CN110829905B - Counter potential zero-crossing detection method, device and control system for dust collector and motor - Google Patents
Counter potential zero-crossing detection method, device and control system for dust collector and motor Download PDFInfo
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- CN110829905B CN110829905B CN201911125963.3A CN201911125963A CN110829905B CN 110829905 B CN110829905 B CN 110829905B CN 201911125963 A CN201911125963 A CN 201911125963A CN 110829905 B CN110829905 B CN 110829905B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/175—Indicating the instants of passage of current or voltage through a given value, e.g. passage through zero
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The invention discloses a dust collector, a back electromotive force zero-crossing detection method and device of a brushless direct current motor and a control system, wherein the back electromotive force zero-crossing detection method of the brushless direct current motor comprises the following steps: in the process of detecting the counter electromotive force of the brushless direct current motor, judging whether the front edge of the counter electromotive force is detected; if the front edge of the counter electromotive force is detected, judging the zero crossing of the counter electromotive force of the brushless direct current motor when the zero crossing of the counter electromotive force of the first preset number of times is detected; and if the front edge of the counter electromotive force is not detected, judging the zero crossing of the counter electromotive force of the brushless direct current motor when detecting the zero crossing of the counter electromotive force for a second preset number of times, wherein the second preset number of times is greater than the first preset number of times. According to the counter electromotive force zero-crossing detection method of the brushless direct current motor, whether the counter electromotive force of the brushless direct current motor crosses zero or not can be timely and effectively detected.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a counter electromotive force zero-crossing detection method of a brushless direct current motor, a counter electromotive force zero-crossing detection device of the brushless direct current motor, a control system of the brushless direct current motor and a dust collector.
Background
At present, in the field of sensorless driving control technology of brushless dc motors, there are various methods for detecting the rotor position of the motor, among which the back electromotive force zero crossing method is simple, effective and widely used. The basic principle of the back electromotive force zero crossing method is that when the back electromotive force of a certain phase winding of the brushless direct current motor crosses zero, the direct axis of the rotor is just coincided with the axis of the phase winding, so that the position of the rotor of the motor can be obtained only by judging the back electromotive force zero crossing point of each phase winding.
In the related art, there are generally two methods for determining the back emf zero crossing: 1) judging the back emf zero crossing once, namely judging that the back emf zero crossing detection is successful immediately after detecting the back emf zero crossing once; 2) and judging the counter electromotive force zero crossing for multiple times, namely judging that the counter electromotive force zero crossing detection is successful after detecting the counter electromotive force zero crossing for multiple times.
However, the above-described determination method has the following disadvantages: 1) when the single back electromotive force zero crossing judgment is adopted, only one back electromotive force zero crossing judgment is carried out, the reliability is not high, for example, the back electromotive force of the brushless direct current motor may fluctuate at the switching time of a power device or when the back electromotive force zero crossing judgment is interfered, and the accuracy of zero crossing detection is influenced by the single back electromotive force zero crossing judgment; 2) when the back emf zero crossing is judged for multiple times, when the brushless direct current motor runs at a high speed, if the back emf zero crossing is judged for multiple times, the zero crossing detection is delayed, and the control effect is not good.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a back electromotive force zero-crossing detection method for a brushless dc motor, which can timely and effectively detect whether the back electromotive force of the brushless dc motor crosses zero.
A second object of the invention is to propose a non-transitory computer-readable storage medium.
A third object of the present invention is to provide a back emf zero crossing detection apparatus for a brushless dc motor.
A fourth object of the present invention is to provide a control system for a brushless dc motor.
A fifth object of the present invention is to provide a vacuum cleaner.
In order to achieve the above object, a counter potential zero crossing detection method for a brushless dc motor is provided in an embodiment of a first aspect of the present invention, including the following steps: in the process of detecting the counter electromotive force of the brushless direct current motor, judging whether the front edge of the counter electromotive force is detected; if the front edge of the counter electromotive force is detected, judging the zero crossing of the counter electromotive force of the brushless direct current motor when the zero crossing of the counter electromotive force of a first preset number of times is detected; and if the front edge of the counter electromotive force is not detected, judging the zero crossing of the counter electromotive force of the brushless direct current motor when detecting the zero crossing of the counter electromotive force for a second preset number of times, wherein the second preset number of times is greater than the first preset number of times.
According to the back electromotive force zero-crossing detection method of the brushless direct current motor, in the process of detecting the back electromotive force of the brushless direct current motor, whether the front edge of the back electromotive force is detected or not is judged, and if the front edge of the back electromotive force is detected, the back electromotive force zero-crossing of the brushless direct current motor is judged when the back electromotive force zero-crossing point of the first preset number of times is detected; if the front edge of the counter electromotive force is not detected, the zero crossing of the counter electromotive force of the brushless direct current motor is judged when the zero crossing of the counter electromotive force of the second preset number of times is detected, and therefore whether the zero crossing of the counter electromotive force of the brushless direct current motor occurs or not can be timely and effectively detected.
In addition, the back electromotive force zero-crossing detection method of the brushless dc motor according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, if the counter potential is in a rising phase and the counter potential is less than a zero voltage, it is determined that a leading edge of the counter potential is detected; and if the counter electromotive force is in a descending stage and the counter electromotive force is larger than the zero voltage, judging that the front edge of the counter electromotive force is detected.
According to one embodiment of the invention, when the front edge of the counter potential is detected, if the counter potential is in a rising stage and the counter potential is greater than or equal to zero voltage, the counter potential zero-crossing point is judged; and if the counter electromotive force is in a descending stage and the counter electromotive force is less than or equal to the zero voltage, judging the counter electromotive force zero-crossing point.
According to an embodiment of the present invention, the first preset number is 1, and the second preset number is an integer greater than or equal to 2.
According to an embodiment of the present invention, in the detecting of the counter electromotive force of the brushless dc motor, it is further determined whether the counter electromotive force is within a preset effective range, and if the counter electromotive force is within the preset effective range, the counter electromotive force is further determined.
To achieve the above object, a second embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, the program, when executed by a processor, implementing the counter potential zero crossing detection method of the brushless dc motor described above.
According to the non-transitory computer-readable storage medium of an embodiment of the present invention, by performing the above-described back emf zero-crossing detection method of the brushless dc motor, it can be timely and effectively detected whether the back emf of the brushless dc motor crosses zero.
In order to achieve the above object, a counter potential zero crossing detecting apparatus for a brushless dc motor according to an embodiment of a third aspect of the present invention includes: a detection unit for detecting a back electromotive force of the brushless DC motor; a judging unit configured to judge whether the detecting unit detects a leading edge of the back electromotive force, wherein if the leading edge of the back electromotive force is detected, the judging unit judges a back electromotive force zero crossing of the brushless dc motor when the detecting unit detects a back electromotive force zero crossing of a first preset number of times; if the back electromotive force is not detected before the edge of the back electromotive force, the judging unit judges that the back electromotive force of the brushless direct current motor passes through zero when the detecting unit detects a second preset number of back electromotive force zero-crossing points, wherein the second preset number is greater than the first preset number.
According to the back electromotive force zero-crossing detection device of the brushless direct current motor, the back electromotive force of the brushless direct current motor is detected through the detection unit, whether the detection unit detects the front edge of the back electromotive force is judged through the judgment unit, and if the front edge of the back electromotive force is detected, the back electromotive force zero-crossing of the brushless direct current motor is judged when the detection unit detects the back electromotive force zero-crossing points for the first preset times; if the front edge of the counter electromotive force is not detected, the zero crossing of the counter electromotive force of the brushless DC motor is judged when the detecting unit detects the zero crossing of the counter electromotive force of the second preset number of times, thereby timely and effectively detecting whether the counter electromotive force of the brushless DC motor crosses zero.
In addition, the back electromotive force zero-crossing detection apparatus of the brushless dc motor according to the above-described embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, if the counter potential is in a rising stage and the counter potential is less than a zero-point voltage, the judgment unit judges that the detection unit detects a leading edge of the counter potential; the judging unit judges that the detecting unit detects the front edge of the counter electromotive force if the counter electromotive force is in a falling stage and the counter electromotive force is larger than the zero point voltage.
According to an embodiment of the present invention, when the front edge of the counter potential is detected, if the counter potential is in a rising stage and the counter potential is equal to or greater than a zero-point voltage, the judgment unit judges that the counter potential crosses zero; the judgment unit judges the counter potential zero-crossing point if the counter potential is in a falling stage and the counter potential is less than or equal to the zero-point voltage.
According to an embodiment of the present invention, the first preset number is 1, and the second preset number is an integer greater than or equal to 2.
According to an embodiment of the present invention, the determining unit is further configured to determine whether the counter potential is within a preset effective range, and determine the counter potential when the counter potential is within the preset effective range.
In order to achieve the above object, a fourth aspect of the present invention provides a control system for a brushless dc motor, which includes the counter potential zero crossing detection apparatus for the brushless dc motor.
According to the control system of the brushless direct current motor, whether the counter electromotive force of the brushless direct current motor crosses zero or not can be timely and effectively detected through the counter electromotive force zero crossing detection device of the brushless direct current motor.
In order to achieve the above object, a fifth aspect of the present invention provides a vacuum cleaner, which includes the above control system for the brushless dc motor.
According to the dust collector provided by the embodiment of the invention, whether the counter electromotive force of the brushless direct current motor is zero can be timely and effectively detected through the control system of the brushless direct current motor.
Drawings
Fig. 1 is a flowchart of a back emf zero crossing detection method of a brushless dc motor according to an embodiment of the present invention;
FIG. 2 is a diagram of back emf waveforms for a brushless DC motor in accordance with one embodiment of the present invention;
fig. 3 is a diagram of back emf waveforms when a brushless dc motor is operated at high speed according to an embodiment of the present invention;
FIG. 4 is a diagram of back emf waveforms during heavy load operation of a brushless DC motor in accordance with one embodiment of the present invention;
FIG. 5 is a flow chart of a back emf zero crossing detection method of a brushless DC motor in accordance with one embodiment of the present invention;
fig. 6 is a flowchart of a back emf zero crossing detection method of a brushless dc motor according to another embodiment of the present invention;
fig. 7 is a block schematic diagram of a back emf zero-crossing detection apparatus of a brushless dc motor according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A counter potential zero-crossing detection method of a brushless dc motor, a non-transitory computer-readable storage medium, a counter potential zero-crossing detection apparatus of a brushless dc motor, a control system of a brushless dc motor, and a cleaner, which are proposed according to embodiments of the present invention, are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a back emf zero-crossing detection method of a brushless dc motor according to an embodiment of the present invention. As shown in fig. 1, the back electromotive force zero-crossing detection method of the brushless dc motor according to the embodiment of the present invention includes the steps of:
s1, in the process of detecting the back electromotive force of the brushless dc motor, it is judged whether the front of the back electromotive force is detected.
According to an embodiment of the present invention, in the detecting of the counter electromotive force of the brushless dc motor, it is further determined whether the counter electromotive force is within a preset effective range, and if the counter electromotive force is within the preset effective range, the counter electromotive force is further determined.
Specifically, in general, in the detection of the back electromotive force of the brushless dc motor, if the back electromotive force detection is performed within a period of time from the start of a high level of a PWM (Pulse Width Modulation) control period, the back electromotive force fluctuates due to the influence of the power device switch, or the back electromotive force fluctuates due to disturbance in the detection, thereby causing a back electromotive force zero-crossing detection error. Therefore, in the embodiment of the present invention, after obtaining the back electromotive force of the brushless dc motor, it is determined whether the back electromotive force is within a preset effective range, for example, whether the back electromotive force is greater than or equal to a back electromotive force zero-crossing detection lower limit and less than or equal to a back electromotive force zero-crossing detection upper limit, if so, it is determined that the back electromotive force is within the preset effective range, and then the detected back electromotive force is determined, so that the problem of inaccurate back electromotive force zero-crossing detection caused by fluctuation of the back electromotive force at the switching time of the power device or when the power device is interfered can be effectively avoided, and the accuracy of the back electromotive force zero-crossing detection is effectively improved. The back emf zero-crossing detection lower limit and the back emf zero-crossing detection upper limit can be calibrated according to actual conditions, and are not limited in detail here.
According to one embodiment of the invention, if the counter potential is in the rising phase and the counter potential is less than the zero voltage, it is determined that the front edge of the counter potential is detected; and if the counter potential is in a descending stage and the counter potential is greater than the zero voltage, judging that the front edge of the counter potential is detected. The back electromotive force can be judged to be in a rising stage or a falling stage according to the current rotor phase of the brushless direct current motor, so that whether the front edge of the back electromotive force is detected or not is judged in a corresponding mode.
Specifically, in the phase of steady rising or falling of the back electromotive force of the brushless dc motor, the back electromotive force is equal to the zero-point voltage as a division point, the phase before the back electromotive force zero-crossing point voltage is before the edge of the back electromotive force, the phase after the back electromotive force zero-crossing point voltage is after the edge of the back electromotive force, and the time when the back electromotive force changes from before the edge to after the edge is called a transition edge. For example, when the back electromotive force of the brushless dc motor is in a rising phase, as shown in fig. 2, a phase in which the back electromotive force is smaller than the zero-point voltage is before an edge of the back electromotive force, and a phase in which the back electromotive force is larger than the zero-point voltage is after the edge of the back electromotive force; when the back electromotive force of the brushless DC motor is in a falling stage, a stage in which the back electromotive force is greater than the zero-point voltage is taken as a front edge of the back electromotive force, and a stage in which the back electromotive force is less than the zero-point voltage is taken as a back edge of the back electromotive force.
S2, if the front edge of the back emf is detected, determining a back emf zero crossing of the brushless dc motor when the back emf zero crossing of the first preset number of times is detected. Wherein the first preset number of times is 1. That is, when the front edge of the back emf is detected, the back emf zero-crossing of the brushless dc motor can be judged as if it were detected once thereafter.
According to one embodiment of the invention, when the front edge of the counter potential is detected, if the counter potential is in a rising stage and the counter potential is greater than or equal to a zero voltage, the counter potential zero-crossing point is judged; and if the counter potential is in a descending stage and the counter potential is less than or equal to zero voltage, judging the zero crossing point of the counter potential.
It can be understood that, in the back electromotive force rising stage of the brushless dc motor, when the front edge of the back electromotive force is detected, the back electromotive force is smaller than the zero-point voltage, and according to the continuity of the back electromotive force change of the brushless dc motor, if the back electromotive force is greater than or equal to the zero-point voltage, the back electromotive force zero-crossing point is judged; in the counter electromotive force descending stage of the brushless direct current motor, when the front edge of the counter electromotive force is detected, the counter electromotive force is larger than the zero voltage, and according to the continuity of the counter electromotive force change of the brushless direct current motor, if the counter electromotive force is smaller than or equal to the zero voltage, the counter electromotive force zero crossing point is judged.
For example, each electrical cycle of the brushless dc motor is 360 ° electrical angle, wherein each 60 ° electrical angle is a conduction interval, which is called a sector. In the process of controlling the brushless dc motor, when the brushless dc motor operates at a high speed, as shown in fig. 3, PWM (the number of control cycles is small, by the counter potential zero-crossing detection method of the brushless dc motor of the above embodiment, when a counter potential zero-crossing point (at a jump edge of the counter potential) is detected before and after the edge of the counter potential is detected, the counter potential zero-crossing point of the brushless dc motor can be immediately judged.
In practical application, when the detection method is applied to a dust collector, the back emf zero crossing point can be timely and effectively detected by the detection method of the invention in the process of high-speed operation of the dust collector, and the problem of lagging back emf zero crossing detection caused by adopting a mode of judging back emf zero crossing for many times is avoided, so that a better control effect is ensured, and the stable and reliable operation of the dust collector is ensured.
And S3, if the front edge of the counter electromotive force is not detected, judging the zero crossing of the counter electromotive force of the brushless direct current motor when the zero crossing of the counter electromotive force of the second preset number of times is detected. The second preset number is greater than the first preset number, for example, when the first preset number is 1, the second preset number is an integer greater than or equal to 2.
Specifically, in the process of controlling the brushless dc motor, when the brushless dc motor is operated under a certain condition, such as when the brushless dc motor is operated under a heavy load, because the follow current process is long, as shown in fig. 4, the back electromotive force of the brushless dc motor is clamped at a large voltage value, and the actual back electromotive force zero-crossing point is annihilated, so that the edge of the back electromotive force is not detected, i.e., a jump edge is not detected, at this time, whether the back electromotive force of the brushless dc motor crosses zero or not can be determined by determining the back electromotive force zero-crossing multiple times, i.e., performing zero-crossing detection on the back electromotive force of the brushless dc motor multiple times, and determining the back electromotive force zero-crossing of the brushless dc motor when the back electromotive force zero-crossing points of a certain number of times are detected. Therefore, under the condition of heavy-load operation of the brushless direct current motor, the back electromotive force zero crossing can be effectively detected by adopting a mode of judging the back electromotive force zero crossing for multiple times, so that the condition that the brushless direct current motor cannot be subjected to zero crossing detection due to the fact that the front edge of the back electromotive force of the brushless direct current motor is not detected (namely, when a jump edge judging mode fails) can be effectively avoided, and the reliability of the back electromotive force zero crossing detection is effectively improved.
In practical application, when the detection method is applied to a dust collector, when the load in the dust collector is suddenly increased (for example, a rotor is blocked or a large object is sucked), so that the brushless direct current motor in the dust collector is in heavy-load operation, the counter potential zero crossing point can be effectively detected by the detection method, and the dust collector can be ensured to stably and reliably operate.
In summary, according to the back electromotive force zero-crossing detection method of the brushless dc motor in the embodiment of the present invention, the jump edge determination manner and the back electromotive force zero-crossing determination manner are combined to determine whether the back electromotive force crosses zero, so that not only can the reliability of zero-crossing detection be improved, but also the timeliness of zero-crossing detection can be ensured under a high speed condition, and the effectiveness of zero-crossing detection can be ensured under a heavy load condition, thereby improving the reliability of the control of the brushless dc motor, and enabling the brushless dc motor to operate stably and reliably.
In order that those skilled in the art will more clearly understand the present invention, further description will be given below with reference to specific examples of the present invention.
Specifically, in the process of controlling the brushless dc motor, whether the detected floating counter potential is in the rising stage or in the falling stage can be determined according to the sector where the current rotor position of the brushless dc motor is located, so as to perform counter potential zero-crossing detection of the brushless dc motor in a corresponding manner.
When the back emf of the brushless dc motor is in the rising phase, as shown in fig. 5, the back emf zero-crossing detecting method of the brushless dc motor may include the steps of:
s501, clearing the detection success flag bit before the edge of the counter potential falling stage.
And S502, judging whether the judgment frequency is less than the sampling number of the counter electromotive force. That is, it is determined whether the processing of all the counter potential sampling results has been completed. If yes, go to step S503; if not, step S512 is performed.
And S503, judging whether the counter electromotive force is in a preset effective range. That is, it is determined whether or not the back electromotive force is equal to or greater than the back electromotive force zero-cross detection lower limit and equal to or less than the back electromotive force zero-cross detection upper limit. If yes, go to step S504; if not, step S508 is performed.
And S504, judging whether a flag bit before the zero crossing point edge of the rising stage is detected. Namely, whether the flag bit is set to 1 before the zero-crossing point edge at the current rising stage is judged. If yes, go to step S505; if not, step S506 is performed.
And S505, judging whether the counter electromotive force is larger than or equal to the zero voltage. If yes, go to step S511; if not, step S508 is performed.
S506, judging whether the counter electromotive force is smaller than the zero voltage. If yes, go to step S507; if not, step S509 is performed.
And S507, detecting a mark position 1 before the zero-crossing point edge of the counter electromotive force rising stage.
And S508, adding 1 to the judgment frequency.
And S509, adding 1 to the counter potential zero crossing times.
And S510, judging whether the counter electromotive force zero crossing times are larger than or equal to N. If yes, go to step S511; if not, return to step S508. Wherein, N is an integer more than or equal to 2, and can be specifically calibrated according to the actual situation.
S511, zero crossing detection state flag position 1.
And S512, returning to the zero-crossing detection state flag bit.
Therefore, in the process of controlling the brushless direct current motor, when the counter electromotive force of the brushless direct current motor is in a rising stage, whether the counter electromotive force is zero-crossed or not can be timely and effectively detected through the detection method.
When the back emf of the brushless dc motor is in the falling phase, as shown in fig. 6, the back emf zero-crossing detecting method of the brushless dc motor may include the steps of:
s601, clearing the flag bit which is detected successfully before the edge of the counter potential rising stage.
And S602, judging whether the judgment frequency is less than the sampling number of the counter electromotive force. That is, it is determined whether the processing of all the counter potential sampling results has been completed. If yes, go to step S603; if not, step S612 is performed.
And S603, judging whether the counter electromotive force is in a preset effective range. That is, it is determined whether or not the back electromotive force is equal to or greater than the back electromotive force zero-cross detection lower limit and equal to or less than the back electromotive force zero-cross detection upper limit. If yes, go to step S604; if not, step S608 is performed.
And S604, judging whether a flag bit before the zero-crossing point edge of the descending stage is detected. Namely, whether the flag bit before the zero-crossing point edge of the current descending stage is set to 1 is judged. If yes, go to step S605; if not, step S606 is performed.
And S605, judging whether the counter electromotive force is less than or equal to the zero voltage. If yes, go to step S611; if not, step S608 is performed.
And S606, judging whether the counter potential is larger than the zero voltage. If yes, go to step S607; if not, step S609 is performed.
S607, the mark position 1 before the zero-crossing point of the counter potential falling stage is detected.
And S608, adding 1 to the judgment frequency.
And S609, adding 1 to the counter electromotive force zero crossing times.
S610, judging whether the counter electromotive force zero crossing times are larger than or equal to N. If yes, go to step S611; if not, return to step S608. Wherein, N is an integer more than or equal to 2, and can be specifically calibrated according to the actual situation.
S611, zero crossing detection state flag position 1.
And S612, returning to the zero-crossing detection state flag bit.
Therefore, in the process of controlling the brushless direct current motor, when the counter electromotive force of the brushless direct current motor is in a descending stage, whether the counter electromotive force is zero-crossed or not can be timely and effectively detected through the detection method.
In summary, according to the back electromotive force zero-crossing detection method of the brushless dc motor of the embodiment of the present invention, in the process of detecting the back electromotive force of the brushless dc motor, it is determined whether a front edge of the back electromotive force is detected, and if the front edge of the back electromotive force is detected, it is determined that the back electromotive force of the brushless dc motor crosses zero when a first preset number of back electromotive force zero-crossings are detected; if the front edge of the counter electromotive force is not detected, the zero crossing of the counter electromotive force of the brushless direct current motor is judged when the zero crossing of the counter electromotive force of the second preset number of times is detected, and therefore whether the zero crossing of the counter electromotive force of the brushless direct current motor occurs or not can be timely and effectively detected.
In addition, an embodiment of the present invention also proposes a non-transitory computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the counter potential zero crossing detection method of the brushless dc motor described above.
According to the non-transitory computer-readable storage medium of an embodiment of the present invention, by performing the above-described back emf zero-crossing detection method of the brushless dc motor, it can be timely and effectively detected whether the back emf of the brushless dc motor crosses zero.
Fig. 7 is a block schematic diagram of a back emf zero-crossing detection apparatus of a brushless dc motor according to an embodiment of the present invention. As shown in fig. 7, the back electromotive force zero-cross detection apparatus of a brushless dc motor according to an embodiment of the present invention includes: a detection unit 100 and a judgment unit 200.
Wherein, the detection unit 100 is used for detecting the counter electromotive force of the brushless DC motor; the judging unit 200 is configured to judge whether the detecting unit detects a leading edge of the back electromotive force, and if the detecting unit detects the leading edge of the back electromotive force, the judging unit 200 judges a zero crossing of the back electromotive force of the brushless dc motor when the detecting unit detects a zero crossing of the back electromotive force for a first preset number of times; if the leading edge of the back emf is not detected, the judging unit 200 judges that the back emf of the brushless dc motor crosses zero when the detecting unit 100 detects a second preset number of back emf zero-crossings, wherein the second preset number is greater than the first preset number.
According to an embodiment of the present invention, the first predetermined number is 1, and the second predetermined number is an integer greater than or equal to 2.
According to an embodiment of the present invention, if the counter potential is in the rising stage and the counter potential is less than the zero-point voltage, the judgment unit 200 judges that the detection unit detects the front edge of the counter potential; the judgment unit 200 judges that the detection unit detects the front edge of the counter potential if the counter potential is in the falling stage and the counter potential is greater than the zero point voltage.
According to an embodiment of the present invention, when the front edge of the back emf is detected, if the back emf is in the rising stage and the back emf is equal to or greater than the zero-point voltage, the judgment unit 200 judges the back emf zero-crossing point; the judgment unit 200 judges the counter potential zero-crossing point if the counter potential is in the falling stage and the counter potential is equal to or less than the zero-point voltage.
According to an embodiment of the present invention, the determining unit 200 is further configured to determine whether the counter potential is within a preset effective range, and determine the counter potential when the counter potential is within the preset effective range.
It should be noted that details that are not disclosed in the back electromotive force zero-crossing detection apparatus of the brushless dc motor according to the embodiment of the present invention refer to details that are disclosed in the back electromotive force zero-crossing detection method of the brushless dc motor according to the embodiment of the present invention, and detailed descriptions thereof are omitted here.
According to the back electromotive force zero-crossing detection device of the brushless direct current motor, the back electromotive force of the brushless direct current motor is detected through the detection unit, whether the detection unit detects the front edge of the back electromotive force is judged through the judgment unit, and if the front edge of the back electromotive force is detected, the back electromotive force zero-crossing of the brushless direct current motor is judged when the detection unit detects the back electromotive force zero-crossing points for the first preset times; if the front edge of the counter electromotive force is not detected, the zero crossing of the counter electromotive force of the brushless DC motor is judged when the detecting unit detects the zero crossing of the counter electromotive force of the second preset number of times, thereby timely and effectively detecting whether the counter electromotive force of the brushless DC motor crosses zero.
In addition, the embodiment of the invention also provides a control system of the brushless direct current motor, which comprises the counter electromotive force zero-crossing detection device of the brushless direct current motor.
According to the control system of the brushless direct current motor, whether the counter electromotive force of the brushless direct current motor crosses zero or not can be timely and effectively detected through the counter electromotive force zero crossing detection device of the brushless direct current motor.
In addition, the embodiment of the invention also provides a dust collector which comprises the control system of the brushless direct current motor.
According to the dust collector provided by the embodiment of the invention, whether the counter electromotive force of the brushless direct current motor is zero can be timely and effectively detected through the control system of the brushless direct current motor.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In addition, in the description of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A back electromotive force zero-crossing detection method of a brushless direct current motor is characterized by comprising the following steps:
judging whether the back electromotive force of the brushless direct current motor is detected before the edge of the back electromotive force in the process of detecting the back electromotive force of the brushless direct current motor, wherein in the process of detecting the back electromotive force of the brushless direct current motor, whether the back electromotive force is in a preset effective range is also judged, and if the back electromotive force is in the preset effective range, the back electromotive force is judged;
if the front edge of the counter electromotive force is detected, judging the zero crossing of the counter electromotive force of the brushless direct current motor when the zero crossing of the counter electromotive force of a first preset number of times is detected;
if the front edge of the counter electromotive force is not detected, judging the zero crossing of the counter electromotive force of the brushless direct current motor when detecting the zero crossing of the counter electromotive force for a second preset number of times, wherein the second preset number of times is more than the first preset number of times,
wherein if the counter potential is in a rising stage and the counter potential is less than a zero voltage, it is judged that an edge of the counter potential is detected, and if the counter potential is in a falling stage and the counter potential is greater than the zero voltage, it is judged that an edge of the counter potential is detected,
and judging whether the counter electromotive force is greater than or equal to a counter electromotive force zero-crossing detection lower limit and less than or equal to a counter electromotive force zero-crossing detection upper limit, and if so, judging that the counter electromotive force is in a preset effective range.
2. A counter potential zero-crossing detecting method of a brushless DC motor according to claim 1, wherein, when the leading edge of the counter potential is detected,
if the counter electromotive force is in a rising stage and the counter electromotive force is greater than or equal to zero voltage, judging the counter electromotive force zero-crossing point;
and if the counter electromotive force is in a descending stage and the counter electromotive force is less than or equal to the zero voltage, judging the counter electromotive force zero-crossing point.
3. A counter potential zero-crossing detecting method of a brushless dc motor according to claim 1 or 2, wherein the first preset number is 1, and the second preset number is an integer of 2 or more.
4. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the back emf zero-crossing detection method of a brushless dc motor as claimed in any one of claims 1-3.
5. A back electromotive force zero-cross detection apparatus of a brushless dc motor, comprising:
a detection unit for detecting a back electromotive force of the brushless DC motor;
a judging unit for judging whether the detecting unit detects a leading edge of the counter potential, wherein,
if the front edge of the counter electromotive force is detected, the judging unit judges the zero crossing of the counter electromotive force of the brushless direct current motor when the detecting unit detects the zero crossing of the counter electromotive force for a first preset number of times;
if the back electromotive force is not detected before the edge of the back electromotive force, the judging unit judges the back electromotive force of the brushless direct current motor to pass through zero when the detecting unit detects the back electromotive force zero crossing point of a second preset number of times, wherein the second preset number of times is larger than the first preset number of times, the judging unit is further used for judging whether the back electromotive force is in a preset effective range or not, and judging the back electromotive force when the back electromotive force is in the preset effective range,
wherein if the counter potential is in a rising stage and the counter potential is less than a zero voltage, the judging unit judges that the detecting unit detects a leading edge of the counter potential; the judging unit judges that the detecting unit detects the front edge of the counter electromotive force if the counter electromotive force is in a falling stage and the counter electromotive force is larger than the zero point voltage,
and judging whether the counter electromotive force is greater than or equal to a counter electromotive force zero-crossing detection lower limit and less than or equal to a counter electromotive force zero-crossing detection upper limit, and if so, judging that the counter electromotive force is in a preset effective range.
6. A counter potential zero-cross detection apparatus of a brushless DC motor according to claim 5, wherein, when the leading edge of the counter potential is detected,
if the counter electromotive force is in a rising stage and the counter electromotive force is greater than or equal to zero voltage, the judging unit judges the counter electromotive force zero-crossing point;
the judgment unit judges the counter potential zero-crossing point if the counter potential is in a falling stage and the counter potential is less than or equal to the zero-point voltage.
7. A counter potential zero-cross detection apparatus of a brushless dc motor according to claim 5 or 6, wherein the first preset number is 1, and the second preset number is an integer of 2 or more.
8. A control system of a brushless dc motor, characterized by comprising a back electromotive force zero-cross detection apparatus of a brushless dc motor according to any one of claims 5 to 7.
9. A vacuum cleaner comprising a control system for a brushless dc motor according to claim 8.
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| CN201911125963.3A CN110829905B (en) | 2018-03-30 | 2018-03-30 | Counter potential zero-crossing detection method, device and control system for dust collector and motor |
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| CN110535378B (en) * | 2019-08-27 | 2021-11-19 | 江门市力丰电机有限公司 | High-precision phase change control method and system for brushless direct current motor |
| CN110868113B (en) * | 2019-11-15 | 2021-08-03 | 杭州九阳小家电有限公司 | Counter potential zero-crossing detection method and device of brushless direct current motor and dust collector |
| CN114362609B (en) * | 2021-12-29 | 2023-11-21 | 江苏东成工具科技有限公司 | Filtering method for demagnetizing and phase-changing of brushless motor |
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| CN101753077B (en) * | 2009-12-29 | 2013-02-13 | 何伟斌 | Rotor-free sensor motor driver and vehicle having same |
| CN102055392B (en) * | 2010-12-17 | 2015-11-25 | 北京控制工程研究所 | A kind of brshless DC motor is without pickup wire back-emf method for detecting position |
| CN102437805B (en) * | 2011-09-15 | 2013-11-13 | 威海克莱特机电有限公司 | Compensation calculation method of heavy load phase of brushless direct current (DC) motor without position sensor |
| CN104617830B (en) * | 2015-02-15 | 2017-04-26 | 矽力杰半导体技术(杭州)有限公司 | Counter electromotive force zero-cross detection method and method of brushless DC motor, and phase-changing signal output method and circuit |
| CN104734581B (en) * | 2015-03-19 | 2017-04-19 | 南京航空航天大学 | Driving method for position-sensorless of permanent magnet brushless direct current motor |
| CN104767435B (en) * | 2015-04-27 | 2017-03-08 | 山东大学 | Non sensor brushless motor commutation phase place real-time correction method based on neutral point voltage |
| US9917540B2 (en) * | 2015-11-10 | 2018-03-13 | Stmicroelectrics S.R.L. | Mutual inductance voltage offset compensation for brushless DC sensorless motors |
| US9780706B2 (en) * | 2016-02-05 | 2017-10-03 | Allegro Microsystems, Llc | Motor control current zero crossing detector |
| CN107834917B (en) * | 2017-10-31 | 2020-07-24 | 上海拓攻机器人有限公司 | Back electromotive force phase change point detection circuit and method of direct current brushless motor |
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