CN111193441A - Starting method of brushless direct current motor - Google Patents
Starting method of brushless direct current motor Download PDFInfo
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- CN111193441A CN111193441A CN201811350967.7A CN201811350967A CN111193441A CN 111193441 A CN111193441 A CN 111193441A CN 201811350967 A CN201811350967 A CN 201811350967A CN 111193441 A CN111193441 A CN 111193441A
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- brushless
- motor
- direct current
- rotor
- current motor
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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
- H02P6/21—Open loop start
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Abstract
The embodiment of the invention relates to the technical field of motor control, and discloses a starting method of a brushless direct current motor, which comprises the following steps: controlling the brushless direct current motor to start in an open loop mode; detecting the rotating speed of the rotor of the brushless direct current motor in real time; judging whether the rotating speed of the rotor of the brushless direct current motor is greater than a first preset threshold value or not; and if so, controlling the brushless direct current motor to accelerate in a closed loop mode. The starting method of the brushless direct current motor provided by the embodiment of the invention has the advantages of ensuring the stability of the starting process of the brushless direct current motor and improving the starting speed of the brushless direct current motor.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a control method of a brushless direct current motor.
Background
The brushless direct current motor is a direct current brushless direct current motor which is developed along with the development of microprocessor technology, the continuous application of high-frequency low-power consumption power devices and the continuous progress of a driving control method of the brushless direct current motor. With the continuous development of drive control technology and electronic technology, brushless dc motors have been widely used. The prior art brushless dc motor is usually started by open-loop control or closed-loop control during the starting process.
However, the inventors of the present invention have found that the stability of the starting process is poor when the open-loop control is used to control the brushless dc motor; and the control of the brushless direct current motor is carried out by adopting closed-loop control, although the starting stability can be better, the starting speed is slower.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a method for starting a brushless dc motor, which improves a starting speed of the brushless dc motor while ensuring stability of a starting process of the brushless dc motor.
In order to solve the above technical problem, an embodiment of the present invention provides a method for starting a brushless dc motor, including:
controlling the brushless direct current motor to start in an open loop; detecting the rotating speed of the rotor of the brushless direct current motor in real time; judging whether the rotating speed of the rotor of the brushless direct current motor is greater than a first preset threshold value or not; and if so, controlling the brushless direct current motor to accelerate in a closed loop mode.
Compared with the prior art, in the starting process of the brushless direct current motor, the brushless direct current motor is controlled to be started through open loop, the rotating speed of the rotor of the brushless direct current motor is detected in real time in the starting process, and when the detected rotating speed of the rotor of the brushless direct current motor meets the preset condition, the brushless direct current motor is controlled to be accelerated in a closed loop mode. Because brushless DC motor is when the open-loop starts, the higher the rotational speed then stability is lower, consequently, at the first half section that brushless DC motor started, adopt the open-loop to start to make its boot-strap rate faster, in addition, the rotational speed of real-time detection brushless DC motor rotor, when the rotational speed of the brushless DC motor rotor that detects satisfies the preset condition, then control brushless DC motor and carry out the closed loop acceleration in the latter half section of starting, because the closed loop is accelerated more stably when higher rotational speed, thereby the stability of brushless DC motor start-up process has been guaranteed.
In addition, the real-time detection of the rotating speed of the rotor of the brushless direct current motor specifically comprises: and detecting the real-time rotating speed of the rotor of the brushless direct current motor in real time by a sampling detection method.
In addition, the value range of the first preset threshold is greater than or equal to 10000 rpm and less than or equal to 20000 rpm. The value range of the first preset threshold is greater than or equal to 10000 rpm and less than or equal to 20000 rpm, so that when the open-loop control is converted into the closed-loop control, the rotating speed of the rotor of the brushless direct current motor is not too low to cause reduction of the starting speed of the brushless direct current motor, and the stability of the brushless direct current motor during starting is not too high to cause reduction of the starting stability of the brushless direct current motor.
In addition, the controlling the closed-loop acceleration of the brushless dc motor specifically includes: determining a phase advance angle expected value corresponding to the rotating speed according to the rotating speed of the rotor of the brushless direct current motor; and adjusting the phase advance angle of the brushless direct current motor to the expected advance angle value. According to the detected rotating speed of the rotor of the brushless direct current motor, a phase advance angle expected value corresponding to the rotating speed is obtained through calculation, the phase advance angle of the brushless direct current motor is adjusted to the phase advance angle expected value obtained through calculation, and the phase advance angle of the brushless direct current motor is adjusted according to the rotating speed of the rotor of the brushless direct current motor correspondingly, so that the utilization rate of electromagnetic force is maximized, the acceleration efficiency is highest, and the starting speed of the brushless direct current motor is further improved.
In addition, after controlling the closed-loop acceleration of the brushless dc motor, the method further includes: and controlling the acceleration of the rotor of the brushless direct current motor to be not less than a second preset threshold value. Controlling the acceleration of the rotor of the brushless direct current motor to be not less than a second preset threshold value, so as to ensure that the starting speed of the brushless direct current motor is higher; in addition, because the stability of closed-loop acceleration is high, even high acceleration does not influence the stability of the motor in the starting process.
In addition, the second preset threshold value is 60m/s2。
In addition, the controlling the acceleration of the brushless dc motor in the closed-loop acceleration state to be not less than a second preset threshold specifically includes: detecting the real-time acceleration of the rotor of the brushless direct current motor; when the real-time acceleration of the rotor of the brushless DC motor is less than 60m/s2Determining the position of the rotor of the brushless DC motor, and inputting additional current to the brushless DC motor until the real-time acceleration of the rotor of the brushless DC motor is greater than or equal to 60m/s2. Because the larger the input current is, the larger the acceleration of the brushless DC motor is, the additional input current is applied to the brushless DC motor in the closed loop acceleration stage with higher stabilityAnd the starting speed is improved, and meanwhile, the stability of the brushless direct current motor is ensured.
In addition, the inputting of the extra current to the brushless dc motor specifically includes: and inputting a direct current which is greater than or equal to 18 amperes and less than or equal to 20 amperes to the brushless direct current motor. The current of 18 amperes or more can ensure the acceleration of the brushless dc motor, and the current of 20 amperes or less can ensure the stability of the brushless dc motor.
In addition, the determining the position of the rotor of the brushless dc motor specifically includes: and determining the position of the rotor of the brushless direct current motor through the counter electromotive force generated by the rotor of the brushless direct current motor.
In addition, the determining the position of the rotor of the brushless dc motor specifically includes: and determining the position of the rotor of the brushless direct current motor through a position sensor.
Drawings
Fig. 1 is a flowchart illustrating a starting method of a brushless dc motor according to a first embodiment of the present invention;
fig. 2 is a flowchart of a starting method of a brushless dc motor according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present invention in its various embodiments. However, the technical solution claimed in the present invention can be implemented without these technical details and various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a method for starting a brushless dc motor, as shown in fig. 1, including the steps of:
step S101: and controlling the brushless direct current motor to start in an open loop mode.
Specifically, the open-loop starting is that the power supply directly supplies current to the brushless dc motor, but no feedback operation is performed, the starting speed of the open-loop starting is fast, the bearing capacity for deviation is small, and the stability of the control process of the open-loop starting is continuously reduced along with the increase of the rotation speed of the brushless dc motor. Because when the brushless DC motor starts to start, the rotating speed of the brushless DC motor is smaller, the stability of open-loop starting is higher, the brushless DC motor is controlled to start in an open-loop mode at the moment, and the starting speed is higher. The starting speed of the brushless direct current motor is improved while the starting stability of the brushless direct current motor is ensured to be within an acceptable range.
Step S102: and detecting the rotating speed of the rotor of the brushless direct current motor in real time.
Specifically, in the present embodiment, the rotation speed of the rotor of the brushless dc motor is detected in real time by a sampling detection method, that is, the rotation speed of the rotor of the brushless dc motor is detected in real time based on sampling data at a plurality of time points. It is to be understood that the method of detecting the rotation speed of the rotor of the brushless dc motor by sampling detection is only an example of the detection method in the present embodiment, and other methods, such as a sensor sensing method, may be used.
Step S103: judging whether the rotating speed of the rotor of the brushless direct current motor is greater than a first preset threshold value or not, if so, executing a step S104; if not, the process returns to step S101.
Step S104: and controlling the brushless direct current motor to accelerate in a closed loop mode.
Specifically, in the present embodiment, the brushless dc motor compares the detected rotation speed of the rotor of the brushless dc motor with a first preset threshold, and controls the brushless dc motor to perform closed-loop acceleration when the rotation speed of the rotor of the brushless dc motor is detected to be greater than the first preset threshold. The first preset threshold is a critical value with good and poor stability in an open-loop acceleration state of the brushless direct current motor, and the critical value can be flexibly set according to actual stability tolerance. The closed-loop acceleration is an acceleration method with a feedback mechanism, and compared with the open-loop acceleration, the acceleration method has stronger deviation resistance, so that the acceleration method has better stability.
Further, in this embodiment, the value range of the first preset threshold is 10000 rpm to 20000 rpm, and the first preset threshold is selected in this range, so that the open loop can be accelerated to effectively increase the starting speed of the brushless motor, and the stability is not lowered too much.
Preferably, in the present embodiment, the feedback mechanism further includes adjusting a phase advance angle of the brushless dc motor according to a rotation speed of a rotor of the brushless dc motor. The phase advance angle is an angle that a rotor of the brushless dc motor rotates in a change time period when a power transmission pin of the brushless dc motor changes. Taking a three-phase brushless dc motor as an example, when an input pin of current is switched from a first end and a second end to a second end and a third end, a short switching time period exists, and during the switching time period, a rotor of the brushless dc motor still rotates by a certain angle, which is a phase advance angle. Therefore, in the present embodiment, the expected phase advance value corresponding to the rotation speed is determined according to the rotation speed of the rotor of the brushless dc motor, and then the expected phase advance value of the brushless dc motor is adjusted to the calculated expected phase advance value, so that the rotor can receive the electromagnetic force at the position with the best stress and the maximum torque, and the starting speed of the brushless dc motor is increased.
Compared with the prior art, the starting method of the brushless direct current motor provided by the first embodiment of the invention divides the starting process of the brushless direct current motor into two stages, namely an open-loop starting stage and a closed-loop starting stage, wherein the open-loop starting stage is adopted when the rotating speed is lower, the stability of the open-loop starting stage is higher, the starting speed is higher, when the rotating speed is increased to a first preset threshold value, the stability of the open-loop starting stage is poorer, and the open-loop starting stage is converted into the closed-loop starting stage with higher stability, so that the stability of the starting of the motor when the rotating speed of the brushless direct current rotor is higher is ensured. Therefore, compared with a starting method only using open-loop starting, the stability of the starting method is improved, and compared with a starting method only using closed-loop starting, the starting speed of the starting method is improved; the starting speed of the brushless direct current motor is improved while the stability of the starting process of the brushless direct current motor is ensured.
A second embodiment of the present invention relates to a method for starting a brushless dc motor, as shown in fig. 2, including the steps of:
step S201: and controlling the brushless direct current motor to start in an open loop mode.
Step S202: and detecting the rotating speed of the rotor of the brushless direct current motor in real time.
Step S203: judging whether the rotating speed of the rotor of the brushless direct current motor is greater than a first preset threshold value or not, if so, executing a step S204; if not, the process returns to step S201.
Step S204: and when the rotating speed of the rotor of the brushless direct current motor is detected to be greater than a first preset threshold value, controlling the brushless direct current motor to accelerate in a closed loop mode.
Since steps S201 to S204 in this embodiment are substantially the same as steps S101 to S104 in the first embodiment, the effect of improving the starting speed of the brushless dc motor while ensuring the stability of the starting process of the brushless dc motor is achieved by changing the starting mode of the brushless dc motor, and details are not repeated herein.
Step S205: and controlling the acceleration of the rotor of the brushless direct current motor to be not less than a second preset threshold value.
Specifically, in this embodiment, the brushless dc motor detects a real-time acceleration of the rotor thereof, compares the detected real-time acceleration with a second preset threshold, and inputs an additional current to the brushless dc motor if the detected real-time acceleration is smaller than the second preset threshold. And controlling the acceleration of the rotor of the brushless direct current motor not to be smaller than a second preset threshold value, so that the starting speed of the brushless direct current motor can be further improved on the whole. And because the stability of the closed loop start is high, the additional input current can not cause other side effects.
Further, in the present embodiment, the second preset threshold is considered to be the set threshold acceleration of the rotor of the brushless dc motor. In the present embodiment, the second preset threshold is 60m/s2(m/s)2Meters per second squared). To achieve this acceleration, the current input in this embodiment takes a value between 18 amps and 20 amps. Less than 18 amperes may not allow the acceleration of the rotor of the brushless DC motor to reach 60m/s2And more than 20 amperes may damage the brushless dc motor. It should be understood that the above data is only an example of one situation in the present embodiment, and in a specific use process, the data may be flexibly changed according to actual requirements, and is not exhaustive here.
In addition, before the additional current is introduced to the brushless dc motor, the position of the rotor of the brushless dc motor needs to be determined, so as to determine from which two pins the additional current is introduced. In addition, in other embodiments of the present invention, the position of the rotor of the brushless dc motor may be sensed by a position sensor or by other methods, which are not listed herein.
Compared with the prior art, the starting method of the brushless dc motor provided by the second embodiment of the present invention divides the starting process of the brushless dc motor into two stages, which are an open-loop starting stage and a closed-loop starting stage, respectively, and adopts open-loop starting at a lower rotation speed, at this time, the stability of the open-loop starting is higher, and the starting speed is also faster, and when the rotation speed is increased to the first preset threshold, the stability of the open-loop starting is poorer, and at this time, the open-loop starting is converted into closed-loop starting with higher stability, so as to ensure the stability of the starting of the motor when the rotation speed of the brushless dc rotor is faster. In addition, the acceleration of the closed-loop acceleration stage is controlled not to be smaller than a second preset threshold value through additional input current in the closed-loop acceleration stage, and the starting speed of the brushless direct current motor is further improved.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A starting method of a brushless direct current motor is characterized by comprising the following steps:
controlling the brushless direct current motor to start in an open loop mode;
detecting the rotating speed of the rotor of the brushless direct current motor in real time;
judging whether the rotating speed of the rotor of the brushless direct current motor is greater than a first preset threshold value or not;
and if so, controlling the brushless direct current motor to accelerate in a closed loop mode.
2. The method for starting a brushless dc motor according to claim 1, wherein the detecting the rotation speed of the rotor of the brushless dc motor in real time includes:
and detecting the real-time rotating speed of the rotor of the brushless direct current motor in real time by a sampling detection method.
3. The method of claim 1, wherein the first predetermined threshold value ranges from 10000 rpm to 20000 rpm.
4. The method for starting a brushless dc motor according to claim 1, wherein the controlling the closed-loop acceleration of the brushless dc motor specifically comprises:
determining a phase advance angle expected value corresponding to the rotating speed according to the rotating speed of the rotor of the brushless direct current motor;
and adjusting the phase advance angle of the brushless direct current motor to the expected advance angle value.
5. The method of starting a brushless dc motor according to claim 1, wherein the controlling the closed-loop acceleration of the brushless dc motor further comprises:
and controlling the acceleration of the rotor of the brushless direct current motor to be not less than a second preset threshold value.
6. Method for starting a brushless DC motor according to claim 5, characterized in that the second predetermined threshold value is 60m/s2。
7. The method for starting a brushless dc motor according to claim 6, wherein the controlling the acceleration of the brushless dc motor in the closed-loop acceleration state to be not less than a second preset threshold specifically includes:
detecting the real-time acceleration of the rotor of the brushless direct current motor;
when the real-time acceleration of the rotor of the brushless DC motor is less than 60m/s2Determining the position of the rotor of the brushless DC motor, and inputting additional current to the brushless DC motor until the real-time acceleration of the rotor of the brushless DC motor is greater than or equal to 60m/s2。
8. The method according to claim 7, wherein the additional current is input to the brushless dc motor, specifically:
and inputting a direct current which is greater than or equal to 18 amperes and less than or equal to 20 amperes to the brushless direct current motor.
9. The method according to claim 7, wherein the determining the position of the rotor of the brushless dc motor is specifically:
and determining the position of the rotor of the brushless direct current motor through the counter electromotive force generated by the rotor of the brushless direct current motor.
10. The method according to claim 7, wherein the determining the position of the rotor of the brushless dc motor is specifically:
and determining the position of the rotor of the brushless direct current motor through a position sensor.
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| CN201811350967.7A CN111193441B (en) | 2018-11-14 | 2018-11-14 | Starting method of brushless direct current motor |
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| CN201811350967.7A CN111193441B (en) | 2018-11-14 | 2018-11-14 | Starting method of brushless direct current motor |
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| CN111193441B CN111193441B (en) | 2021-03-16 |
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