CN111371369A - Motor pole pair number detection method and device and brushless motor - Google Patents
Motor pole pair number detection method and device and brushless motor Download PDFInfo
- Publication number
- CN111371369A CN111371369A CN201811587524.XA CN201811587524A CN111371369A CN 111371369 A CN111371369 A CN 111371369A CN 201811587524 A CN201811587524 A CN 201811587524A CN 111371369 A CN111371369 A CN 111371369A
- Authority
- CN
- China
- Prior art keywords
- motor
- sensor
- count value
- value
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The application relates to the technical field of motor control, and particularly discloses a method and a device for detecting the number of pole pairs of a motor and a brushless motor, wherein the method comprises the following steps: after a motor is powered on, acquiring an initial position of the motor and a first count value output by a sensor installed in the motor; controlling the motor to rotate, and judging whether the motor rotates for a circle; if yes, acquiring a second count value output by the sensor when the motor rotates for one circle; and calculating the pole pair number of the motor according to the first counting value and the second counting value. In the process, the pole pair number of the motor is calculated according to the output change of the sensor, an external circuit and measuring equipment are not needed, and the measuring accuracy is high.
Description
Technical Field
The application relates to the technical field of motor control, in particular to a method and a device for detecting the number of pole pairs of a motor and a brushless motor.
Background
In the fields of robot control, numerical control machines, production automation and the like, in order to realize accurate control of the motor, the feedback electrical angle in the running process of the motor plays an important role. The calculation of the feedback electrical angle of the motor needs to be carried out by means of the pole pair number of the motor. In practical applications, many motors often feed back wrong pole pairs or no pole pairs when feeding back the pole pairs. When detecting the number of pole pairs of the motor, although the number of pole pairs of the motor can be detected by a method of rotating a rotor of the motor, the method cannot be realized when the motor is provided with a speed reducer or when the motor is arranged on a robot.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for detecting a number of pole pairs of a motor, and a brushless motor, so as to solve the problem in the prior art that the number of pole pairs of the motor is poor in measurement accuracy or cannot be measured.
The first aspect of the embodiment of the present application provides a method for detecting a number of pole pairs of a motor, including:
after a motor is powered on, acquiring an initial position of the motor and a first count value output by a sensor installed in the motor;
controlling the motor to rotate, and judging whether the motor rotates for a circle;
if yes, acquiring a second count value output by the sensor when the motor rotates for one circle;
and calculating the pole pair number of the motor according to the first counting value and the second counting value.
Optionally, the acquiring an initial position of a motor and a first count value output by a sensor installed in the motor includes:
rotating the motor to a preset position, and taking the preset position as an initial position;
the output value S (i-1) of the sensor in the motor at the present time is recorded, and the first count value N at the present time is set to 1.
Optionally, after the determining whether the motor rotates once, the method further includes:
if the rotation angle of the motor is smaller than 360 degrees, recording an output value S (i) of the sensor at the current moment;
judging whether S (i-1) is equal to S (i);
if S (i-1) ≠ S (i), adding 1 to the second counting value, updating the value of S (i) to S (i-1), and controlling the motor to continue to rotate until the rotating angle of the motor reaches 360 degrees.
Optionally, the calculating a pole pair number of the motor according to the first count value and the second count value includes:
calculating the number of pole pairs of the motor according to a preset formula;
the preset formula includes a pole pair number P ═ (second count value — first count value)/6.
Optionally, the sensor mounted in the motor comprises a hall sensor.
The embodiment of this application provides a detection device of motor number of pole pairs in the second aspect, the detection device of motor number of pole pairs includes:
the counting value acquisition module is used for acquiring an initial position of the motor and a first counting value output by a sensor arranged in the motor after the motor is powered on;
the rotating module is used for controlling the motor to rotate and judging whether the motor rotates for a circle; if yes, acquiring a second count value output by the sensor when the motor rotates for one circle;
and the calculating module is used for calculating the pole pair number of the motor according to the first counting value and the second counting value.
Optionally, the count value obtaining module is specifically configured to:
rotating the motor to a preset position, and taking the preset position as an initial position;
the output value S (i-1) of the sensor in the motor at the present time is recorded, and the first count value N at the present time is set to 1.
Optionally, the rotation module is further configured to:
when the rotation angle of the motor is smaller than 360 degrees, recording an output value S (i) of the sensor at the current moment;
judging whether S (i-1) is equal to S (i);
if S (i-1) ≠ S (i), adding 1 to the second counting value, updating the value of S (i) to S (i-1), and controlling the motor to continue to rotate until the rotating angle of the motor reaches 360 degrees.
Optionally, the calculation module is specifically configured to:
calculating the number of pole pairs of the motor according to a preset formula;
the preset formula includes a pole pair number P ═ (second count value — first count value)/6.
Optionally, the sensor mounted in the motor comprises a hall sensor.
A third aspect of the embodiments of the present application provides a brushless motor, which, when performing pole pair number detection, implements the steps of any one of the methods for detecting a pole pair number of a motor as provided in the first aspect.
In the embodiment provided by the application, the pole pair number of the motor is calculated by recording a first output value of a sensor installed in the motor and a second output value of the sensor after the motor rotates for one circle after the motor is powered on. In the process, the pole pair number of the motor is calculated according to the output change of the sensor, an external circuit and measuring equipment are not needed, and the measuring accuracy is high. By adopting the method, the pole pair number of the motor is measured, the actually measured pole pair number of the motor is utilized to carry out closed-loop control on the motor, and the problems of motor runaway, damage and the like caused by inaccurate pole pair number are avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below.
Fig. 1 is a schematic flow chart of a method for detecting pole pair numbers of a motor according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a method for detecting pole pair numbers of a motor according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a device for detecting the number of pole pairs of a motor according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and do not constitute a limitation on the application.
In the embodiment provided by the application, the pole pair number of the motor is calculated by recording a first output value of a sensor installed in the motor and a second output value of the sensor after the motor rotates for one circle after the motor is powered on. In the process, the pole pair number of the motor is calculated according to the output change of the sensor, an external circuit and measuring equipment are not needed, and the measuring accuracy is high.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 shows a schematic flow chart of an implementation of a method for detecting a number of pole pairs of a motor provided in an embodiment of the present application, including steps S11-S14, where:
step S11, after the motor is powered on, the initial position of the motor and a first count value output by a sensor installed in the motor are obtained.
When the number of pole pairs of the motor is measured in the embodiment provided by the application, the initial position of the motor is firstly detected, the initial position can be the current position of the motor or the position after the motor is electrified and rotates for a certain angle, and if the motor can rotate to 0 degree, the initial position is used. Then, a count value N, which is referred to herein as a first count value, outputted at the above-described initial position by the sensor mounted in the motor is acquired and recorded.
And step S12, controlling the motor to rotate, and judging whether the motor rotates for one circle.
In the step, the motor is controlled to rotate, the rotation is stopped after the motor rotates for a certain time, and whether the rotating angle of the motor reaches 360 degrees or not is judged. The process can be manually detected, and can also be set with a certain program, and the motor runs the corresponding program to automatically detect whether the rotating angle reaches 360 degrees.
And step S13, if yes, acquiring a second count value output by the sensor when the motor rotates for one circle.
In the step, if the rotation angle of the motor is judged to reach 360 degrees, the output value of a sensor arranged in the motor when the motor rotates for just one circle is recorded again and is called as a second count value; the sensor comprises a hall sensor.
And step S14, calculating the pole pair number of the motor according to the first counting value and the second counting value.
Calculating the pole pair number of the motor according to the first counting value and the second counting value, and the method comprises the following steps:
calculating the number of pole pairs of the motor according to a preset formula;
the preset formula includes a pole pair number P ═ (second count value — first count value)/6.
In the embodiment provided by the application, the pole pair number of the motor is calculated by recording a first output value of a sensor installed in the motor and a second output value of the sensor after the motor rotates for one circle after the motor is powered on. In the process, the pole pair number of the motor is calculated according to the output change of the sensor, an external circuit and measuring equipment are not needed, and the measuring accuracy is high. By adopting the method, the pole pair number of the motor is measured, the actually measured pole pair number of the motor is utilized to carry out closed-loop control on the motor, and the problems of motor runaway, damage and the like caused by inaccurate pole pair number are avoided.
Example two:
fig. 2 shows a schematic flow chart of an implementation of a method for detecting a number of pole pairs of a motor provided in an embodiment of the present application, including steps S21-S24, where:
step S21, after the motor is powered on, rotating the motor to a preset position, and taking the preset position as an initial position; the output value S (i-1) of the sensor in the motor at the present time is recorded, and the first count value N at the present time is set to 1.
The motor system is powered on, and the motor is rotated to a 0 deg. position (or other position) as an initial position. At this time, the output S (i-1) of the hall sensor is recorded, and the hall sensor output count value N is initialized to 1.
Step S22, controlling the motor to rotate, and judging whether the motor rotates for a circle;
step S23, if the rotation angle of the motor is smaller than 360 degrees, recording the output value S (i) of the sensor at the current moment; judging whether S (i-1) is equal to S (i); if S (i-1) ≠ S (i), controlling the motor to continue rotating until the rotating angle of the motor reaches 360 degrees.
And if the motor does not rotate for 1 week, controlling the motor to continue rotating, and recording the output value of the Hall sensor at the current moment to S (i).
In the step, after the motor rotates, the output value S (i) of the Hall sensor is recorded again, and whether the last output S (i-1) of the Hall sensor is equal to the current output S (i) of the Hall sensor is judged. If S (i-1) is S (i), the motor still operates in the same sector, and at the moment, the Hall sensor outputs high and low level signals continuously according to the position of the motor, and whether the output of the Hall sensor jumps or not is judged; if the jump occurs, the step S22 is performed again. If S (i-1) ≠ S (i), it indicates that the motor rotates to a new sector, and at this time, the hall sensor outputs a count N ═ N + 1. The value of S (i) is updated to S (i-1).
Step S24, if the rotation angle of the motor is not less than 360, acquiring a second count value output by the sensor when the motor rotates for one circle; and calculating the pole pair number of the motor according to the first counting value and the second counting value.
Specifically, if the motor rotates for 1 cycle, the system is powered off. And recording the output count value N of the Hall sensor. The pole pair number P of the motor is calculated to be N/6 according to the following formula.
In the embodiment provided by the application, the pole pair number of the motor is calculated by recording a first output value of a sensor installed in the motor and a second output value of the sensor after the motor rotates for one circle after the motor is powered on. In the process, the pole pair number of the motor is calculated according to the output change of the sensor, an external circuit and measuring equipment are not needed, and the measuring accuracy is high. By adopting the method, the pole pair number of the motor is measured, the actually measured pole pair number of the motor is utilized to carry out closed-loop control on the motor, and the problems of motor runaway, damage and the like caused by inaccurate pole pair number are avoided.
Example three:
fig. 3 shows a schematic structural diagram of a device for detecting the number of pole pairs of a motor according to another embodiment of the present application, where the device for detecting the number of pole pairs of a motor includes:
the counting value acquisition module 31 is configured to acquire an initial position of a motor and a first counting value output by a sensor installed in the motor after the motor is powered on;
the rotating module 32 is used for controlling the motor to rotate and judging whether the motor rotates for a circle; if yes, acquiring a second count value output by the sensor when the motor rotates for one circle;
and a calculating module 33, configured to calculate the number of pole pairs of the motor according to the first count value and the second count value.
Optionally, the count value obtaining module 31 is specifically configured to:
rotating the motor to a preset position, and taking the preset position as an initial position;
the output value S (i-1) of the sensor in the motor at the present time is recorded, and the first count value N at the present time is set to 1.
Optionally, the rotation module 32 is further configured to:
when the rotation angle of the motor is smaller than 360 degrees, recording an output value S (i) of the sensor at the current moment;
judging whether S (i-1) is equal to S (i);
if S (i-1) ≠ S (i), controlling the motor to continue rotating until the rotating angle of the motor reaches 360 degrees.
Optionally, the calculating module 33 is specifically configured to:
calculating the number of pole pairs of the motor according to a preset formula;
the preset formula includes a pole pair number P ═ (second count value — first count value)/6.
Optionally, the sensor mounted in the motor comprises a hall sensor.
The application also provides a brushless motor, and the brushless motor realizes the steps of the method in any one of the detection methods of the number of pole pairs of the motor when the number of pole pairs is detected.
In the embodiment provided by the application, the pole pair number of the motor is calculated by recording a first output value of a sensor installed in the motor and a second output value of the sensor after the motor rotates for one circle after the motor is powered on. In the process, the pole pair number of the motor is calculated according to the output change of the sensor, an external circuit and measuring equipment are not needed, and the measuring accuracy is high. By adopting the method, the pole pair number of the motor is measured, the actually measured pole pair number of the motor is utilized to carry out closed-loop control on the motor, and the problems of motor runaway, damage and the like caused by inaccurate pole pair number are avoided.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Claims (10)
1. A method for detecting the number of pole pairs of a motor is characterized by comprising the following steps:
after a motor is powered on, acquiring an initial position of the motor and a first count value output by a sensor installed in the motor;
controlling the motor to rotate, and judging whether the motor rotates for a circle;
if yes, acquiring a second count value output by the sensor when the motor rotates for one circle;
and calculating the pole pair number of the motor according to the first counting value and the second counting value.
2. The method for detecting the number of pole pairs of a motor according to claim 1, wherein the acquiring of the initial position of the motor and the first count value output by the sensor installed in the motor comprises:
rotating the motor to a preset position, and taking the preset position as an initial position;
the output value S (i-1) of the sensor in the motor at the present time is recorded, and the first count value N at the present time is set to 1.
3. The method for detecting the number of pole pairs of the motor according to claim 2, further comprising, after the step of determining whether the motor rotates once:
if the rotation angle of the motor is smaller than 360 degrees, recording an output value S (i) of the sensor at the current moment;
judging whether S (i-1) is equal to S (i);
if S (i-1) ≠ S (i), adding 1 to the second counting value, updating the value of S (i) to S (i-1), and controlling the motor to continue to rotate until the rotating angle of the motor reaches 360 degrees.
4. The method for detecting the number of pole pairs of the motor according to claim 1, wherein the calculating the number of pole pairs of the motor according to the first count value and the second count value comprises:
calculating the number of pole pairs of the motor according to a preset formula;
the preset formula includes a pole pair number P ═ (second count value — first count value)/6.
5. The method for detecting the number of pole pairs of a motor according to any one of claims 1 to 4, wherein the sensor comprises a Hall sensor.
6. The utility model provides a detection device of motor pole pair number, characterized in that, detection device of motor pole pair number includes:
the counting value acquisition module is used for acquiring an initial position of the motor and a first counting value output by a sensor arranged in the motor after the motor is powered on;
the rotating module is used for controlling the motor to rotate and judging whether the motor rotates for a circle; if yes, acquiring a second count value output by the sensor when the motor rotates for one circle;
and the calculating module is used for calculating the pole pair number of the motor according to the first counting value and the second counting value.
7. The apparatus for detecting number of pole pairs of a motor according to claim 6, wherein the count value obtaining module is specifically configured to:
rotating the motor to a preset position, and taking the preset position as an initial position;
the output value S (i-1) of the sensor in the motor at the present time is recorded, and the first count value N at the present time is set to 1.
8. The apparatus for detecting the number of pole pairs of a motor according to claim 7, wherein the rotating module is further configured to:
when the rotation angle of the motor is smaller than 360 degrees, recording an output value S (i) of the sensor at the current moment;
judging whether S (i-1) is equal to S (i);
if S (i-1) ≠ S (i), adding 1 to the second counting value, updating the value of S (i) to S (i-1), and controlling the motor to continue to rotate until the rotating angle of the motor reaches 360 degrees.
9. The apparatus for detecting number of pole pairs of a motor according to claim 6, wherein the calculating module is specifically configured to:
calculating the number of pole pairs of the motor according to a preset formula;
the preset formula includes a pole pair number P ═ (second count value — first count value)/6.
10. A brushless electric machine, characterized in that it implements the steps of the method according to any one of claims 1 to 5 when carrying out the pole pair detection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587524.XA CN111371369A (en) | 2018-12-25 | 2018-12-25 | Motor pole pair number detection method and device and brushless motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587524.XA CN111371369A (en) | 2018-12-25 | 2018-12-25 | Motor pole pair number detection method and device and brushless motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111371369A true CN111371369A (en) | 2020-07-03 |
Family
ID=71209729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811587524.XA Pending CN111371369A (en) | 2018-12-25 | 2018-12-25 | Motor pole pair number detection method and device and brushless motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111371369A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115208257A (en) * | 2022-09-16 | 2022-10-18 | 成都爱旗科技有限公司 | Permanent magnet synchronous motor pole pair number detection system and method and electronic equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080001571A1 (en) * | 2006-06-28 | 2008-01-03 | Sanyo Electric Co., Ltd. | Motor control device |
| CN102025305A (en) * | 2010-12-07 | 2011-04-20 | 南京邮电大学 | Hall phase sequence detecting method and device of brushless direct-current motor |
| CN104237786A (en) * | 2014-09-10 | 2014-12-24 | 海信（山东）冰箱有限公司 | Identification circuit and household appliance |
| CN108768242A (en) * | 2018-04-17 | 2018-11-06 | 杭州士兰微电子股份有限公司 | The device for identifying and method of permanent magnet motor magnetic pole logarithm |
-
2018
- 2018-12-25 CN CN201811587524.XA patent/CN111371369A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080001571A1 (en) * | 2006-06-28 | 2008-01-03 | Sanyo Electric Co., Ltd. | Motor control device |
| CN102025305A (en) * | 2010-12-07 | 2011-04-20 | 南京邮电大学 | Hall phase sequence detecting method and device of brushless direct-current motor |
| CN104237786A (en) * | 2014-09-10 | 2014-12-24 | 海信（山东）冰箱有限公司 | Identification circuit and household appliance |
| CN108768242A (en) * | 2018-04-17 | 2018-11-06 | 杭州士兰微电子股份有限公司 | The device for identifying and method of permanent magnet motor magnetic pole logarithm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115208257A (en) * | 2022-09-16 | 2022-10-18 | 成都爱旗科技有限公司 | Permanent magnet synchronous motor pole pair number detection system and method and electronic equipment |
| CN115208257B (en) * | 2022-09-16 | 2023-01-31 | 成都爱旗科技有限公司 | Permanent magnet synchronous motor pole pair number detection system and method and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104836506B (en) | A kind of permanent-magnetic synchronous motor rotor zero correction system and method | |
| CN106533308B (en) | Permanent magnet synchronous motor angle detecting method and device | |
| CN109217570B (en) | Hall initialization parameter detection method | |
| JP6272508B2 (en) | Angular error correction device and angular error correction method for position detector | |
| JP6124112B2 (en) | AC motor control device and control method | |
| CN104079215B (en) | The accurate Detection and adjustment method of automobile permanent magnet synchronous motor initial position of rotor | |
| US20140253105A1 (en) | Method for determining a rotary speed of a device | |
| EP3346602A1 (en) | Methods and systems for calibration of a motor | |
| CN107872177A (en) | A kind of permagnetic synchronous motor multi sensor combination full closed loop control method | |
| US20170302207A1 (en) | Brushless direct current motor with a ring magnet | |
| CN102355182B (en) | Method for detecting position of hub motor of CT (computed tomography) machine based on magnetic ring and Hall sensors | |
| CN105262398A (en) | Vector control method and apparatus for permanent magnet synchronous motor based on Hall sensor | |
| CN113029222A (en) | Calibration method and device for magnetic encoder and magnetic encoder | |
| CN106788072A (en) | Permanent-magnetic synchronous motor rotor initial angle modification method and update the system | |
| CN111106764B (en) | Sine and cosine encoder correction method and system | |
| CN111371369A (en) | Motor pole pair number detection method and device and brushless motor | |
| CN104426439A (en) | Method and apparatus for monitoring rotational position of an electric machine | |
| CN107916509B (en) | Needle position detection, needle stop position setting and needle stop control method, system, terminal and device | |
| CN103201944A (en) | Motor control device | |
| Nerat et al. | A novel fast-filtering method for rotational speed of the BLDC motor drive applied to valve actuator | |
| CN115208247B (en) | Rotor position measuring method and device of motor | |
| CN102332857B (en) | Method for detecting position of hub motor of PET-CT (Positron Emission Tomography-Computed Tomography) machine on basis of magnetic ring and Hall sensor | |
| CN113419173B (en) | Motor offline detection method and device | |
| CN102324879B (en) | Position detection method for hub of hub motor of computed tomography (CT) machine | |
| CN112825470A (en) | Control device for servo motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200703 |
|
| RJ01 | Rejection of invention patent application after publication |