CN111917352B - Method and device for processing locked rotor of brushless DC motor without position sensor - Google Patents
Method and device for processing locked rotor of brushless DC motor without position sensor Download PDFInfo
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- CN111917352B CN111917352B CN202010788042.1A CN202010788042A CN111917352B CN 111917352 B CN111917352 B CN 111917352B CN 202010788042 A CN202010788042 A CN 202010788042A CN 111917352 B CN111917352 B CN 111917352B
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- 230000000903 blocking effect Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 7
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Classifications
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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 method and a device for processing locked rotor of a brushless DC motor without a position sensor, wherein the method comprises the steps of integrating a preset rotor rotating speed threshold value to obtain a rotor position in a period of time when the brushless DC motor has just locked rotor; a magnetic field steering control algorithm controls the voltage vector of the stator coils based on the rotor position. Since the rotor speed threshold is a constant, the rotor position integrated from the threshold is a uniform rotation angle, and the stator coil thus generates a uniform rotation magnetic field. When the rotor is blocked, although the rotor is stopped and the position is unknown, under the action of the magnetic field rotating at a constant speed, a certain angle can provide driving torque for the rotor, when the DC brushless motor is blocked, the rotor can be impacted by the period of the driving torque, and when the blocking resistance torque is smaller than the driving torque, the rotor restarts to rotate, so that the anti-external force interference capability of the DC brushless motor without a position sensor is enhanced.
Description
Technical Field
The invention relates to the technical field of electric pumps, in particular to a method and a device for processing locked rotor of a brushless DC motor without a position sensor.
Background
In the existing new energy vehicles, as the engine is not available, the force cannot be taken from the engine crankshaft, and the water pump and the oil pump in the vehicles are gradually changed from mechanical pumps to electric pumps. For cost reasons, the pump body of these electric pumps typically employs a brushless dc motor without a position sensor. In current sensorless dc brushless motor control schemes, the motor rotor position needs to be estimated by an algorithm because there is no physical position sensor.
The most widely used method for estimating the rotor position of the DC brushless motor at present is to estimate the rotor rotation speed of the DC brushless motor through an established motor back electromotive force state observer, and then integrate to obtain the rotor position. However, since the back electromotive force is proportional to the rotor speed of the motor, when the rotor speed is reduced to a low value due to the occurrence of the stall of the brushless dc motor, the back electromotive force is also relatively small; when the back electromotive force is smaller, the acquisition error of the back electromotive force is larger, so that the error of rotor rotation speed estimation is larger, and further, the obtained rotor position also has larger error.
When the rotor position cannot be obtained, the magnetic field guiding control algorithm cannot apply a magnetic field in the correct direction according to the current rotor position, and further cannot generate larger driving torque, so that when the brushless DC motor without the position sensor is blocked, larger torque cannot be provided like the brushless DC motor with the position sensor, and the external force interference resistance of the brushless DC motor without the position sensor is weak. In the pump motor system, impurities and foreign matters may exist in the water path or the oil path of the pump, and when the foreign matters obstruct the rotor, the pump body is often unable to normally operate and loses the pump body function when the direct current brushless motor is blocked.
Disclosure of Invention
In view of the above, the present invention provides a method and apparatus for blocking a brushless dc motor without a position sensor, which is intended to achieve the purpose of enhancing the capability of the brushless dc motor without a position sensor to resist external force interference.
In order to achieve the above object, the following solutions have been proposed:
in a first aspect, a method for processing locked rotor of a brushless dc motor without a position sensor is provided, including:
judging whether the direct current brushless motor is blocked, if so, judging whether the duration time of the direct current brushless motor which is blocked is larger than a preset blocked time threshold;
if the duration time is not greater than the locked rotor time threshold, integrating a preset rotor rotating speed threshold to obtain a rotor position;
controlling a voltage vector of a 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 if the duration time is greater than the locked rotor time threshold value, outputting locked rotor fault information.
Optionally, after the duration is determined to be not greater than the locked-rotor time threshold, the method further includes:
according to a preset current upper limit value change curve, increasing the upper limit value of the current 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 time 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 is not locked, 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 be 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, 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;
if the actual rotor rotating speed is smaller than the locked rotor rotating speed threshold value, determining that the DC brushless motor is locked;
and if the actual rotor rotating speed is not less than the locked rotor rotating speed threshold, determining that the direct current brushless motor is not locked.
Optionally, after determining that no locked rotation occurs in the brushless dc motor, 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: 5-10 seconds.
In a second aspect, there is provided a locked rotor processing device for a sensorless dc brushless motor, comprising:
the first judging unit is used for judging whether the DC brushless motor is blocked, 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 direct current brushless motor is larger than a preset locked rotor time threshold value, if so, executing the fault information output unit, and if not, executing the first rotor position estimating unit;
the first rotor position estimation unit is used for integrating a preset rotor rotating 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;
the fault information output unit is used for outputting locked rotor fault information.
Optionally, the locked rotor processing device of the brushless dc motor without the position sensor further includes:
the current upper limit adjusting unit is used for increasing the upper limit value of the current of the direct current brushless 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 is not more than the stalling time threshold value;
the current upper limit adjusting unit is further configured to modify the current upper limit from the second current threshold to the first current threshold after the second judging unit judges that the duration is greater than the stall time threshold
And the current upper limit adjusting unit is further used for modifying the upper limit value of the current into the first current threshold value if the upper limit value of the current is not the first current threshold value after judging that the direct current brushless motor is not blocked.
Optionally, the first judging 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, 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 brushless dc motor is less than a preset locked rotation speed threshold, if yes, determine that locked rotation occurs in the brushless dc motor, and if no, determine that locked rotation does not occur in the brushless dc motor.
Optionally, the locked rotor processing device of the brushless dc motor without the 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 blocked, so as to obtain the rotor position.
Optionally, the value range of the locked rotor time threshold is: 5-10 seconds.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the technical scheme provides a method and a device for processing locked rotor of a brushless DC motor without a position sensor, wherein the method comprises the steps of integrating a preset rotor rotating speed threshold value in a period of time when the brushless DC motor is in locked rotor, so as to obtain a rotor position, and enabling a magnetic field guiding control algorithm to control a voltage vector of a stator coil according to the rotor position. Since the rotor speed threshold is a constant, the rotor position integrated from the threshold is a uniform rotation angle, and the stator coil thus generates a uniform rotation magnetic field. In the locked state, the rotor of the brushless DC motor is stopped and the position is unknown, but under the action of the magnetic field rotating at a constant speed, a certain angle can always provide driving torque for the rotor within 360 degrees. Therefore, according to the method for processing the locked rotor of the direct current brushless motor, when the direct current brushless motor is locked, the rotor is subjected to periodic impact of the driving moment, and when the locked rotor resistance moment is smaller than the driving moment, the direct current brushless motor restarts to rotate, so that the anti-external-force interference capability of the direct current brushless motor without a position sensor is enhanced.
Further, in a period of time when the brushless DC motor just has locked, the upper limit value of the current of the brushless DC motor is increased from a preset first current threshold value to a preset second current threshold value according to a preset current upper limit value change curve. Because the actual rotor rotating speed is lower after locked rotor and the target rotor rotating speed cannot be achieved, the PI or other closed loop algorithm can increase the voltage of the stator coil as much as possible until the voltage is limited by the current upper limit value, and the magnetic field strength is continuously increased by increasing the current upper limit value, so that the driving moment is continuously increased, and the external force interference resistance of the direct current brushless motor without the position sensor is further enhanced.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above 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 that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for processing locked rotor of a brushless dc motor without a position sensor according to an embodiment of the present invention;
fig. 2 is a flowchart of another method for processing locked rotor of 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 device 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 brushless dc motor controller without a position sensor according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a method for processing locked rotor of a brushless dc motor without a position sensor according to an embodiment of the present invention may include the following steps:
s11: and judging whether the direct current brushless motor is blocked, if so, executing step S12.
When no locked rotation occurs in the brushless DC motor, 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 rotor rotating speed is estimated by using the motor back electromotive force state observer; and then, the motor back electromotive force state observer estimates the rotor rotating speed and integrates the rotor rotating speed to obtain the rotor position.
And judging whether the DC brushless motor is blocked or not according to the actual current and the actual rotor rotating speed of the DC brushless motor. In a specific embodiment of the present invention, when the actual current of the brushless dc motor is greater than a preset stall current threshold and the actual rotor speed of the brushless dc motor is less than the preset stall speed threshold, the two conditions are satisfied at the same time, it is determined that the brushless dc motor is stalled; any one of the two conditions is not satisfied, and it is determined that no locked-rotor occurs in the brushless DC motor.
S12: and judging whether the duration of the occurrence of the stalling of the direct current brushless motor is larger than a preset stalling time threshold, if not, executing the step S13, and if so, executing the step S15.
S13: and integrating a 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 manufacture a locked rotor fault, set a fixed rotor rotating speed value, integrate the rotor rotating speed to obtain a rotor position rotating at a uniform speed, and control a 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 rotor rotating speed set value, and selecting the rotor rotating speed corresponding to the maximum driving torque as a rotor rotating speed threshold value.
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.
Because the preset rotor speed threshold is a constant, the rotor position obtained by integrating the rotor speed threshold in the step S13 is a uniform rotation angle; and then step S14 is executed to control 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 rotating at a uniform speed. The rotor of the DC brushless motor is stopped and the position is unknown during the locked rotation, but under the action of the magnetic field rotating at a constant speed, a certain angle can always provide driving torque for the rotor within 360 degrees. Therefore, in the method for processing the locked rotor of the brushless direct current motor without the position sensor provided by the embodiment of the invention, when the brushless direct current motor is locked, the rotor is subjected to periodic impact of the driving moment, and when the resistance moment of the locked rotor is smaller than the driving moment, the brushless direct current motor restarts to rotate, so that the external force interference resistance capability of the brushless direct current motor without the position sensor is enhanced.
S15: and outputting the locked rotor fault information.
The locked rotor fault information is output, namely, the method provided by the invention can not enable the brushless DC motor to restart rotating, so that the whole brushless DC motor needs to be closed. And setting the locked rotor time threshold value, so that the direct current brushless motor cannot be in a locked rotor state for a long time, and further, the temperature rise caused by locked rotor faults is avoided. The locked-rotor time threshold is obtained through experimental calibration. In one embodiment, the value of the stall time threshold ranges from 5 to 10 seconds.
Referring to fig. 2, another method for processing locked rotor of a brushless dc motor according to an embodiment of the present invention may include the following steps:
s21: whether the brushless DC motor is locked is judged, if yes, the step S22 is executed, and if not, the step S26 is executed.
When no locked rotation occurs in the brushless DC motor, 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 upper limit value of the current of the dc brushless motor is modified to the original value, i.e., the first current threshold value, in step S26.
S22: and judging whether the duration of the occurrence of the stalling of the direct current brushless motor is larger than a preset stalling time threshold, if not, executing the step S23, and if so, executing the step S25.
S23: integrating a preset rotor rotating speed threshold value to obtain a rotor position, and increasing the upper limit value of the current of the direct current brushless 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.
The second current threshold is greater than the first current threshold. The preset current upper limit value change curve is used for gradually increasing the upper limit value of the current of the direct current brushless motor after the occurrence of locked rotation, and the current upper limit value is required to be kept at the second current threshold value for a period of time, for example, a few seconds after reaching the second current threshold value, so that the locked rotation time threshold value can be reached. When no stall occurs in the brushless DC motor, the upper limit value of the current of the brushless DC motor is a first current threshold value. The second current threshold is calibrated through experiments, the upper limit value of the current of the direct current brushless motor is gradually increased in the period that the duration of the locked rotor is smaller than the locked rotor time threshold, and the maximum current value which does not cause hardware faults of the direct current brushless motor is determined to be the second current threshold.
Because the actual rotor speed is relatively low after locked rotor, the target rotor speed can not be reached, and therefore the voltage of the stator coil can be increased as much as possible by PI or other closed-loop algorithms; the voltage of the stator coil is positively correlated with the actual current of the brushless DC motor, so that the actual current of the brushless DC motor is increased when the voltage of the stator coil is increased until the current is limited by the upper current limit value, the voltage of the stator coil is continuously increased by adjusting the upper current limit value to be a second current threshold value, the magnetic field strength of a magnetic field generated by the stator coil is continuously increased, and further the driving moment is continuously increased, and the external force interference resistance of the brushless DC motor without a position sensor is further enhanced.
S24: the magnetic field steering control algorithm controls the voltage vector of the stator coils based on the rotor position.
The field-oriented control (FOC) is a mature closed-loop control algorithm, and can accurately control the magnitude and direction of a magnetic field, so that the motor has stable torque, small noise, high efficiency and high-speed dynamic response. The FOC algorithm controls the voltage vector of the motor stator coil according to the rotor position information, and the stator coil can generate a magnetic field rotating at a constant speed, so that the driving moment acting on the motor rotor is generated within a certain angle of 360 degrees.
S25: and outputting the 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.
For the foregoing method embodiments, for simplicity of explanation, the methodologies are shown as a series of acts, but one of ordinary skill in the art will appreciate that the present invention is not limited by the order of acts, as some steps may, in accordance with the present invention, occur in other orders or concurrently.
The following are examples of the apparatus of the present invention that may be used to perform the method embodiments of the present invention. For details not disclosed in the embodiments of the apparatus of the present invention, please refer to the embodiments of the method of the present invention.
Referring to fig. 3, a locked rotor processing device of 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 fault information output unit 35.
The first judging unit 31 is configured to judge whether the dc brushless motor is locked, and if so, execute the second judging unit 32.
The second judging unit 32 is configured to judge whether the duration of occurrence of stalling of the brushless dc motor is greater than a preset stall time threshold, if so, execute the fault information output unit 35, and if not, execute the first rotor position estimating unit 33.
The first rotor position estimation unit 33 is configured to integrate a preset rotor rotation speed threshold value to obtain a rotor position.
The magnetic field guiding control unit 34 is configured to control the voltage vector of the stator coil according to a magnetic field guiding 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 the locked rotor fault information.
Because the preset rotor rotating speed threshold value is a constant, the rotor position obtained by integrating the rotor rotating speed threshold value by the first rotor position estimation unit is an angle of uniform rotation; and the magnetic field guiding control unit controls the voltage vector of the stator coil according to the rotor position, so that the stator coil generates a magnetic field rotating at a uniform speed. The rotor of the DC brushless motor is stopped and the position is unknown during the locked rotation, but under the action of the magnetic field rotating at a constant speed, a certain angle can always provide driving torque for the rotor within 360 degrees. Therefore, in the device for processing locked rotor of the brushless dc motor without position sensor provided by the embodiment of the invention, when the brushless dc motor is locked rotor, the rotor is subjected to periodic impact of the driving moment, and when the resistance moment of locked rotor is smaller than the driving moment, the brushless dc motor restarts to rotate, so that the capability of resisting external force interference of the brushless dc motor without position sensor is enhanced.
Optionally, the locked rotor processing device of the brushless dc 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 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 of the occurrence of the locked rotation of the direct current brushless motor is not more than the preset locked rotation 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 occurrence of the locked-rotor of the direct current brushless motor is larger 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 into the first current threshold value if the upper limit value of the current of the direct current brushless motor is not the first current threshold value after judging that the direct current brushless motor is not blocked.
Whether the DC brushless motor is blocked or not can be judged according to the actual current and the actual rotor rotating speed of the DC brushless motor. The first judgment unit 31 specifically includes: a current judgment subunit and a rotation speed judgment subunit.
And 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, 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 rotating speed of the rotor of the direct current brushless motor is smaller than a preset locked rotating speed threshold value, if so, determining that the direct current brushless motor is locked, and if not, determining that the direct current brushless motor is not locked.
Optionally, the locked rotor processing device of the brushless dc 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 blocked, so as to obtain the rotor position.
Optionally, the value range of the locked-rotor time threshold is: 5-10 seconds.
The method for processing the locked rotor of the brushless DC motor without the position sensor provided by the embodiment of the invention can be applied to a brushless DC motor controller without the position sensor. Referring to fig. 4, a hardware structure diagram of a brushless dc motor controller without a position sensor according to an embodiment of the present invention is shown. The hardware structure of the sensorless direct current brushless motor controller may include: at least one processor 41, at least one communication interface 42, at least one memory 43 and at least one communication bus 44; and the processor 41, the communication interface 42 and the memory 43 complete the communication with each other through the communication bus 44;
processor 41 may be a CPU (Central Processing Unit ) or ASIC (Application Specific Integrated Circuit, application specific integrated circuit) in some embodiments, or one or more integrated circuits configured to implement embodiments of the present invention, etc.
Communication interface 42 may include a standard wired interface, a wireless interface. Typically for establishing a communication link between the dc brushless motor controller device and other electronic devices or systems.
The memory 43 includes at least one type of readable storage medium. The readable storage medium may be a non-volatile memory (NVM) such as Flash EEPROM. The readable storage medium may also be a high speed RAM (random access memory ) memory.
The memory 43 stores a control program, and the processor 41 may call the control program stored in the memory 43, where the control program is used for:
judging whether the direct current brushless motor is blocked, if so, judging whether the duration time of the direct current brushless motor which is blocked is larger than a preset blocked time threshold;
if the duration of the occurrence of the locked rotor of the direct current brushless motor is not more than the locked rotor time threshold, integrating a preset rotor rotating speed threshold to obtain the rotor position;
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 if the duration time of the locked rotor of the direct current brushless motor is greater than the locked rotor time threshold value, outputting locked rotor fault information.
The refinement and expansion functions of the program may be described with reference to the above.
Fig. 4 shows only a sensorless dc brushless motor controller having components 41-44, but it should be understood that not all of the illustrated components are required to be implemented, and more or fewer components may alternatively be implemented.
The embodiment of the present invention also provides a readable storage medium storing a program adapted to be executed by a processor, the program being configured to:
judging whether the direct current brushless motor is blocked, if so, judging whether the duration time of the direct current brushless motor which is blocked is larger than a preset blocked time threshold;
if the duration of the occurrence of the locked rotor of the direct current brushless motor is not more than the locked rotor time threshold, integrating a preset rotor rotating speed threshold to obtain the rotor position;
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 if the duration time of the locked rotor of the direct current brushless motor is greater than the locked rotor time threshold value, outputting locked rotor fault information.
The refinement and expansion functions of the program may be described with reference to the above.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, all embodiments are mainly described in the differences from other embodiments, and the same similar parts between the embodiments are referred to each other, and features described in the embodiments may be replaced 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. The method for processing the locked rotor of the brushless DC motor without the position sensor is characterized by comprising the following steps of:
judging whether the direct current brushless motor is blocked, if so, judging whether the duration time of the direct current brushless motor which is blocked is larger than a preset blocked time threshold;
if the duration time is not greater than the locked rotor time threshold, integrating a preset rotor rotating speed threshold to obtain a rotor position;
controlling a voltage vector of a stator coil according to a magnetic field guiding control algorithm and the rotor position so that the stator coil generates a magnetic field which drives the rotor to rotate at a uniform speed;
and if the duration time is greater than the locked rotor time threshold value, outputting locked rotor fault information.
2. The method of claim 1, further comprising, after determining that the duration is not greater than the stall time threshold:
according to a preset current upper limit value change curve, increasing the upper limit value of the current 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 time 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 is not locked, 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 be the first current threshold value.
3. The method for processing locked rotor of sensorless dc brushless motor according to claim 1, wherein the determining whether the locked rotor of the dc brushless motor occurs comprises:
judging whether the actual current of the direct current brushless motor is larger than a preset locked-rotor current threshold value, 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;
if the actual rotor rotating speed is smaller than the locked rotor rotating speed threshold value, determining that the DC brushless motor is locked;
and if the actual rotor rotating speed is not less than the locked rotor rotating speed threshold, determining that the direct current brushless motor is not locked.
4. The method for processing locked rotor of a sensorless dc brushless motor of claim 1, further comprising, after determining that the dc brushless motor is not locked rotor:
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 locked rotor of a sensorless dc brushless motor according to any one of claims 1 to 4, wherein the value range of the locked rotor time threshold is: 5-10 seconds.
6. A stall-handling apparatus for a sensorless dc brushless motor, comprising:
the first judging unit is used for judging whether the DC brushless motor is blocked, 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 direct current brushless motor is larger than a preset locked rotor time threshold value, if so, executing the fault information output unit, and if not, executing the first rotor position estimating unit;
the first rotor position estimation unit is used for integrating a preset rotor rotating 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 which drives the rotor to rotate at a uniform speed;
the fault information output unit is used for outputting locked rotor fault information.
7. The sensorless dc brushless motor apparatus of claim 6, further comprising:
the current upper limit adjusting unit is used for increasing the upper limit value of the current of the direct current brushless 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 is not more than the stalling time threshold value;
the current upper limit adjusting unit is further configured to modify the current upper limit value from the second current threshold to the first current threshold after the second judging unit judges that the duration is greater than the stall time threshold;
and the current upper limit adjusting unit is further used for modifying the upper limit value of the current into the first current threshold value if the upper limit value of the current is not the first current threshold value after judging that the direct current brushless motor is not blocked.
8. The apparatus for processing locked rotor of sensorless dc brushless motor 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, 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 brushless dc motor is less than a preset locked rotation speed threshold, if yes, determine that locked rotation occurs in the brushless dc motor, and if no, determine that locked rotation does not occur in the brushless dc motor.
9. The sensorless dc brushless motor apparatus of 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 blocked, so as to obtain the rotor position.
10. The stall-free sensor dc brushless motor stall-handling apparatus of any one of claims 6 to 9, wherein the stall time threshold has a range of values: 5-10 seconds.
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| CN113572131B (en) * | 2021-07-26 | 2024-01-09 | 深圳英恒电子有限公司 | Control method, device and system of double-phase coil direct current brushless motor |
| CN115313955A (en) * | 2022-08-23 | 2022-11-08 | 联合汽车电子有限公司 | Motor control method, device, medium, blind driving and parking equipment and vehicle |
| CN115425909B (en) * | 2022-09-14 | 2023-12-01 | 江苏新安电器股份有限公司 | Software algorithm for improving motor locked rotor protection effect |
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