switched into a closed-loop control stage in due time, and the phase change point at the stage is selected by means of detection of a counter electromotive force zero crossing point;
making a decision based on a given duty cycle:
if the duty ratio is less than 50%, voltage division setting is not needed, the counter electromotive force is directly detected at the moment, as shown in fig. 2, the voltage division control pin floats to the ground, the digital potentiometer does not participate in counter electromotive force detection, AD acquisition is carried out in zero vector action time, the acquired result is compared with 0 to obtain a zero crossing point, and then the time of 30 degrees of electrical angle is delayed to obtain an optimal phase change point.
If the duty ratio is more than 50%, voltage division setting is needed, the back electromotive force after voltage division needs to be detected, as shown in fig. 3, the voltage division control pin outputs low level, a digital potentiometer is introduced for voltage division, AD acquisition is carried out in the effective vector action time, the acquired result is compared with the acquired result to obtain a zero crossing point, and then the time of delaying by 30 degrees of electrical angle is delayed to obtain the optimal phase change point.
Due to the existence of the freewheeling diode, the voltage of the terminal fluctuates for a period of time after the PWM level is switched, and in order to ensure that the acquisition position avoids the influence of the freewheeling, two timers with the same period value are respectively TIM1 and TIM 2. To minimize the effect of freewheeling, two clocks, TIM2 and TIM2, are used, respectively, and are set in synchronous mode with the same clock frequency.
TIM1 is set to center aligned mode to produce chopped speed PWM. When the duty ratio is less than 50%, the PWM1 mode is adopted, and as shown in fig. 2, the PWM control mode is set to a low level when the count value is greater than the comparison value and set to a high level when the count value is less than the comparison value; when the duty ratio is greater than 50%, the PWM2 mode is adopted, and as shown in fig. 4, the count value is high when it is greater than the comparison value, and the count value is low when it is less than the comparison value.
The period value of TIM1 is artificially given and the comparison value is calculated from the duty cycle.
TIM2 is set to edge aligned mode to trigger AD acquisition. As shown in fig. 5, the high level is the case where the count value is greater than the comparison value, and the low level is the case where the count value is less than the comparison value. And setting a trigger event, and setting the event to trigger AD acquisition when the counting value reaches the comparison value.
The period value and the comparison value of TIM2 may be calculated according to the following equations:
PR2＝2PR1
CR2＝PR2-CR1-TADf
wherein PR1TIM1 cycle value, CR1For TIM1 comparison; PR2TIM2 cycle value, CR2For TIM2 comparison. T isADFor the AD acquisition time, f is the clock frequency.
The clock configuration diagram of the zero crossing point AD acquisition strategy is shown in fig. 2.
The AD acquisition is performed in the zero vector action time (the chopping speed regulation PWM is in the low level state), and at this time, the terminal voltage (taking the phase a as an example) can be represented as:
the AD acquisition is performed during the effective vector action time (the chopping speed regulation PWM is in a high level state), and at this time, the terminal voltage (taking the phase a as an example) can be represented as:
wherein VdcIs the bus voltage, eaA counter electromotive force, e3Is a third harmonic, wherein e3The back electromotive force zero crossing point detection is not influenced and can be ignored. It can be seen that, by performing the AD acquisition at zero vector contribution time,comparing with 0, not dividing voltage, only limiting voltage within the bearable range of the single chip microcomputer, carrying out AD acquisition in effective vector action time, and
for comparison, voltage division is required, but an excessively high voltage division ratio further deteriorates the accuracy.
The digital potentiometer adopts a numerical control mode to adjust the resistance value, has the remarkable advantages of flexible use, high adjustment precision, no contact, difficult contamination, vibration resistance, interference resistance, small volume, long service life and the like, can accurately control the voltage division ratio by utilizing the characteristic of programmable resistance value, and is provided with a current-limiting resistance value R of end electric pressure connection and a maximum input voltage V of the singlechipmaxThe resistance value R of the digital potentiometerxThe following calculation formula exists:
the AD acquisition strategy is applied to the back electromotive force zero crossing point detection, so that the terminal voltage fluctuation area caused by follow current can be avoided to the maximum extent, and the accuracy of the zero crossing point detection is greatly improved.
The above-described exemplary embodiments are intended to be illustrative, not limiting, and all such modifications and variations are intended to be included within the scope of the invention, which is within the spirit and scope of the invention.
Claims (5)
1. An adaptive zero crossing detection method for a brushless DC motor without a position sensor, comprising:
s1: the brushless motor receives a starting signal and is started by a three-step method;
s2: detecting the bus voltage and setting the resistance value of the digital potentiometer while the starting process of the motor is in a positioning stage;
s3: the motor enters an open-loop dragging stage and is switched into a closed-loop stage in due time;
s4: detecting the size of the duty ratio, judging whether voltage division is needed or not, and determining a zero crossing point detection result according to a judgment result;
s5: detecting whether the signal stops, if so, stopping running the motor, otherwise, returning to the step S4;
the step S4 further includes the following steps:
two clocks, namely TIM1 and TIM2 are adopted and set to be in a synchronous mode, and the clock frequencies are the same;
the TIM1 is set to a center aligned mode to generate a chopped speed PWM; adopting a PWM1 mode when the duty ratio is less than 50%, wherein the PWM1 mode is low when the count value is greater than the comparison value, and the PWM1 mode is high when the count value is less than the comparison value; adopting a PWM2 mode when the duty ratio is larger than 50%, wherein the duty ratio is high level when the count value is larger than the comparison value, and the duty ratio is low level when the count value is smaller than the comparison value;
the period value of the TIM1 is given artificially, and the comparison value is calculated according to the duty ratio;
the TIM2 is set to edge aligned mode to trigger AD acquisition; the high level is set when the counting value is larger than the comparison value, and the low level is set when the counting value is smaller than the comparison value; setting a trigger event, and setting an event to trigger AD acquisition when the count value reaches a comparison value;
the period value and comparison value of the TIM2 may be calculated according to the following equations:
wherein
For the TIM1 cycle value,
for TIM1 comparison;
for the TIM2 cycle value,
for the comparison value of the TIM2,
in order to obtain the time for the acquisition of AD,fis the clock frequency.
2. The adaptive zero-crossing detecting method for the brushless dc motor without the position sensor according to claim 1, wherein the step S2 of detecting the bus voltage and the digital potentiometer resistance setting comprises the following specific steps: the bus voltage is detected through AD acquisition, and the AD acquisition is carried out in the state that an upper arm switching tube is switched on in the positioning stage, so that the bus voltage is obtained; the resistance value is set by programming the digital potentiometer through the singlechip.
3. An adaptive zero-crossing detection method for a position sensorless brushless DC motor according to claim 1,
the method is characterized in that the specific method for obtaining the zero crossing point in the step S4 comprises the following steps:
when the duty ratio is less than 50%, voltage division setting is not needed, the counter electromotive force is directly detected at the moment, a voltage division control pin floats to the ground, the digital potentiometer does not participate in counter electromotive force detection, AD acquisition is carried out in zero vector action time, the acquired result is compared with 0 to obtain a zero crossing point, and then the time of 30-degree electrical angle is delayed to obtain an optimal phase change point;
when the duty ratio is more than 50%, voltage division setting is needed, the back electromotive force after voltage division needs to be detected, the voltage division control pin outputs low level, a digital potentiometer is introduced for voltage division, AD acquisition is carried out in the effective vector action time, and the acquired result is compared with the acquired result
And comparing to obtain a zero crossing point, and delaying for 30 degrees of electrical angle to obtain an optimal phase change point.
4. The adaptive zero-crossing detecting method for a brushless dc motor without position sensor as claimed in claim 1, wherein the duty ratio in step S4 is calculated by PI loop and needs to be determined every PWM period.
5. An adaptive zero-crossing detection method for a position sensorless brushless DC motor according to claim 1,
the stop signal in step S5 is artificially controlled, and the stop signal is sent when an error signal is detected during the operation of the motor or when the motor is to be stopped in a normal operating state of the motor.
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| CN114152802B (en) * | 2021-11-12 | 2023-12-15 | 江苏科技大学 | Brushless direct current motor sensorless control voltage sampling method and system |
| CN114362608B (en) * | 2021-12-25 | 2023-11-21 | 江苏东成工具科技有限公司 | Method for detecting counter electromotive force zero crossing point of brushless direct current motor |
| CN115395835B (en) * | 2022-09-30 | 2024-04-26 | 天津大学温州安全(应急)研究院 | Brushless direct current motor commutation accurate detection method |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20211203 Pledgee: Hangzhou Jintou Finance Leasing Co.,Ltd. Pledgor: HANGZHOU ZHOUJU ELECTRONIC TECHNOLOGICAL Co.,Ltd. Registration number: Y2023980031393 |