CN111106768B - Starting control method and device of motor - Google Patents
Starting control method and device of motor Download PDFInfo
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- CN111106768B CN111106768B CN201911399233.2A CN201911399233A CN111106768B CN 111106768 B CN111106768 B CN 111106768B CN 201911399233 A CN201911399233 A CN 201911399233A CN 111106768 B CN111106768 B CN 111106768B
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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
- H02P6/20—Arrangements for starting
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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
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a starting control method and a starting control device of a motor, wherein the starting control method of the motor comprises the following steps: judging whether the estimated rotating speed of the motor is greater than a preset estimated rotating speed or not; when the estimated rotating speed is smaller than the preset estimated rotating speed, judging whether the set rotating speed of the motor is larger than a set rotating speed threshold value; when the set rotating speed is smaller than the set rotating speed threshold value, driving the motor according to the driving angle corresponding to the set rotating speed, and returning to execute the step of judging whether the estimated rotating speed of the motor is larger than the preset estimated rotating speed; and when the estimated rotating speed is greater than the preset estimated rotating speed, driving the motor according to the driving angle corresponding to the estimated rotating speed so as to successfully start the motor. The technical scheme of the invention can solve the problems of noise, failed starting or overcurrent caused by sudden change of the driving current of the motor due to sudden change of the driving angle in the starting process of the motor.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a starting control method and a starting control device of a motor.
Background
Brushless dc motors often require position sensors or estimators to obtain an estimated angle to drive with associated circuitry. However, in the case where the motor is at rest or at a low rotation speed, it is difficult to obtain the estimated angle by the estimator, and therefore, it is necessary to rotate the motor until the rotation speed of the motor reaches a rotation speed at which the estimator can normally obtain the estimated angle.
At present, the motor is often driven to rotate through a set angle, and when the motor is transited to a normal operation state, the set angle is switched to an estimation angle. However, since the set angle and the estimated angle are not exactly the same, at the moment when the motor is transited to the normal operation, the driving current of the motor is abruptly changed due to the abrupt change of the angle, thereby causing noise, a start failure, or an overcurrent. Moreover, once a situation that the motor is difficult to start occurs, for example, the motor is difficult to start due to heavy load of the motor, the starting process of the motor will be very slow, and since the duration of the set angle is fixed, the current operation state of the motor is not considered, which may cause that after the process of setting the angle is finished, the rotating speed of the motor still does not reach the rotating speed at which the estimator can normally obtain the estimated angle, and the motor fails to start.
Disclosure of Invention
The embodiment of the invention provides a starting control method and a starting control device of a motor, and aims to solve the problems of noise, starting failure or overcurrent caused by sudden change of a driving current of the motor due to sudden change of a driving angle in the starting process of the motor.
In order to achieve the above object, the present invention provides a method for controlling starting of a motor, including the steps of:
judging whether the estimated rotating speed of the motor is greater than a preset estimated rotating speed or not;
when the estimated rotating speed is smaller than the preset estimated rotating speed, judging whether the set rotating speed of the motor is larger than a set rotating speed threshold value;
when the set rotating speed is smaller than the set rotating speed threshold value, driving the motor according to the driving angle corresponding to the set rotating speed, and returning to execute the step of judging whether the estimated rotating speed of the motor is larger than the preset estimated rotating speed;
and when the estimated rotating speed is greater than the preset estimated rotating speed, driving the motor according to the driving angle corresponding to the estimated rotating speed so as to successfully start the motor.
Optionally, after the step of determining whether the set rotation speed of the motor is greater than the set rotation speed threshold when the estimated rotation speed is less than the preset estimated rotation speed, the method further includes:
and when the set rotating speed is greater than the set rotating speed threshold, driving the motor according to the driving angle corresponding to the set rotating speed threshold, and returning to the step of judging whether the estimated rotating speed of the motor is greater than the preset estimated rotating speed.
Optionally, the set rotation speed threshold of the motor is greater than a preset estimated rotation speed of the motor.
Optionally, before the step of determining whether the estimated rotation speed of the motor is greater than the preset estimated rotation speed, the method further includes:
acquiring the angular acceleration of the rotation of the motor;
and controlling the motor to rotate at a set rotating speed corresponding to the angular acceleration.
Optionally, the angular variation of the drive angle of the motor is continuous.
Optionally, the step of driving the motor according to the driving angle corresponding to the set rotating speed includes:
determining a driving angle of the motor according to the set rotating speed;
inputting the driving angle of the motor into an FOC control algorithm to obtain the driving voltage of the motor;
and driving the motor according to the driving voltage of the motor.
Optionally, the step of determining the driving angle of the motor according to the set rotating speed includes:
converting the set rotational speed into a drive angle increment;
and adding the drive angle increment and the drive angle of the motor at the previous moment to obtain the drive angle of the motor at the current moment.
In order to achieve the above object, the present invention further provides a starting control device of a motor, including a starting module, a control module and a driving module, for executing the steps of the starting control method of the motor.
Optionally, the implementation manner of the starting control method of the motor is a software implementation manner, a hardware implementation manner, or a software and hardware combined implementation manner.
According to the technical scheme, when the estimated rotating speed of the motor is smaller than the preset estimated rotating speed, the motor operates according to the driving angle corresponding to the set rotating speed; in the process that the motor runs at the driving angle corresponding to the set rotating speed, if the estimated rotating speed of the motor is greater than the preset estimated rotating speed, the motor runs at the driving angle corresponding to the estimated rotating speed, the rotating speed of the motor may suddenly change in the process, but the angle change of the driving angle of the motor is continuous and does not suddenly change along with the sudden change of the rotating speed of the motor, so that the change of the driving current of the motor is also continuous, and the phenomena of overcurrent and step loss are effectively avoided. And the starting process of the motor is not limited by time, and even if the motor is slowly started due to the overweight load, the estimated rotating speed of the motor can be gradually increased and tends to be correct, so that the motor can be successfully started finally.
Drawings
Fig. 1 is a schematic flow chart of an embodiment of a starting control method of a motor according to the present invention;
FIG. 2 is a schematic diagram illustrating a relationship between a set rotational speed threshold and a predetermined estimated rotational speed according to an embodiment of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: judging whether the estimated rotating speed of the motor is greater than a preset estimated rotating speed or not; when the estimated rotating speed is smaller than the preset estimated rotating speed, judging whether the set rotating speed of the motor is larger than a set rotating speed threshold value; when the set rotating speed is smaller than the set rotating speed threshold value, driving the motor according to the driving angle corresponding to the set rotating speed, and returning to execute the step of judging whether the estimated rotating speed of the motor is larger than the preset estimated rotating speed; and when the estimated rotating speed is greater than the preset estimated rotating speed, driving the motor according to the driving angle corresponding to the estimated rotating speed so as to successfully start the motor.
According to the technical scheme, when the estimated rotating speed of the motor is smaller than the preset estimated rotating speed, the motor operates according to the driving angle corresponding to the set rotating speed; in the process that the motor runs at the driving angle corresponding to the set rotating speed, if the estimated rotating speed of the motor is greater than the preset estimated rotating speed, the motor runs at the driving angle corresponding to the estimated rotating speed, the change of the driving angle of the motor in the process is continuous and does not change suddenly along with the sudden change of the rotating speed of the motor, so that the change of the driving current of the motor is also continuous, and the phenomena of overcurrent and step loss are effectively avoided. And the starting process of the motor is not limited by time, and even if the motor is slowly started due to the overweight load, the estimated rotating speed of the motor can be gradually increased and tends to be accurate, so that the motor can be successfully started finally.
Fig. 1 is a flowchart illustrating a start control method of a motor according to an embodiment of the present invention.
The starting control method of the motor comprises the following steps:
step S10, judging whether the estimated rotating speed of the motor is larger than the preset estimated rotating speed;
brushless dc motors often require position sensors or estimators to obtain an estimated angle to drive with associated circuitry. However, in the case where the motor is at rest or at a low rotation speed, it is difficult to obtain the estimated angle by the estimator, and therefore, it is necessary to rotate the motor until the rotation speed of the motor reaches a rotation speed at which the estimator can normally obtain the estimated angle. According to the technical scheme, when the motor is powered on, a certain torque is provided for the motor, and the motor is controlled to operate at a set rotating speed corresponding to a set angular acceleration. In the process that the motor runs at the set rotating speed corresponding to the set angular acceleration, the system obtains the estimated rotating speed of the motor through the estimator and judges whether the obtained estimated rotating speed is larger than the preset estimated rotating speed or not. The preset estimated rotation speed is set based on the rotation speed of the motor at which the estimator can normally obtain the estimated angle. That is, if the estimated rotation speed is greater than the preset estimated rotation speed, it indicates that the rotation speed of the motor reaches the rotation speed at which the estimator can normally acquire the estimated angle, and indicates that the motor successfully completes starting; if the estimated rotating speed is less than the preset estimated rotating speed, the rotating speed of the motor does not reach the rotating speed of the estimated angle which can be normally obtained by the estimator, and the starting of the motor is not finished. The motor of the present embodiment is a dc brushless motor, and the torque of the motor is a special torque for rotating the motor. Under the condition of fixed power, the torque of the motor is in inverse proportion to the rotating speed, the faster the rotating speed, the smaller the torque, and vice versa, the higher the torque, and the load capacity of the motor in a certain range is reflected.
Step S20, when the estimated rotating speed is less than the preset estimated rotating speed, judging whether the set rotating speed of the motor is greater than a set rotating speed threshold value;
if the estimated rotating speed of the motor is smaller than the preset estimated rotating speed, the rotating speed of the motor cannot reach the rotating speed of the estimated angle which can be normally obtained by the estimator. At this time, the system further determines whether the set rotation speed of the motor is greater than a set rotation speed threshold. The set rotating speed is generated by accumulating the set angular acceleration of the motor through an accumulator. When the motor is started, a set angular acceleration is provided for the motor, so that the motor runs at a set rotating speed corresponding to the set angular acceleration, and the estimated rotating speed of the motor is gradually increased and tends to be correct in the process that the motor runs at the set rotating speed. Optionally, in this embodiment, as shown in fig. 2, the set rotational speed threshold of the motor is set to be greater than the preset estimated rotational speed of the motor, so as to ensure that the estimated rotational speed of the motor can reach the preset estimated rotational speed, and ensure that the motor can be started successfully. In other embodiments, the set rotation speed threshold may also be according to actual needs, and is not limited herein.
Step S30, when the set rotating speed is less than the set rotating speed threshold, the motor is driven according to the driving angle corresponding to the set rotating speed, and the step of judging whether the estimated rotating speed of the motor is greater than the preset estimated rotating speed is executed;
when the set rotating speed of the motor is smaller than the set rotating speed threshold, the set rotating speed is output to a preset rotating speed accumulator as an output rotating speed, the output rotating speed is accumulated through the rotating speed accumulator to obtain the driving angle of the motor, specifically, the set rotating speed of the motor at the current moment is converted into a driving angle increment, and the driving angle increment is added with the driving angle of the motor at the previous moment, so that the driving angle of the motor at the current moment is obtained. Inputting the driving angle of the motor at the current moment into an FOC (field Oriented Control) Control algorithm, and outputting the driving voltage of the motor through the FOC Control algorithm; and then the motor is driven to rotate according to the obtained driving voltage. Meanwhile, the system acquires the estimated rotating speed of the motor in real time and executes the step of judging whether the estimated rotating speed of the motor is larger than the preset estimated rotating speed or not.
Optionally, in an embodiment, step S30 includes:
step S31, determining the driving angle of the motor according to the set rotating speed;
and inputting the set rotating speed of the motor as an output rotating speed to a preset rotating speed accumulator so as to obtain the driving angle of the motor. The driving angle is the angle of the sine wave current for driving the motor to rotate.
Optionally, in an embodiment, step S31 includes:
step S311, converting the set rotation speed into a drive angle increment;
and converting the set rotating speed of the motor at the current moment into a driving angle increment.
Step S312, adding the driving angle increment to the driving angle of the motor at the previous time to obtain the driving angle of the motor at the current time.
And adding the drive angle increment of the motor at the current moment and the drive angle of the motor at the previous moment, and taking the drive angle obtained after addition as the drive angle corresponding to the set rotating speed of the motor at the current moment.
Step S32, inputting the driving angle of the motor into an FOC control algorithm to obtain the driving voltage of the motor;
and inputting the obtained driving angle into an FOC algorithm to calculate the driving voltage of the motor through the FOC algorithm, and driving the motor to rotate according to the driving voltage.
And a step S33 of driving the motor according to the driving voltage of the motor.
The system controls the motor to rotate according to the determined driving voltage. During the operation of the motor at the set rotation speed, the estimated rotation speed of the motor gradually increases and tends to be correct.
Optionally, in an embodiment, after step S30, the method further includes:
and step S40, when the set rotating speed is greater than the set rotating speed threshold, driving the motor according to the driving angle corresponding to the set rotating speed threshold, and returning to the step of judging whether the estimated rotating speed of the motor is greater than the preset estimated rotating speed.
And if the set rotating speed of the motor is greater than the set rotating speed threshold, the system controls the motor to drive the motor according to the driving angle corresponding to the set rotating speed threshold. That is, when the set rotation speed of the motor is greater than the set rotation speed threshold, the set rotation speed threshold is output as an output rotation speed to a rotation speed accumulator set in advance to obtain the driving angle of the motor. Inputting the driving angle of the motor into an FOC control algorithm to obtain the driving voltage of the motor; and then the motor is driven to rotate according to the obtained driving voltage. Meanwhile, the system acquires the estimated rotating speed of the motor in real time and executes the step of judging whether the estimated rotating speed of the motor is larger than the preset estimated rotating speed or not. When the estimated rotating speed of the motor is smaller than the preset estimated rotating speed, taking a set rotating speed threshold value as an output rotating speed, and determining the driving angle of the motor according to the output rotating speed; and when the estimated rotating speed of the motor reaches the preset estimated rotating speed, switching the output rotating speed of the motor from the set rotating speed threshold value to the estimated rotating speed. Although the output rotation speed of the motor is switched from the set rotation speed threshold to the estimated rotation speed, the output rotation speed may have a sudden change, but the change of the driving angle of the motor is continuous. The driving voltage of the motor is obtained by the driving angle, and the change of the driving angle of the motor is continuous, so that the change of the driving voltage of the motor is also continuous and does not change suddenly along with the sudden change of the output rotating speed. The driving voltage and the driving current of the motor have a certain corresponding relationship, the driving current is the sine wave current of the motor, and when the change of the driving voltage is continuous, the change of the sine wave current of the motor is also continuous. By the arrangement, the phenomena of overcurrent and step-out caused by sudden change of the sine wave current of the motor in the output rotating speed switching process can be effectively avoided. In addition, in the embodiment, before the estimated rotation speed of the motor reaches the preset estimated rotation speed, the motor is driven at the driving angle corresponding to the set rotation speed, and is not limited by time, even if the motor is difficult to start, for example, the motor is difficult to start due to overweight load, so that the starting process of the motor is slow, the estimated rotation speed of the motor still gradually increases and finally tends to be correct, and the motor can be started successfully finally.
And step S50, when the estimated rotating speed is larger than the preset estimated rotating speed, driving the motor according to the driving angle corresponding to the estimated rotating speed so as to successfully start the motor.
In the process that the motor runs at a driving angle corresponding to the set rotating speed, the system obtains the estimated rotating speed of the motor in real time through the estimator, and compares the estimated rotating speed obtained in real time with the preset estimated rotating speed. If the estimated rotating speed is greater than the preset estimated rotating speed, the rotating speed of the motor reaches the rotating speed when the estimator can normally acquire the estimated angle, and the motor is successfully started, then the system outputs the estimated rotating speed of the motor as the output rotating speed to a preset rotating speed accumulator to acquire the driving angle of the motor. The estimated rotating speed of the motor is converted into a driving angle increment, and the driving angle increment is added with the driving angle of the motor at the previous moment, so that the driving angle of the motor at the current moment is obtained. Inputting the driving angle of the motor at the current moment into an FOC control algorithm to obtain the driving voltage of the motor; and then the motor is driven to rotate according to the obtained driving voltage, so that the starting of the motor is successfully completed. That is to say, according to the technical scheme of the invention, before the estimated rotating speed of the motor is smaller than the preset estimated rotating speed, the set rotating speed is taken as the output rotating speed, and then the driving angle of the motor is determined according to the output rotating speed; and when the estimated rotating speed of the motor reaches the preset estimated rotating speed, switching the output rotating speed of the motor from the set rotating speed to the estimated rotating speed. Although the output rotation speed of the motor is switched from the set rotation speed to the estimated rotation speed, there may be a sudden change in the output rotation speed, but the change in the driving angle of the motor is continuous. The driving voltage of the motor is obtained by the driving angle, and the change of the driving angle of the motor is continuous, so that the change of the driving voltage of the motor is also continuous and does not change suddenly along with the sudden change of the output rotating speed. The driving voltage and the driving current of the motor have a certain corresponding relationship, the driving current is the sine wave current of the motor, and when the change of the driving voltage is continuous, the change of the sine wave current of the motor is also continuous. By the arrangement, the phenomena of overcurrent and step-out caused by sudden change of the sine wave current of the motor in the process of switching the output rotating speed can be effectively avoided. In addition, in the embodiment, before the estimated rotation speed of the motor reaches the preset estimated rotation speed, the motor is driven at the driving angle corresponding to the set rotation speed, and is not limited by time, even if the motor is difficult to start, for example, the motor is difficult to start due to overweight load, so that the starting process of the motor is slow, the estimated rotation speed of the motor still gradually increases and finally tends to be correct, and the motor can be started successfully finally.
According to the technical scheme of the embodiment, when the estimated rotating speed of the motor is smaller than the preset estimated rotating speed, the system drives the motor to operate according to the driving angle corresponding to the set rotating speed; in the process that the motor runs at the driving angle corresponding to the set rotating speed, if the estimated rotating speed of the motor reaches the preset estimated rotating speed, the motor is driven to run at the driving angle corresponding to the estimated rotating speed according to the motor, although the rotating speed of the motor may be suddenly changed when the motor is switched from the set rotating speed to the estimated rotating speed in the starting process of the motor, the change of the driving angle of the motor is still continuous and does not suddenly change along with the sudden change of the rotating speed of the motor, so that the change of the driving voltage of the motor is also continuous, a certain corresponding relation exists between the driving voltage of the motor and the sine wave current of the motor, and the change of the sine wave current of the motor is also continuous under the condition that the change of the driving voltage of the motor is continuous, so that the phenomena of overcurrent and desynchronization can be effectively avoided. And the starting process of the motor is not limited by time, and even if the motor is slowly started due to the overweight load, the estimated rotating speed of the motor can be gradually increased and tends to be correct, so that the motor can be successfully started finally.
Optionally, in an embodiment, before step S10, the method further includes:
step S1, acquiring the angular acceleration of the motor rotation;
presetting an angular acceleration for the motor, wherein the angular acceleration can be selected as a constant angular acceleration, the constant angular acceleration can be determined according to the load of the motor, and the load can be various fan blades, the load in a transmission system and the like; the optimum angular acceleration of the motor rotation may also be determined from the actual conditions of the motor start-up, but is of course not limited thereto, e.g. also by means of a large amount of experimental data.
And step S2, controlling the motor to rotate at a set rotating speed corresponding to the angular acceleration.
And controlling the motor to rotate at a set rotating speed corresponding to the angular acceleration. That is, at the time of power-on start, since it is difficult to obtain the estimated angle by the estimator in the case where the motor is at a standstill or at a low rotation speed, it is necessary to rotate the motor first. According to the embodiment, before the estimated rotating speed of the motor reaches the preset estimated rotating speed, a constant angular acceleration is provided for the motor, and the motor is driven to rotate according to the set rotating speed corresponding to the constant angular acceleration.
In order to achieve the above object, the present invention further provides a starting control device of a motor, which is used for executing the steps of the starting control method of the motor.
The implementation mode of the starting control method of the motor can be a software implementation mode, a hardware implementation mode, or a combination of software and hardware. That is to say, the starting control method of the motor can be realized by software, hardware, or a combination of software and hardware, and the method can be selected according to actual needs.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A starting control method of a motor is characterized by comprising the following steps:
judging whether the estimated rotating speed of the motor is greater than a preset estimated rotating speed or not;
when the estimated rotating speed is smaller than the preset estimated rotating speed, judging whether the set rotating speed of the motor is larger than a set rotating speed threshold value;
when the set rotating speed is smaller than the set rotating speed threshold value, driving the motor according to the driving angle corresponding to the set rotating speed, and returning to execute the step of judging whether the estimated rotating speed of the motor is larger than the preset estimated rotating speed;
when the set rotating speed is greater than the set rotating speed threshold, driving the motor according to the driving angle corresponding to the set rotating speed threshold, and returning to the step of judging whether the estimated rotating speed of the motor is greater than the preset estimated rotating speed or not;
when the estimated rotating speed is greater than the preset estimated rotating speed, converting the estimated rotating speed into a driving angle increment;
adding the driving angle increment and the driving angle of the motor at the previous moment to obtain the driving angle of the motor at the current moment;
and driving the motor according to the driving angle of the motor at the current moment so as to successfully start the motor.
2. The start-up control method of an electric motor according to claim 1, wherein the set rotational speed threshold of the electric motor is greater than a preset estimated rotational speed of the electric motor.
3. The start-up control method of an electric motor according to any one of claims 1 to 2, wherein before the step of determining whether the estimated rotation speed of the electric motor is greater than a preset estimated rotation speed, further comprising:
acquiring the angular acceleration of the rotation of the motor;
and controlling the motor to rotate at a set rotating speed corresponding to the angular acceleration.
4. The start-up control method of a motor according to claim 1, wherein the angular change of the driving angle of the motor is continuous.
5. The start-up control method of a motor according to claim 1, wherein the step of driving the motor at a driving angle corresponding to the set rotation speed comprises:
determining a driving angle of the motor according to the set rotating speed;
inputting the driving angle of the motor into an FOC control algorithm to obtain the driving voltage of the motor;
and driving the motor according to the driving voltage of the motor.
6. The start control method of the motor according to claim 5, wherein the step of determining the driving angle of the motor based on the set rotation speed comprises:
converting the set rotational speed into a drive angle increment;
and adding the drive angle increment and the drive angle of the motor at the previous moment to obtain the drive angle of the motor at the current moment.
7. A start-up control device of an electric motor, characterized in that it is adapted to perform the steps of the start-up control method of an electric motor according to any one of claims 1 to 6.
8. The start-up control device of the motor according to claim 7, wherein the implementation manner of the start-up control method of the motor is one of a software implementation manner, a hardware implementation manner, and a combination of software and hardware implementation manner.
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