CN110635726A - Speed detection method and detection circuit for non-inductive brushless motor - Google Patents
Speed detection method and detection circuit for non-inductive brushless motor Download PDFInfo
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- CN110635726A CN110635726A CN201910994864.2A CN201910994864A CN110635726A CN 110635726 A CN110635726 A CN 110635726A CN 201910994864 A CN201910994864 A CN 201910994864A CN 110635726 A CN110635726 A CN 110635726A
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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
- H02P6/18—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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention relates to a method and a circuit for detecting the speed of a non-inductive brushless motor, wherein the detection method comprises the following steps: (1) capturing a three-phase terminal voltage pulse signal of the motor; (2) obtaining a back electromotive force zero-crossing point pulse signal according to the voltage pulse signal; (3) counting the interval time between the voltage pulse signal and the zero crossing point pulse signal, setting the period of the rotor, and storing the value of the counter into a preset register; (4) and rolling to calculate the total count value of the registers in the whole rotor period according to the value of the current register and the value of the storage register in the previous stage of the current channel, and obtaining the current rotating speed of the motor according to the value of the registers. The invention improves the speed detection precision and detection range, fully improves the accuracy of speed calculation under the condition of not reducing the real-time performance of rotating speed detection, fully offsets the influence caused by asymmetrical installation of the stator winding and the rotor, and simultaneously improves the anti-interference capability of speed software speed detection.
Description
Technical Field
The invention relates to the technical field of brushless direct current motor control, in particular to a speed detection method and a speed detection circuit of a non-inductive brushless motor.
Background
The speed calculation is a core unit in the loop control of the speed of the position-free motor, mainly utilizes three-phase terminal voltage signals of the motor to obtain zero-crossing point pulse signals of back electromotive force, and realizes the real-time calculation of the rotating speed of the motor through proper algorithm processing.
As the motor is required to work in severe environments such as high temperature, high pressure, low temperature, strong vibration and the like (the function of a sensor is failed) in military fields such as aerospace, ships, weapons, electronics and the like and industrial application fields such as electric automobiles, robots, unmanned aerial vehicles and the like, or some civil fields which have low requirements on the precision of a speed controller and aim to reduce the cost.
In the conventional method for detecting the speed without the position, a hardware circuit is used for detecting the zero crossing point of the back electromotive force of a motor winding, counting is carried out at the interval of two zero crossing point pulses, and the current rotating speed of the motor is obtained according to the number of the counted pulses, which specifically comprises the following steps: starting to clear the counter, adding 1 to the counter every time a rising edge of a reference clock signal (CLK) is captured, continuing to count until a zero-crossing point signal (H) does not appear if a counter electromotive force zero-crossing point signal (hereinafter referred to as a zero-crossing point signal) of the motor at the moment, and storing a numerical value obtained by counting into a predefined register (C) at the momentA) (ii) a If the counting value reaches the maximum before the zero crossing point signal is turned over, the overflow occurs, the counting value is not stored at the moment, the counting is restarted, and finally, the value obtained by the counter is converted into time and is obtained by calculating the rotating speed corresponding to the number of turns of the motor:
The motor speed detection method has the following defects: (1) influence caused by asymmetric pulse occurrence frequency intervals of back electromotive force zero-crossing point signals due to asymmetric stator coils cannot be eliminated; (2) the algorithm has poor software interference resistance, and the speed detection has no smoothing function; (3) the motor speed detection range is narrow.
Disclosure of Invention
The invention aims to provide a speed detection method and a speed detection circuit of a non-inductive brushless motor, which improve the speed detection precision and the detection range, and avoid the problem that the calculated speed is inaccurate and the like due to the fact that the intervals of back electromotive force zero-crossing pulses are not uniform because of asymmetric installation of a stator winding and a rotor winding.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for detecting the speed of a sensorless brushless motor comprises the following steps:
(1) capturing a three-phase terminal voltage pulse signal of the motor;
(2) obtaining a back electromotive force zero-crossing point pulse signal through a comparison circuit according to the voltage pulse signal;
(3) counting the interval time between the voltage pulse signal and the zero crossing point pulse signal, setting the period of the rotor, and storing the value of the counter into a preset register;
(4) and rolling to calculate the total count value of the registers in the whole rotor period according to the value of the current register and the value of the storage register in the previous stage of the current channel, and obtaining the current rotating speed of the motor according to the value of the registers.
As a further improvement of the above technical solution:
in the step (1), the value of the counter is stored in a preset register, and the total count value of the register in the whole rotor period is calculated according to the value of the current register and the value of the register stored in the previous stage of the channel, which specifically comprises the following steps:
(1) starting running, and resetting a counter;
(2) selecting a counter clock as a reference clock, and adding 1 to the counter value when a rising edge of the reference clock is detected until a pulse of a zero-crossing signal is encounteredStoring the count value of the counter into a pre-designated register C1In case the value exceeds the count register C1The range that can be stored, but when no zero-crossing pulse is detected, the count period and count number are stored in a new register C2Performing the following steps;
(3) summing the values in the registers throughout the rotor cycle to obtain a total count of:
in the step (4), the current rotating speed of the motor is obtained according to the register value, and the current rotating speed is calculated by adopting the following formula:
wherein Sp represents the motor speed, N represents the number of pole pairs of the motor, and fclkIndicating the time required for the counter to count once.
A sensorless brushless motor speed detection circuit comprising: the neutral point voltage solving circuit is used for calculating a voltage value of a central point of a star-shaped stator winding of the motor; the neutral point voltage comparison circuit is used for comparing 1/2 of the direct current supply voltage with the point position of a virtual neutral point of the motor, and when the potential of the virtual neutral point is higher than a set value of the end voltage, the comparison circuit outputs a low level, otherwise, the comparison circuit outputs a high level; and the zero crossing point processing circuit is used for processing the back electromotive force zero crossing point signal and calculating the rotating speed of the motor.
As a further improvement of the above technical solution:
the neutral point voltage obtaining circuit comprises diodes D8, D9, D10, D11, D12 and D13 and resistors R8, R16 and R23, wherein the anode of the diode D8 is connected with the cathode of the diode D9, the anode of the diode D10 is connected with the cathode of the diode D11, the anode of the diode D12 is connected with the cathode of the diode D13, the cathodes of the diodes D8, D10 and D12 are connected with a power supply, and the anodes of the diodes D9, D11 and D13 are grounded; one ends of the resistors R8, R16 and R23 are connected with anodes of the diodes D8, D10 and D12, the other ends of the resistors R8, R16 and R23 are connected with an input end of the neutral point voltage comparison circuit, and anodes of the diodes D8, D10 and D12 are respectively connected with three-phase electricity of the motor.
The neutral point voltage comparison circuit is composed of a differential comparator U6 and a peripheral circuit, wherein the input end of the differential comparator U6 is connected with the output end of the neutral point voltage calculation circuit, and the output end of the differential comparator U6 is connected with the zero crossing point processing circuit.
The zero crossing point processing circuit adopts a digital processing chip.
According to the technical scheme, the speed detection range is effectively enlarged, the speed detection is prevented from being influenced by the asymmetrical installation of the stator winding and the rotor, and the speed detection range of the rotor is effectively enlarged by adding the auxiliary counting register; in the speed calculation process, the historical information of the counting register is fully utilized, the accuracy of speed calculation is fully improved under the condition of not reducing the real-time performance of rotating speed detection, the influence caused by asymmetrical installation of a stator winding and a rotor is fully counteracted, and meanwhile, the anti-interference capability of speed software speed detection is also improved. The method can meet the requirement of speed detection of various motors without position sensors, and effectively improves the detection quality of speed signals, thereby effectively improving the performance of the whole speed closed-loop control.
Drawings
FIG. 1 is a circuit diagram of the present invention;
FIG. 2 is a flow chart of a method of the present invention;
FIG. 3 is a timing diagram of the key signals of the present invention.
Detailed Description
As shown in fig. 1, the counter-electromotive force zero-crossing point based motor speed detection circuit includes a neutral point voltage obtaining circuit 1, a neutral point voltage comparing circuit 2, and a zero-crossing point processing circuit 3.
The neutral point voltage solving circuit 1 obtains the three-phase neutral point voltage of the motor by using the terminal voltage information of the three phases of the motor stator, and provides support for a subsequent voltage signal comparison circuit. Because terminal voltage signals are complex in components and are easily influenced by phenomena such as armature reaction, PWM chopping, follow current and the like and line parasitic parameters, the amplitude of the terminal voltage signals can greatly exceed the range of power supply voltage, and a rear-stage chip can be damaged in serious cases, so that the terminal voltage signals need to be processed by a clamping circuit to provide reliable signals for a signal comparison circuit.
The neutral point voltage comparison circuit 2 is used for comparing 1/2 of the direct current supply voltage with the point position of the virtual neutral point of the motor, when the potential of the virtual neutral point is higher than 1/2 of the direct current supply voltage, the comparison circuit outputs a low level, otherwise, the comparison circuit outputs a high level, and the zero-crossing point processing circuit is used for further performing software processing on the counter electromotive force zero-crossing point signal to calculate the rotating speed of the motor.
The zero crossing point processing circuit 3 is configured to process the sampled motor zero crossing point information through software to obtain a rotation speed signal of the motor, and the zero crossing point processing circuit 3 of this embodiment adopts a digital processing chip.
The neutral point voltage obtaining circuit 1 of the present embodiment is composed of diodes D8, D9, D10, D11, D12, D13, and resistors R8, R16, and R23, wherein the anode of the diode D8 is connected to the cathode of the diode D9, the anode of the diode D10 is connected to the cathode of the diode D11, the anode of the diode D12 is connected to the cathode of the diode D13, the cathodes of the diodes D8, D10, and D12 are connected to a power supply, and the anodes of the diodes D9, D11, and D13 are grounded; one ends of the resistors R8, R16 and R23 are connected with anodes of the diodes D8, D10 and D12, the other ends of the resistors R8, R16 and R23 are connected with an input end of the neutral point voltage comparison circuit, and anodes of the diodes D8, D10 and D12 are respectively connected with the three-phase electricity of the motor.
The neutral point voltage comparison circuit 2 is composed of a differential comparator U6, a peripheral circuit composed of R11, R18, R12 and a capacitor C17, the non-inverting input end of the differential comparator U6 is connected with neutral point voltage and the capacitor C17, the inverting input end of the differential comparator U6 is connected with resistors R11 and R18, and the output end of the differential comparator U6 is output to a digital processing chip through a pull-up resistor.
The neutral point voltage solving circuit 1 is used for obtaining three-phase neutral point voltage signals of the motor, the obtained neutral point voltage signals are transmitted to the neutral point voltage comparison circuit 2, 1/2 of the direct current supply voltage is compared with the point position of the virtual neutral point of the motor through the neutral point voltage comparison circuit 2, and therefore zero-crossing point signals of the motor passing through all phases in the rotating process are obtained and are used by a post-stage digital processing chip 3.
The specific processing procedure of the zero-crossing point processing circuit 3 is as follows:
the method comprises the following steps of calculating the rotating speed of a motor in real time through a zero-crossing pulse signal of detection hardware, firstly resetting a counter, starting counting by the counter when capturing a zero-crossing signal pulse, combining counting register values of the two times before when a next zero-crossing signal appears to form a complete rotor period, solving the rotating speed by utilizing the algorithm shown above, and simultaneously storing the register value of the time into a last register, and specifically comprises the following steps:
s1, resetting the counter when the program starts to run;
s2, selecting the counter clock as the reference clock, when the rising edge of the reference clock is detected, adding 1 to the counter value, and storing the count value of the counter to a pre-designated register C when the zero crossing signal pulse is detected1In case the value exceeds the count register C1If the range of the stored voltage is not detected, the count period and the count number are stored in a new register C2Performing the following steps;
s3, when the zero-crossing signal pulse is detected, the count value at this time is stored in the designated register C3Meanwhile, resetting the counter;
s4, summing the values in the registers in the whole rotor period to obtain the total count as:
wherein, CsRepresenting the value in the current register, Q representing register C2Wherein the count period of the counter is stored, and N represents a register C2In which the number of counts of the counter is stored, CpIndicating the value of the count stored in the last count register，CmIndicating the last value of the register stored, THRepresenting the total count value of the register in a rotor cycle.
S5: as can be seen in fig. 3: because the whole rotor period is calculated by combining the current count value with the previous two counts, and the speed is calculated once every 120-degree electrical angle, theoretically, the detection range of the speed can be arbitrarily large, but is limited by the frequency of a clock signal and the number of bits of a register in practice, and the speed range is correspondingly adjusted; from the above discussion, the rotational speed (in RPM) of the motor can be found to be:
wherein Sp represents the motor speed, P represents the number of pole pairs of the rotor, and fclkIndicating a counting clock, THRepresenting the total count value of the register in a rotor cycle.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (8)
1. A method for detecting the speed of a sensorless brushless motor is characterized by comprising the following steps:
(1) capturing a three-phase terminal voltage pulse signal of the motor;
(2) obtaining a back electromotive force zero-crossing point pulse signal according to the voltage pulse signal;
(3) counting the interval time between the voltage pulse signal and the zero crossing point pulse signal, setting the period of the rotor, and storing the value of the counter into a preset register;
(4) and rolling to calculate the total count value of the registers in the whole rotor period according to the value of the current register and the value of the storage register in the previous stage of the current channel, and obtaining the current rotating speed of the motor according to the value of the registers.
2. The method and circuit for detecting the speed of a sensorless brushless motor according to claim 1, wherein: in the step (2), a counter electromotive force zero-crossing point pulse signal is obtained through a comparison circuit according to the voltage pulse signal.
3. The method and circuit for detecting the speed of a sensorless brushless motor according to claim 1, wherein: in the step (4), the total count value of the register in the whole rotor period is calculated in a rolling manner according to the value of the current register and the value of the current channel previous-stage storage register, and the method specifically comprises the following steps:
(41) starting running, and resetting a counter;
(42) selecting a counter clock as a reference clock, adding 1 to the counter value at the rising edge of the clock pulse until a zero-crossing point pulse signal is detected, and storing the count value of the counter into a pre-designated register C1In case the value exceeds the count register C1The range that can be stored, but when the zero-crossing point pulse signal is not detected, the counting period and the counting times are stored in a new register C2Performing the following steps;
(43) summing the values in the registers throughout the rotor cycle to obtain a total count of:
wherein, CsRepresenting the total count value of this calculation, Q representing the register count period, C1Representing the current register remainder value, N representing register C2In which the number of counts of the counter is stored, CpThe value representing the last register, ClThe value of the last register, THRepresenting a total count of one rotor cycle.
4. The detecting method of the position sensorless motor speed detecting circuit according to claim 1, wherein in the step (4), the current rotation speed of the motor is obtained according to the register value, and the current rotation speed is calculated by using the following formula:
wherein Sp represents the motor speed, N represents the number of pole pairs of the motor, and fclkIndicating the time required for the counter to count once.
5. A sensorless brushless motor speed detection circuit, comprising:
the neutral point voltage solving circuit is used for calculating a voltage value of a central point of a star-shaped stator winding of the motor;
the neutral point voltage comparison circuit is used for comparing 1/2 of the direct current supply voltage with the point position of a virtual neutral point of the motor, and when the potential of the virtual neutral point is higher than a set value of the end voltage, the comparison circuit outputs a low level, otherwise, the comparison circuit outputs a high level;
and the zero crossing point processing circuit is used for processing the back electromotive force zero crossing point signal and calculating the rotating speed of the motor.
6. The speed detecting circuit of the sensorless brushless motor of claim 5, wherein the neutral point voltage obtaining circuit comprises diodes D8, D9, D10, D11, D12, D13 and resistors R8, R16 and R23, wherein the anode of the diode D8 is connected with the cathode of the diode D9, the anode of the diode D10 is connected with the cathode of the diode D11, the anode of the diode D12 is connected with the cathode of the diode D13, the cathodes of the diodes D8, D10 and D12 are connected with the power supply, and the anodes of the diodes D9, D11 and D13 are grounded; one ends of the resistors R8, R16 and R23 are connected with anodes of the diodes D8, D10 and D12, the other ends of the resistors R8, R16 and R23 are connected with an input end of the neutral point voltage comparison circuit, and anodes of the diodes D8, D10 and D12 are respectively connected with three-phase electricity of the motor.
7. The speed detection circuit of a non-inductive brushless motor according to claim 5, wherein the neutral point voltage comparison circuit is composed of a differential comparator U6 and peripheral circuits, wherein the input terminal of the differential comparator U6 is connected to the output terminal of the neutral point voltage calculation circuit, and the output terminal thereof is connected to the input terminal of the zero-crossing point processing circuit.
8. The sensorless brushless motor speed detection circuit of claim 5, wherein the zero crossing point processing circuit employs a digital processing chip.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113390520A (en) * | 2020-03-12 | 2021-09-14 | 苏州佳世达光电有限公司 | Color wheel phase detection method and projection device |
| CN115037196A (en) * | 2022-07-04 | 2022-09-09 | 深圳市航顺芯片技术研发有限公司 | Direct-current brushless motor rotation control method and single chip microcomputer |
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