CN111917352A - Locked-rotor processing method and device for position-sensorless direct-current brushless motor - Google Patents
Locked-rotor processing method and device for position-sensorless direct-current brushless motor Download PDFInfo
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
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Abstract
The invention provides a locked rotor processing method and a device of a position-sensorless direct current brushless motor, wherein the method comprises the steps of integrating a preset rotor rotating speed threshold value to obtain a rotor position within a period of time when the direct current brushless motor is just locked; the field oriented control algorithm controls the voltage vector of the stator coil based on the rotor position. Since the threshold value of the rotor speed is a constant and the rotor position obtained by integrating the threshold value is an angle of uniform rotation, the stator coil generates a magnetic field of uniform rotation. Although the rotor is stopped and the position is unknown during the locked rotor, under the action of the uniform rotating magnetic field, a section of angle can always provide driving torque for the rotor, when the locked rotor of the direct current brushless motor occurs, the rotor can be subjected to periodic impact of the driving torque, and when the blocked rotor resistance torque is smaller than the driving torque, the rotor starts to rotate again, so that the external force interference resistance of the direct current brushless motor without the position sensor is enhanced.
Description
Technical Field
The invention relates to the technical field of electric pumps, in particular to a locked rotor processing method and a locked rotor processing device of a position-sensorless direct-current brushless motor.
Background
In the existing new energy vehicles, because an engine is not provided, force cannot be taken from a crankshaft of the engine, and a water pump and an oil pump in the vehicles are gradually changed from a mechanical pump to an electric pump. For cost reasons, the power source of the pump body of these electric pumps usually employs a position-sensorless dc brushless motor. In the current position sensorless dc brushless motor control scheme, since there is no physical position sensor, the position of the motor rotor needs to be estimated by an algorithm.
At present, the most widely used method for estimating the rotor position of the brushless direct current motor estimates the rotor speed of the brushless direct current motor through an established motor back electromotive force state observer, and then obtains the rotor position through integration. However, since the counter electromotive force is proportional to the rotor speed of the motor, when the dc brushless motor is locked up and the rotor speed is reduced to a low value, the counter electromotive force is also small; when the back electromotive force is small, the collection error of the back electromotive force is large, so that the error of the rotor speed estimation is large, and further, the obtained rotor position has a large error.
When the rotor position cannot be obtained, the magnetic field guidance control algorithm cannot apply a magnetic field in the correct direction according to the current rotor position, and further cannot generate a large driving torque, so that when the direct current brushless motor without the position sensor is locked, the direct current brushless motor without the position sensor cannot provide a large torque like the direct current brushless motor with the position sensor, and the external force interference resistance of the direct current brushless motor without the position sensor is poor. In the pump motor system, impurities and foreign matters possibly exist in a water path or an oil path of the pump, and when the foreign matters block the rotor, the direct current brushless motor is blocked, the pump body can not normally operate and the function of the pump body is lost.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for processing locked-rotor of a position sensorless dc brushless motor, in order to achieve the purpose of enhancing the external interference resistance of the position sensorless dc brushless motor.
In order to achieve the above object, the following solutions are proposed:
in a first aspect, a locked rotor processing method for a brushless dc motor without a position sensor is provided, which includes:
judging whether the DC brushless motor is locked, if so, judging whether the duration time of the locked rotor of the DC brushless motor is greater than a preset locked rotor time threshold value;
if the duration time is not greater than the locked rotor time threshold value, integrating a preset rotor rotating speed threshold value to obtain a rotor position;
controlling the voltage vector of a stator coil according to a magnetic field guidance control algorithm and the rotor position so as to enable the stator coil to generate a magnetic field for driving the rotor to rotate;
and if the duration is greater than the locked rotor time threshold, outputting locked rotor fault information.
Optionally, after determining that the duration is not greater than the locked rotor time threshold, the method further includes:
according to a preset current upper limit value change curve, increasing the current upper limit value of the direct current brushless motor from a preset first current threshold value to a preset second current threshold value;
after judging that the duration is greater than the locked rotor time threshold, the method further comprises the following steps:
modifying the upper limit value of the current from the second current threshold to the first current threshold;
after judging that the brushless DC motor does not have locked rotor, the method further comprises the following steps:
and if the upper limit value of the current is not the first current threshold value, modifying the upper limit value of the current to the first current threshold value.
Optionally, the determining whether the dc brushless motor is locked or not specifically includes:
judging whether the actual current of the direct current brushless motor is larger than a preset locked-rotor current threshold value or not, if not, determining that the direct current brushless motor is not locked-rotor, and if so, judging whether the actual rotor rotating speed of the direct current brushless motor is smaller than the preset locked-rotor rotating speed threshold value or not;
if the actual rotor rotating speed is less than the locked-rotor rotating speed threshold value, determining that the DC brushless motor is locked-rotor;
and if the actual rotor rotating speed is not less than the locked-rotor rotating speed threshold value, determining that the DC brushless motor is not locked-rotor.
Optionally, after determining that the dc brushless motor is not locked, the method further includes:
and integrating the rotor rotating speed estimated by the pre-established back electromotive force state observer to obtain the rotor position.
Optionally, the value range of the locked rotor time threshold is as follows: 5-10 seconds.
In a second aspect, there is provided a stalling treatment device for a brushless dc motor without a position sensor, comprising:
the first judging unit is used for judging whether the DC brushless motor is locked, and if so, the second judging unit is executed;
the second judging unit is used for judging whether the duration time of the locked rotor of the brushless direct current motor is longer than a preset locked rotor time threshold value, if so, the fault information output unit is executed, and if not, the first rotor position estimation unit is executed;
the first rotor position estimation unit is used for integrating a preset rotor speed threshold value to obtain a rotor position;
the magnetic field guiding control unit is used for controlling the voltage vector of the stator coil according to a magnetic field guiding control algorithm and the rotor position so as to enable the stator coil to generate a magnetic field for driving the rotor to rotate;
and the fault information output unit is used for outputting locked-rotor fault information.
Optionally, the locked rotor processing apparatus of the dc brushless motor without position sensor further includes:
the current upper limit adjusting unit is used for increasing the upper limit value of the current of the brushless direct-current motor from a preset first current threshold value to a preset second current threshold value according to a preset current upper limit value change curve after the second judging unit judges that the duration time is not greater than the locked rotor time threshold value;
the current upper limit adjusting unit is further configured to modify the upper limit value of the current from the second current threshold to the first current threshold after the second determining unit determines that the duration is greater than the locked rotor time threshold
The current upper limit adjusting unit is further configured to modify the upper limit value of the current to the first current threshold value if the upper limit value of the current is not the first current threshold value after it is determined that the dc brushless motor is not locked.
Optionally, the first determining unit specifically includes:
the current judging subunit is used for judging whether the actual current of the direct current brushless motor is larger than a preset locked-rotor current threshold value or not, if not, determining that the direct current brushless motor is not locked-rotor, and if so, executing the rotating speed judging subunit;
the rotation speed judging subunit is configured to judge whether an actual rotor rotation speed of the dc brushless motor is less than a preset locked-rotor rotation speed threshold, determine that the dc brushless motor is locked-rotor if the actual rotor rotation speed of the dc brushless motor is less than the preset locked-rotor rotation speed threshold, and determine that the dc brushless motor is not locked-rotor if the actual rotor rotation speed of the dc brushless motor is not less than the preset locked-rotor rotation speed threshold.
Optionally, the locked rotor processing apparatus of the dc brushless motor without position sensor further includes:
and the second rotor position estimation unit is used for integrating the rotor rotating speed estimated by the pre-established back electromotive force state observer after judging that the DC brushless motor is not locked, so as to obtain the rotor position.
Optionally, the value range of the locked rotor time threshold is as follows: 5-10 seconds.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the technical scheme provides a stalling processing method and a stalling processing device of a position-sensor-free direct-current brushless motor. Since the threshold value of the rotor speed is a constant and the rotor position obtained by integrating the threshold value is an angle of uniform rotation, the stator coil generates a magnetic field of uniform rotation. Although the rotor of the brushless direct current motor stops rotating and the position is unknown during the rotation blockage, under the action of the magnetic field rotating at a constant speed, a certain angle can always provide driving torque for the rotor within an angle of 360 degrees. Therefore, according to the method for processing the locked rotor of the brushless direct current motor, when the brushless direct current motor is locked, the rotor is subjected to periodic impact of the driving torque, and when the locked rotor resisting torque is smaller than the driving torque, the brushless direct current motor starts to rotate again, so that the external force interference resistance of the brushless direct current motor without the position sensor is enhanced.
Furthermore, in a period of time when the dc brushless motor just generates the stalling, the upper limit value of the current of the dc brushless motor is increased from the preset first current threshold value to the preset second current threshold value according to the preset upper limit value change curve of the current. Because the actual rotor speed after the rotation blockage is lower and cannot reach the target rotor speed, the voltage of the stator coil is increased as much as possible by the PI or other closed-loop algorithms until the voltage is limited by the current upper limit value, the magnetic field intensity is continuously increased by increasing the current upper limit value, the driving torque is continuously increased, and the external force interference resistance of the position sensor-free direct current brushless motor is further enhanced.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
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, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a locked rotor processing method of a brushless dc motor without a position sensor according to an embodiment of the present invention;
fig. 2 is a flowchart of another locked-rotor processing method for a brushless dc motor without a position sensor according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a locked rotor processing apparatus of a brushless dc motor without a position sensor according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a position sensorless dc brushless motor controller according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, a method for processing a locked rotor of a brushless dc motor without a position sensor according to an embodiment of the present invention may include:
s11: and judging whether the DC brushless motor is locked, if so, executing the step S12.
When the DC brushless motor is not locked, the rotor position can be calculated according to the existing rotor position estimation algorithm. Specifically, a motor back electromotive force state observer can be established, and the rotating speed of the rotor is estimated by using the motor back electromotive force state observer; and then, the rotor rotating speed estimated by the motor back electromotive force state observer is integrated to obtain the rotor position.
And judging whether the DC brushless motor is locked according to the actual current and the actual rotor speed of the DC brushless motor. In an embodiment of the present invention, it is determined that the dc brushless motor is locked when the two conditions are satisfied simultaneously when the actual current of the dc brushless motor is greater than the preset locked-rotor current threshold and the actual rotor speed of the dc brushless motor is less than the preset locked-rotor speed threshold; and if any one of the two conditions is not met, determining that the DC brushless motor is not locked.
S12: and judging whether the continuous time of the locked rotor of the brushless DC motor is greater than a preset locked rotor time threshold value, if not, executing the step S13, and if so, executing the step S15.
S13: and integrating the preset rotor rotating speed threshold value to obtain the rotor position.
The rotor speed threshold is a constant that is experimentally calibrated. The calibration process is to clamp the rotor to make a locked rotor fault, set a fixed rotor rotation speed value, integrate the rotor rotation speed to obtain a rotor position rotating at a constant speed, and control the voltage vector of a stator coil according to the rotor position by a magnetic field guidance control algorithm; and testing the driving torque at the current set rotating speed by using a torque meter, obtaining different driving torques by adjusting the set value of the rotating speed of the rotor, and selecting the rotating speed of the rotor corresponding to the maximum driving torque as the rotating speed threshold of the rotor.
S14: and controlling the voltage vector of the stator coil according to the magnetic field guiding control algorithm and the rotor position so that the stator coil generates a magnetic field for driving the rotor to rotate.
Since the preset rotor speed threshold is a constant, the rotor position obtained by integrating the rotor speed threshold in step S13 is a constant rotation angle; and step S14 is executed to control the voltage vector of the stator coil according to the field oriented control algorithm and the rotor position, so that the stator coil generates a magnetic field rotating at a constant speed. Although the rotor of the brushless direct current motor stops rotating and the position is unknown during the locked-rotor process, under the action of the magnetic field rotating at a constant speed, a certain angle can always provide driving torque for the rotor within an angle of 360 degrees. Therefore, according to the method for processing a locked rotor of a brushless dc motor without a position sensor provided in the above embodiment of the present invention, when the brushless dc motor is locked, the rotor is subjected to periodic impact of the driving torque, and when the locked rotor resisting torque is smaller than the driving torque, the brushless dc motor starts to rotate again, thereby enhancing the external interference resistance of the brushless dc motor without a position sensor.
S15: and outputting locked-rotor fault information.
The locked-rotor fault information is output, which indicates that the brushless dc motor cannot be restarted by using the method provided by the present invention, and therefore, the entire brushless dc motor needs to be turned off. Due to the setting of the locked-rotor time threshold value, the direct-current brushless motor cannot be in a locked-rotor state for a long time, and the situation that the temperature is too high due to locked-rotor faults is avoided. The locked rotor time threshold value is obtained through experimental calibration. In a specific embodiment, the value range of the locked rotor time threshold is 5-10 seconds.
Referring to fig. 2, another method for processing a locked rotor of a brushless dc motor according to an embodiment of the present invention may include the following steps:
s21: and judging whether the DC brushless motor is locked, if so, executing step S22, otherwise, executing step S26.
When the DC brushless motor is not locked, the rotor position can be calculated according to the existing rotor position estimation algorithm. And after the dc brushless motor is changed from the locked state to the unlocked state, the current upper limit value of the dc brushless motor is modified to the original value, i.e., the first current threshold value, by step S26.
S22: and judging whether the continuous time of the locked rotor of the brushless DC motor is greater than a preset locked rotor time threshold value, if not, executing the step S23, and if so, executing the step S25.
S23: and integrating the preset rotor rotating speed threshold to obtain the rotor position, and increasing the upper limit value of the current of the direct current brushless motor from the preset first current threshold to the preset second current threshold according to a preset current upper limit value change curve.
The second current threshold is greater than the first current threshold. The preset current upper limit value change curve enables the upper limit value of the current of the brushless direct current motor to be gradually increased after the stalling occurs, and the upper limit value of the current is required to be kept at the second current threshold value for a period of time after reaching the second current threshold value, for example, the stalling time threshold value is reached after a few seconds. When the DC brushless motor does not generate the locked rotor, the upper limit value of the current of the DC brushless motor is a first current threshold value. And the second current threshold is calibrated through experiments, and the upper limit value of the current of the direct current brushless motor is gradually increased in the period of time that the locked rotor duration is less than the locked rotor time threshold, so that the maximum current value which can not cause hardware faults of the direct current brushless motor is determined as the second current threshold.
After locked-rotor, the actual rotor speed is lower and cannot reach the target rotor speed, so the voltage of the stator coil can be increased as much as possible by the PI or other closed-loop algorithms; the voltage of the stator coil is positively correlated with the actual current of the brushless DC motor, therefore, the actual current of the brushless DC motor can be increased by the voltage increase of the stator coil until the actual current is limited by the upper current limit value, the upper current limit value is increased, namely, the second current threshold value is adjusted, so that the voltage of the stator coil is continuously increased, the magnetic field intensity of the magnetic field generated by the stator coil is continuously increased, the driving torque is also continuously increased, and the external force interference resistance of the brushless DC motor without the position sensor is further enhanced.
S24: the field oriented control algorithm controls the voltage vector of the stator coil based on the rotor position.
A field-oriented control (FOC) algorithm is a mature closed-loop control algorithm in the prior art, and can accurately control the magnitude and direction of a magnetic field, so that the motor has stable torque, low noise, high efficiency and high-speed dynamic response. The FOC algorithm controls the voltage vector of the stator coil of the motor according to the rotor position information, and the stator coil can generate a magnetic field rotating at a constant speed, so that pushing torque acting on the motor rotor is generated within a certain angle of 360 degrees.
S25: and outputting locked-rotor fault information, and modifying the upper limit value of the current from the second current threshold value to the first current threshold value.
S26: and if the upper limit value of the current is not the first current threshold value, modifying the upper limit value of the current to be the first current threshold value.
While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present invention is not limited by the illustrated ordering of acts, as some steps may occur in other orders or concurrently with other steps in accordance with the invention.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
Referring to fig. 3, a stalling treatment device for a brushless dc motor without a position sensor according to an embodiment of the present invention may include: a first judging unit 31, a second judging unit 32, a first rotor position estimating unit 33, a magnetic field guidance control unit 34, and a failure information outputting unit 35.
The first determining unit 31 is configured to determine whether the dc brushless motor is locked, and if so, execute the second determining unit 32.
A second determining unit 32, configured to determine whether a duration of the locked rotor of the dc brushless motor is greater than a preset locked rotor time threshold, if so, execute the fault information output unit 35, and if not, execute the first rotor position estimating unit 33.
And a first rotor position estimating unit 33, configured to integrate a preset rotor speed threshold to obtain a rotor position.
And a magnetic field guidance control unit 34 for controlling the voltage vector of the stator coil according to the magnetic field guidance control algorithm and the rotor position, so that the stator coil generates a magnetic field for driving the rotor to rotate.
And a fault information output unit 35 for outputting locked-rotor fault information.
Because the preset rotor rotation speed threshold is a constant, the rotor position obtained by integrating the rotor rotation speed threshold by the first rotor position estimation unit is a uniform rotation angle; and the magnetic field guiding control unit controls the voltage vector of the stator coil according to the position of the rotor, so that the stator coil generates a magnetic field rotating at a constant speed. Although the rotor of the brushless direct current motor stops rotating and the position is unknown during the locked-rotor process, under the action of the magnetic field rotating at a constant speed, a certain angle can always provide driving torque for the rotor within an angle of 360 degrees. Therefore, according to the device for processing a stall of a position sensorless dc brushless motor provided in the above embodiment of the present invention, when a stall occurs in the dc brushless motor, the rotor is subjected to periodic impact of the driving torque, and when the resistance torque of the stall is smaller than the driving torque, the dc brushless motor restarts to rotate, thereby enhancing the external force interference resistance of the position sensorless dc brushless motor.
Optionally, the locked rotor processing apparatus of the dc brushless motor without the position sensor further includes: and a current upper limit adjusting unit.
And the current upper limit adjusting unit is used for increasing the upper limit value of the current of the direct current brushless motor from the preset first current threshold value to the preset second current threshold value according to the preset current upper limit value change curve after the second judging unit judges that the locked-rotor duration of the direct current brushless motor is not more than the preset locked-rotor time threshold value.
And the current upper limit adjusting unit is further used for modifying the upper limit value of the current of the direct current brushless motor from the second current threshold value to the first current threshold value after the second judging unit judges that the duration time of the locked rotor of the direct current brushless motor is greater than the preset locked rotor time threshold value.
And the current upper limit adjusting unit is further used for modifying the current upper limit value of the direct current brushless motor into the first current threshold value if the current upper limit value of the direct current brushless motor is not the first current threshold value after judging that the direct current brushless motor is not locked.
Whether the DC brushless motor is locked-rotor or not can be judged according to the actual current and the actual rotor speed of the DC brushless motor. The first determining unit 31 specifically includes: a current judging subunit and a rotating speed judging subunit.
And the current judging subunit is used for judging whether the actual current of the direct current brushless motor is greater than a preset locked-rotor current threshold value, if not, determining that the direct current brushless motor is not locked-rotor, and if so, executing the rotating speed judging subunit.
And the rotating speed judging subunit is used for judging whether the actual rotor rotating speed of the direct current brushless motor is less than a preset locked-rotor rotating speed threshold value, if so, determining that the direct current brushless motor is locked-rotor, and if not, determining that the direct current brushless motor is not locked-rotor.
Optionally, the locked rotor processing apparatus of the dc brushless motor further includes:
and the second rotor position estimation unit is used for integrating the rotor rotating speed estimated by the pre-established back electromotive force state observer after judging that the DC brushless motor is not locked, so as to obtain the rotor position.
Optionally, the value range of the locked rotor time threshold is as follows: 5-10 seconds.
The locked rotor processing method of the position-sensorless DC brushless motor provided by the embodiment of the invention can be applied to a position-sensorless DC brushless motor controller. Referring to fig. 4, a schematic diagram of a hardware structure of a position-sensorless dc brushless motor controller according to an embodiment of the present invention is provided. The hardware structure of the position-sensorless DC brushless motor controller can comprise: at least one processor 41, at least one communication interface 42, at least one memory 43 and at least one communication bus 44; the processor 41, the communication interface 42 and the memory 43 complete mutual communication through the communication bus 44;
The communication interface 42 may include a standard wired interface, a wireless interface. Are commonly used to establish communication links between dc brushless motor controllers and other electronic devices or systems.
The memory 43 includes at least one type of readable storage medium. The readable storage medium may be NVM (non-volatile memory) such as Flash EEPROM. The readable storage medium may also be a high-speed RAM (random access memory) memory.
Wherein the memory 43 stores a control program, and the processor 41 can call the control program stored in the memory 43, the control program is used for:
judging whether the DC brushless motor is locked, if so, judging whether the duration time of the locked rotor of the DC brushless motor is greater than a preset locked rotor time threshold value;
if the duration time of the locked rotor of the direct current brushless motor is not longer than the locked rotor time threshold value, integrating a preset rotor rotating speed threshold value to obtain a rotor position;
controlling the voltage vector of the stator coil according to the magnetic field guidance control algorithm and the rotor position so as to enable the stator coil to generate a magnetic field for driving the rotor to rotate;
and if the continuous time of the locked rotor of the direct current brushless motor is longer than the locked rotor time threshold value, the locked rotor fault information is output.
The refinement function and the extension function of the program may be referred to as described above.
FIG. 4 shows only a position sensorless DC brushless motor controller having components 41-44, but it is to be understood that not all of the shown components are required and that more or fewer components may alternatively be implemented.
An embodiment of the present invention further provides a readable storage medium, where the readable storage medium may store a program adapted to be executed by a processor, where the program is configured to:
judging whether the DC brushless motor is locked, if so, judging whether the duration time of the locked rotor of the DC brushless motor is greater than a preset locked rotor time threshold value;
if the duration time of the locked rotor of the direct current brushless motor is not longer than the locked rotor time threshold value, integrating a preset rotor rotating speed threshold value to obtain a rotor position;
controlling the voltage vector of the stator coil according to the magnetic field guidance control algorithm and the rotor position so as to enable the stator coil to generate a magnetic field for driving the rotor to rotate;
and if the continuous time of the locked rotor of the direct current brushless motor is longer than the locked rotor time threshold value, the locked rotor fault information is output.
The refinement function and the extension function of the program may be referred to as described above.
The above-described embodiments of the apparatus are merely illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are mainly described as different from other embodiments, the same and similar parts in the embodiments may be referred to each other, and the features described in the embodiments in the present description may be replaced with each other or combined with each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A locked rotor processing method of a position-sensorless DC brushless motor is characterized by comprising the following steps:
judging whether the DC brushless motor is locked, if so, judging whether the duration time of the locked rotor of the DC brushless motor is greater than a preset locked rotor time threshold value;
if the duration time is not greater than the locked rotor time threshold value, integrating a preset rotor rotating speed threshold value to obtain a rotor position;
controlling the voltage vector of a stator coil according to a magnetic field guidance control algorithm and the rotor position so as to enable the stator coil to generate a magnetic field for driving the rotor to rotate;
and if the duration is greater than the locked rotor time threshold, outputting locked rotor fault information.
2. The method of claim 1, further comprising, after determining that the duration is not greater than the locked rotor time threshold, the step of:
according to a preset current upper limit value change curve, increasing the current upper limit value of the direct current brushless motor from a preset first current threshold value to a preset second current threshold value;
after judging that the duration is greater than the locked rotor time threshold, the method further comprises the following steps:
modifying the upper limit value of the current from the second current threshold to the first current threshold;
after judging that the brushless DC motor does not have locked rotor, the method further comprises the following steps:
and if the upper limit value of the current is not the first current threshold value, modifying the upper limit value of the current to the first current threshold value.
3. The method according to claim 1, wherein the determining whether the dc brushless motor is locked specifically comprises:
judging whether the actual current of the direct current brushless motor is larger than a preset locked-rotor current threshold value or not, if not, determining that the direct current brushless motor is not locked-rotor, and if so, judging whether the actual rotor rotating speed of the direct current brushless motor is smaller than the preset locked-rotor rotating speed threshold value or not;
if the actual rotor rotating speed is less than the locked-rotor rotating speed threshold value, determining that the DC brushless motor is locked-rotor;
and if the actual rotor rotating speed is not less than the locked-rotor rotating speed threshold value, determining that the DC brushless motor is not locked-rotor.
4. The method of claim 1, further comprising, after determining that the dc brushless motor is not locked, the step of:
and integrating the rotor rotating speed estimated by the pre-established back electromotive force state observer to obtain the rotor position.
5. The method for processing the locked rotor of the brushless DC motor without the position sensor according to any one of claims 1 to 4, wherein the locked rotor time threshold has a value range of: 5-10 seconds.
6. A stalling treatment device of a brushless DC motor without a position sensor is characterized by comprising:
the first judging unit is used for judging whether the DC brushless motor is locked, and if so, the second judging unit is executed;
the second judging unit is used for judging whether the duration time of the locked rotor of the brushless direct current motor is longer than a preset locked rotor time threshold value, if so, the fault information output unit is executed, and if not, the first rotor position estimation unit is executed;
the first rotor position estimation unit is used for integrating a preset rotor speed threshold value to obtain a rotor position;
the magnetic field guiding control unit is used for controlling the voltage vector of the stator coil according to a magnetic field guiding control algorithm and the rotor position so as to enable the stator coil to generate a magnetic field for driving the rotor to rotate;
and the fault information output unit is used for outputting locked-rotor fault information.
7. The device for processing a locked rotor of a brushless dc motor according to claim 6, further comprising:
the current upper limit adjusting unit is used for increasing the upper limit value of the current of the brushless direct-current motor from a preset first current threshold value to a preset second current threshold value according to a preset current upper limit value change curve after the second judging unit judges that the duration time is not greater than the locked rotor time threshold value;
the current upper limit adjusting unit is further configured to modify the upper limit value of the current from the second current threshold to the first current threshold after the second determining unit determines that the duration is greater than the locked rotor time threshold;
the current upper limit adjusting unit is further configured to modify the upper limit value of the current to the first current threshold value if the upper limit value of the current is not the first current threshold value after it is determined that the dc brushless motor is not locked.
8. The device of claim 6, wherein the first determining unit specifically comprises:
the current judging subunit is used for judging whether the actual current of the direct current brushless motor is larger than a preset locked-rotor current threshold value or not, if not, determining that the direct current brushless motor is not locked-rotor, and if so, executing the rotating speed judging subunit;
the rotation speed judging subunit is configured to judge whether an actual rotor rotation speed of the dc brushless motor is less than a preset locked-rotor rotation speed threshold, determine that the dc brushless motor is locked-rotor if the actual rotor rotation speed of the dc brushless motor is less than the preset locked-rotor rotation speed threshold, and determine that the dc brushless motor is not locked-rotor if the actual rotor rotation speed of the dc brushless motor is not less than the preset locked-rotor rotation speed threshold.
9. The device for processing a locked rotor of a brushless dc motor according to claim 6, further comprising:
and the second rotor position estimation unit is used for integrating the rotor rotating speed estimated by the pre-established back electromotive force state observer after judging that the DC brushless motor is not locked, so as to obtain the rotor position.
10. The device for processing the locked rotor of the brushless dc motor according to any one of claims 6 to 9, wherein the locked rotor time threshold has a value range of: 5-10 seconds.
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