CN111555668A - Control method, device and system of direct current brushless motor - Google Patents
Control method, device and system of direct current brushless motor Download PDFInfo
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- CN111555668A CN111555668A CN202010487319.7A CN202010487319A CN111555668A CN 111555668 A CN111555668 A CN 111555668A CN 202010487319 A CN202010487319 A CN 202010487319A CN 111555668 A CN111555668 A CN 111555668A
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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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- 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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Abstract
The invention provides a control method, a device and a system of a direct current brushless motor, which are characterized in that input current of a modulation circuit and three-phase voltage of the direct current brushless motor are collected through control equipment; determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage; and adjusting the output voltage of the direct current controlled source through the control equipment according to the current rotating speed and the preset rotating speed so as to control the rotating speed of the direct current brushless motor based on the output voltage. In the mode, the output voltage of the direct current controlled source is directly adjusted through the control equipment to control the rotating speed of the direct current brushless motor, so that the speed regulation performance of the direct current brushless motor in low-speed operation is improved, and the electromagnetic disturbance of the system to the outside is reduced.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a control method, a control device and a control system of a direct-current brushless motor.
Background
Controlling a Brushless Direct Current Motor (BLDCM), mainly performing phase change and speed regulation on the Motor; in a conventional speed regulation mode, control equipment is usually adopted to collect associated voltage and current in a pulse width modulation circuit, determine the current rotating speed according to the associated voltage and current, and control the rotating speed of a direct current brushless motor by adjusting the duty ratio of a pulse width modulation waveform. However, the output voltage of the dc voltage stabilizing source is relatively fixed, the collected three-phase voltage is the dc bus voltage, the voltage frequency is the switching frequency of the pulse width modulation circuit, filtering and algorithm analysis need to be performed on the collected voltage of the pulse width modulation waveform, and a certain error exists in the motor phase obtained in this way.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus and a system for controlling a dc brushless motor to improve the low speed control performance of the dc brushless motor.
In a first aspect, embodiments of the present invention provide a method for controlling a dc brushless motor, where the method is applied to a control device; the control equipment is respectively connected with the modulation circuit and the direct current controlled source; the modulation circuit is respectively connected with the modulation circuit and the direct current brushless motor; the method comprises the following steps: acquiring input current of a modulation circuit and three-phase voltage of a direct current brushless motor; determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage; and adjusting the output voltage of the direct current controlled source according to the current rotating speed and the preset rotating speed so as to control the rotating speed of the direct current brushless motor based on the output voltage.
Further, the step of determining the current rotation speed of the dc brushless motor according to the input current and the three-phase voltage includes: and determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage through a preset control algorithm.
Further, the control device comprises a power supply control module; the step of adjusting the output voltage of the direct current controlled source according to the current rotating speed and the preset rotating speed comprises the following steps: comparing the current rotating speed with a preset rotating speed to obtain a rotating speed regulating quantity; and adjusting the output voltage of the direct current controlled source by utilizing a power supply voltage adjusting signal output by the power supply control module according to the rotating speed adjusting quantity so as to enable the current rotating speed of the direct current brushless motor to meet the preset rotating speed.
Further, the duty ratio of the pulse width modulation waveform output by the modulation circuit is one.
Further, the method further comprises: determining the relative voltage of the three-phase voltage according to the three-phase voltage; determining the current phase of the direct current brushless motor according to the relative voltage of the three-phase voltage; and controlling the phase change of the direct current brushless motor according to the current phase.
Further, the input current is the same as the current of the dc brushless motor.
In a second aspect, an embodiment of the present invention provides a control apparatus for a dc brushless motor, the apparatus being provided in a control device; the control equipment is respectively connected with the modulation circuit and the direct current controlled source; the modulation circuit is connected with the direct current controlled source and the direct current brushless motor; the device comprises: the acquisition module is used for acquiring the input current of the modulation circuit and the three-phase voltage of the DC brushless motor; the determining module is used for determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage; and the control module is used for adjusting the output voltage of the direct current controlled source according to the current rotating speed and the preset rotating speed so as to control the rotating speed of the direct current brushless motor based on the output voltage.
Further, the control device comprises a power supply control module; the control module further comprises: the comparison unit is used for comparing the current rotating speed with a preset rotating speed to obtain a rotating speed regulating quantity; and the adjusting unit is used for adjusting the output voltage of the direct current controlled source by utilizing the power supply voltage adjusting signal output by the power supply control module according to the rotating speed adjusting quantity so as to enable the current rotating speed of the direct current brushless motor to meet the preset rotating speed.
Further, the duty ratio of the pulse width modulation waveform output by the modulation circuit is one.
In a third aspect, an embodiment of the present invention provides a control system, where the control system includes: the control device, the direct current controlled source, the modulation circuit and the direct current brushless motor; the control equipment is respectively connected with the direct current controlled source and the modulation circuit; the modulation circuit is respectively connected with the direct current controlled source and the direct current brushless motor; the control device is provided with a control device of the DC brushless motor of the second aspect; the modulation circuit is used for controlling the rotating speed and the phase change of the direct current brushless motor.
The embodiment of the invention has the following beneficial effects:
the invention provides a control method, a device and a system of a direct current brushless motor, which are characterized in that input current of a modulation circuit and three-phase voltage of the direct current brushless motor are collected through control equipment; determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage; and adjusting the output voltage of the direct current controlled source according to the current rotating speed and the preset rotating speed so as to control the rotating speed of the direct current brushless motor based on the output voltage. In the mode, the output voltage of the direct current controlled source is directly adjusted through the control equipment to control the rotating speed of the direct current brushless motor, so that the speed regulation performance of the direct current brushless motor in low-speed operation is improved, and the electromagnetic disturbance of the system to the outside is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a circuit diagram illustrating a control method of a conventional dc brushless motor according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for controlling a dc brushless motor according to an embodiment of the present invention;
fig. 3 is a circuit diagram of a method for controlling a dc brushless motor according to an embodiment of the present invention;
fig. 4 is a flowchart of another dc brushless motor control method according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating a conventional voltage signal according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a voltage signal according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a control device of a dc brushless motor according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control system according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, a conventional control method of a dc brushless motor, as shown in fig. 1, generally includes a regulated dc power supply, a six-transistor three-phase half-bridge circuit, and a control device; the output voltage (A, B, C), the direct-current voltage-stabilizing source voltage (vdc) and the direct current (idc) of the three-phase bridge arm are obtained by controlling A, B, C, vdc + and idc + relative idc-in a sampling circuit of equipment, and the current phase and the current rotating speed of the direct-current brushless motor are judged through a control algorithm; determining bridge arms for switching according to the current phase information (the direct current brushless motor only works in two phases at each moment, namely only works in two corresponding bridge arms at each moment); and performing feedback control on the current rotating speed and the set rotating speed to obtain an adjustment quantity, and adjusting the duty ratio of switching control pulse width modulation waveforms of IG 1-IG 6 switching tubes in the six-tube three-phase half-bridge circuit according to the adjustment quantity so as to achieve the purpose of speed regulation. When the motor is started or runs at low speed, the duty ratio of the pulse width modulation waveform is small, so that the motor cannot work stably, and the low-speed performance is poor. Based on this, the present invention provides a method, an apparatus, and a system for controlling a dc brushless motor, and the technique can be applied to a control device of a dc brushless motor. For the convenience of understanding the present embodiment, a detailed description will be given to a control method of a dc brushless motor disclosed in the present embodiment.
The first embodiment is as follows:
the embodiment of the invention provides a control method of a direct current brushless motor, which is applied to control equipment; the control equipment is respectively connected with the modulation circuit and the direct current controlled source; the modulation circuit is respectively connected with the modulation circuit and the direct current brushless motor;
the control device may include a sampling circuit, a main control chip, a control output circuit, a driving circuit, and other modules.
As shown in fig. 2, the method comprises the steps of:
step S202, collecting input current of a modulation circuit and three-phase voltage of a direct current brushless motor;
the modulation circuit can convert the direct current output by the direct current controlled source into alternating current so as to enable the direct current brushless motor to work; the modulation circuit can be a pulse width modulation circuit and comprises six switching tubes with low speed and low conduction voltage drop; the switch tube can be a transistor, an MOS tube, a field effect tube and the like; the input current of the modulation circuit can be called as the output current of the direct current controlled source; referring to the circuit diagram of the control method of the dc brushless motor described in fig. 3, voltage of A, B, C, idc + pair idc- (i.e., CV negative terminal) of the modulation circuit is collected through sample & control in the control device corresponding diagram, and output voltage (A, B, C) of a three-phase bridge arm in the modulation circuit, i.e., three-phase voltage of the dc brushless motor and input current of the modulation circuit, are obtained.
Step S204, determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage;
the speed may be calculated by various speed prediction algorithms, such as, for example, using the frequency of the back electromotive force waveform, using a tachometer for direct testing, or using a specific control algorithm; and calculating the current rotating speed of the direct current brushless motor.
And step S206, adjusting the output voltage of the direct current controlled source according to the current rotating speed and the preset rotating speed so as to control the rotating speed of the direct current brushless motor based on the output voltage.
The preset rotating speed can be set according to the actual operation scene of the direct current brushless motor; the direct current controlled source is a constant voltage current limiting source with wide input and output ranges, corresponding to the CV in FIG. 3, the direct current controlled source outputs a constant voltage when the load current is smaller than the current limiting value of the direct current controlled source, and outputs a constant current when the load is heavier and exceeds the load carrying capacity of the constant voltage. The output voltage and the current limiting value of the direct current controlled source can be controlled by a control device. Specifically, the adjustment amount of the current rotating speed can be obtained in a feedback control mode according to the current rotating speed and a preset rotating speed; adjusting the output voltage of the direct current controlled source by using a voltage adjusting signal output by the control equipment so as to control the rotating speed of the direct current brushless motor; the switch tube of the modulation circuit is not required to be adjusted for voltage regulation, and the rotating speed of the direct current brushless motor is controlled.
The invention provides a control method of a direct current brushless motor, which comprises the steps of collecting input current in a modulation circuit and three-phase voltage of the direct current brushless motor through control equipment; determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage; and adjusting the output voltage of the direct current controlled source in the modulation circuit according to the current rotating speed and the preset rotating speed so as to control the rotating speed of the direct current brushless motor based on the output voltage. In the mode, the output voltage of the direct current controlled source is directly adjusted through the control equipment to control the rotating speed of the direct current brushless motor, so that the speed regulation performance of the direct current brushless motor in low-speed operation is improved, and the electromagnetic disturbance of the system to the outside is reduced.
In addition, the modulation circuit is connected with three phase lines of the motor, the voltage in the three phase lines is not subjected to switch modulation, and the output voltage of the direct current controlled source is directly adjusted, so that the direct current brushless motor is controlled by using the method, and the generated space radiation interference is greatly reduced.
Example two:
the embodiment of the invention provides another control method of a direct current brushless motor, which is realized on the basis of the embodiment; this embodiment focuses on the specific implementation of the step of determining the current rotation speed of the dc brushless motor according to the input current and the three-phase voltage (implemented by step S404), and the specific implementation of the step of adjusting the output voltage of the dc controlled source according to the current rotation speed and the preset rotation speed (implemented by steps S406 to S408), as shown in fig. 4, the method includes the following steps:
step S402, collecting input current of a modulation circuit and three-phase voltage of a direct current brushless motor;
step S404, determining the current rotating speed of the direct current brushless motor through a preset control algorithm according to the input current and the three-phase voltage;
the preset control algorithm can establish a mathematical model of the control equipment according to an actual calculation scene and input and output signal information, and determine the control algorithm; the control algorithm reflects the quantitative and logical relationships between system inputs, internal states, and outputs. Specifically, a corresponding control algorithm may be established according to the logical relationship between the information of the input current and the three-phase voltage and the output current rotation speed of the dc brushless motor, and the current rotation speed of the dc brushless motor may be determined according to the input current and the three-phase voltage by using the control algorithm.
Step S406, comparing the current rotating speed with a preset rotating speed to obtain a rotating speed regulating quantity;
specifically, feedback control, such as PID (Proportional-Integral-Derivative) control, may be performed on the current rotation speed and the preset rotation speed to obtain a rotation speed adjustment amount of the current rotation speed; the current rotating speed can also be directly compared with the preset rotating speed, for example, the current rotating speed is lower than the preset rotating speed, and the rotating speed adjustment increase amount is obtained; and the current rotating speed is higher than the preset rotating speed, and the rotating speed adjustment reduction is obtained.
And step S408, adjusting the output voltage of the direct current controlled source by utilizing the power supply voltage adjusting signal output by the power supply control module according to the rotating speed adjusting quantity so as to enable the current rotating speed of the direct current brushless motor to meet the preset rotating speed.
The control equipment comprises a power supply control module; the power control module may output a power voltage adjustment signal according to the rotation speed adjustment amount, which may be referred to as V _ cn in fig. 3, i.e., an output signal of the power control module; the output voltage of the direct current controlled source is positively correlated with the rotating speed of the motor; according to the rotating speed regulating quantity, calculating the voltage regulating quantity of the output voltage of the direct current controlled source to be regulated, according to the voltage regulating quantity, controlling a power supply control module to output a power supply voltage regulating signal by control equipment, sending the power supply voltage regulating signal to the direct current controlled source, increasing or reducing the output voltage of the direct current controlled source by the direct current controlled source according to the received power supply voltage regulating signal, and finally enabling the current rotating speed of the direct current brushless motor to meet the preset rotating speed. For example, when the current rotating speed is lower than the preset rotating speed, the voltage of the direct current controlled source is increased according to the rotating speed increase amount; and when the current rotating speed is higher than the preset rotating speed, the voltage of the direct current controlled source is reduced according to the reduction of the rotating speed.
In addition, in order to meet the requirement that the output voltage of the direct current controlled source can be accurately regulated, the duty ratio of the pulse width modulation waveform output by the modulation circuit can be one. Even if a switching tube in the modulation circuit is in an on state all the time, the output three-phase voltage has no pulse width modulation ripple, and a tube with low speed and low conduction voltage drop can be selected to make up the problem of lower speed regulation efficiency compared with the traditional scheme; in addition, the duty ratio is one, and the sampling signal is an analog signal without a modulation wave, so that the low-rotation-speed performance of the direct-current brushless motor can be enhanced.
The method further comprises the following steps: determining the relative voltage of the three-phase voltage according to the three-phase voltage; determining the current phase of the direct current brushless motor according to the relative voltage of the three-phase voltage; and controlling the phase change of the direct current brushless motor according to the current phase.
The relative voltage may be a voltage of the three-phase voltage of the dc brushless motor relative to the same reference point, for example, a negative-phase voltage of the dc controlled source, to obtain a relative voltage of the three-phase voltage; the position of the three-phase voltage, that is, the current phase of the dc brushless motor, can be estimated according to the magnitude of the relative voltage, for example, the relative voltages of the three-phase voltage are a, b, and c, respectively, if a < b < c, where b is close to zero, it can be determined that b is the current commutation phase, c is the current position of the S pole, and a is the current position of the N pole; according to the position of each voltage, a switching tube in the modulation circuit can be controlled, and the phase change of the direct current brushless motor is controlled. The method can avoid filtering and specific algorithm analysis on the pulse width modulation waveform, further avoid phase errors and improve the accuracy of phase judgment.
Further, the input current is the same as the current of the dc brushless motor.
Because the switch tube in the modulation circuit is always in the on state, the input current of the direct current controlled source collected by the control equipment is equal to the current of the direct current brushless motor; the method can avoid the problem of slow response of current control, conveniently limit the locked-rotor current and control low-speed constant current starting. In addition, the three-phase voltage is a smooth signal without pulse width modulation in the phase change interval; for example, fig. 5 shows a conventional voltage signal diagram, in a conventional commutation control method, during a commutation interval, a generated three-phase voltage signal is a voltage signal with a square wave, for example, a voltage with 50V input passes through 5% of the square wave to output a voltage with 2.5V, which is prone to generate electromagnetic interference; in this embodiment, for example, as shown in a voltage signal diagram of fig. 6, in the phase change control method, in a phase change interval, the generated three-phase voltage signal is a smooth signal, for example, the voltage input is 2.5V and the voltage output is also 2.5V, which can avoid electromagnetic interference, and is more beneficial to sampling and signal processing, thereby improving the external characteristics of the low-speed performance of the dc brushless motor.
In addition, the method further comprises: if the direct current brushless motor is a direct current brushless motor with a position sensor, a phase signal of the motor can be output through the position sensor; for example: the position sensor can be a Hall sensor and can be arranged at a position close to the rotor, and when the N pole gradually approaches the Hall sensor, namely the magnetic induction intensity reaches a certain value, the output of the position sensor is in a conducting state; when the N pole gradually leaves the Hall sensor and the magnetic induction intensity gradually decreases, the output of the Hall sensor still keeps a conducting state; only when the magnetic field changes to the S pole and reaches a certain value, the output thereof is turned to the off state. Under the S-N alternating magnetic field, the output waveform of the sensor accounts for 50% of the high and low levels respectively. If the rotor is a pair of poles, the Hall sensor outputs a voltage waveform of one period after the motor rotates for one circle, and if the rotor is two pairs of poles, the Hall sensor outputs a voltage waveform of two periods. The sensor signals can represent the position, the rotating direction and the rotating speed of the coil, the conduction of the switch tube is controlled through different sensor signals, the conduction can be realized by a logic circuit or by software programming, and the phase change can be completed by adjusting the duty ratio of the pulse width modulation waveform.
In the mode, the output voltage of a direct current controlled source is directly adjusted through control equipment to control the rotating speed of the direct current brushless motor, the A, B, C three-point voltage is an analog quantity instead of a pulse width modulation square wave, pulse width modulation fluctuation does not need to be filtered, the method can be directly used for phase judgment of the motor, the speed regulation range of the direct current brushless motor without the position sensor can be greatly widened, the rated rotating speed of the direct current brushless motor is about 5%, and the low-speed control performance of the direct current brushless motor is greatly improved; in addition, the voltage at the point A, B, C is a continuous analog quantity, and is not easy to generate electromagnetic disturbance.
Example three:
corresponding to the embodiment of the method, the invention provides a control device of a direct current brushless motor, which is arranged on control equipment; the control equipment is respectively connected with the modulation circuit and the direct current controlled source; the modulation circuit is connected with the direct current controlled source and the direct current brushless motor; as shown in fig. 7, the apparatus includes:
the acquisition module 71 is used for acquiring the input current of the modulation circuit and the three-phase voltage of the direct current brushless motor;
a determining module 72, configured to determine a current rotation speed of the dc brushless motor according to the input current and the three-phase voltage;
and the control module 73 is configured to adjust the output voltage of the dc controlled source according to the current rotation speed and the preset rotation speed, so as to control the rotation speed of the dc brushless motor based on the output voltage.
The invention provides a control device of a direct current brushless motor, which collects the input current of a modulation circuit and the three-phase voltage of the direct current brushless motor through control equipment; determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage; and adjusting the output voltage of the direct current controlled source according to the current rotating speed and the preset rotating speed so as to control the rotating speed of the direct current brushless motor based on the output voltage. In the mode, the output voltage of the direct current controlled source is directly adjusted through the control equipment so as to control the rotating speed of the direct current brushless motor and improve the speed regulation performance of the direct current brushless motor in low-speed operation.
Further, the control device comprises a power supply control module; the control module further includes: the comparison unit is used for comparing the current rotating speed with a preset rotating speed to obtain a rotating speed regulating quantity; and the adjusting unit is used for adjusting the output voltage of the direct current controlled source by utilizing the power supply voltage adjusting signal output by the power supply control module according to the rotating speed adjusting quantity so as to enable the current rotating speed of the direct current brushless motor to meet the preset rotating speed.
Further, the duty ratio of the pulse width modulation waveform output by the modulation circuit is one.
Further, the determining module is configured to: and determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage through a preset control algorithm.
Further, the above apparatus is further configured to: determining the relative voltage of the three-phase voltage according to the three-phase voltage; determining the current phase of the direct current brushless motor according to the relative voltage of the three-phase voltage; and controlling the phase change of the direct current brushless motor according to the current phase.
Further, the input current is the same as the current of the dc brushless motor.
The control device of the dc brushless motor according to the embodiment of the present invention has the same technical features as the control method of the dc brushless motor according to the embodiment described above, so that the same technical problems can be solved, and the same technical effects can be achieved.
An embodiment of the present invention further provides a control system, referring to a schematic structural diagram of a control system shown in fig. 8, where the control system includes: a control device 81, a direct current controlled source 82, a modulation circuit 83, and a direct current brushless motor 84; the control device 81 is connected to the direct current controlled source 82 and the modulation circuit 83, respectively; the modulation circuit 83 is connected to the dc controlled source 82 and the dc brushless motor 84, respectively; the control device is provided with a control device of the DC brushless motor of the second aspect; the modulation circuit is used for controlling the rotating speed and the phase change of the direct current brushless motor.
The control system provided by the embodiment of the invention has the same technical characteristics as the control method of the brushless direct current motor provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The computer program product of the method, the apparatus, and the system for controlling a dc brushless motor according to the embodiments of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships 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 being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A control method of a brushless DC motor is characterized in that the method is applied to a control device; the control equipment is respectively connected with the modulation circuit and the direct current controlled source; the modulation circuit is respectively connected with the direct current controlled source and the direct current brushless motor; the method comprises the following steps:
collecting input current of the modulation circuit and three-phase voltage of the direct current brushless motor;
determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage;
and adjusting the output voltage of the direct current controlled source according to the current rotating speed and a preset rotating speed so as to control the rotating speed of the direct current brushless motor based on the output voltage.
2. The method of claim 1, wherein the step of determining a present speed of the dc brushless motor based on the input current and the three-phase voltages comprises:
and determining the current rotating speed of the direct current brushless motor through a preset control algorithm according to the input current and the three-phase voltage.
3. The method of claim 1, wherein the control device comprises a power control module;
adjusting the output voltage of the direct current controlled source according to the current rotating speed and the preset rotating speed, wherein the step comprises the following steps:
comparing the current rotating speed with the preset rotating speed to obtain a rotating speed regulating quantity;
and adjusting the output voltage of the direct current controlled source by utilizing a power supply voltage adjusting signal output by the power supply control module according to the rotating speed adjusting quantity so as to enable the current rotating speed of the direct current brushless motor to meet the preset rotating speed.
4. The method of claim 1, wherein the pulse width modulated waveform output by the modulation circuit has a duty cycle of one.
5. The method of claim 1, further comprising:
determining the relative voltage of the three-phase voltage according to the three-phase voltage;
determining the current phase of the brushless direct current motor according to the relative voltage of the three-phase voltage;
and controlling the phase change of the direct current brushless motor according to the current phase.
6. The method of claim 1, wherein the input current is the same as a current of the dc brushless motor.
7. A control device of a brushless DC motor is characterized in that the device is arranged on a control device; the control equipment is respectively connected with the modulation circuit and the direct current controlled source; the modulation circuit is respectively connected with the direct current controlled source and the direct current brushless motor; the device comprises:
the acquisition module is used for acquiring the input current of the modulation circuit and the three-phase voltage of the direct current brushless motor;
the determining module is used for determining the current rotating speed of the direct current brushless motor according to the input current and the three-phase voltage;
and the control module is used for adjusting the output voltage of the direct current controlled source according to the current rotating speed and a preset rotating speed so as to control the rotating speed of the direct current brushless motor based on the output voltage.
8. The apparatus of claim 7, wherein the control device comprises a power control module;
the control module further comprises:
the comparison unit is used for comparing the current rotating speed with the preset rotating speed to obtain a rotating speed regulating quantity;
and the adjusting unit is used for adjusting the output voltage of the direct current controlled source by utilizing a power supply voltage adjusting signal output by the power supply control module according to the rotating speed adjusting quantity so as to enable the current rotating speed of the direct current brushless motor to meet the preset rotating speed.
9. The apparatus of claim 7, wherein the pulse width modulated waveform output by the modulation circuit has a duty cycle of one.
10. A control system, characterized in that the control system comprises: the control device, the direct current controlled source, the modulation circuit and the direct current brushless motor;
the control equipment is respectively connected with the direct current controlled source and the modulation circuit; the modulation circuit is respectively connected with the direct current controlled source and the direct current brushless motor;
a control apparatus of the brushless dc motor according to claim 9 is mounted on the control device;
the modulation circuit is used for controlling the rotating speed and the phase change of the direct current brushless motor.
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