CN112821845B - Electric tool control method and electric tool - Google Patents
Electric tool control method and electric tool Download PDFInfo
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- CN112821845B CN112821845B CN201911127249.8A CN201911127249A CN112821845B CN 112821845 B CN112821845 B CN 112821845B CN 201911127249 A CN201911127249 A CN 201911127249A CN 112821845 B CN112821845 B CN 112821845B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000001939 inductive effect Effects 0.000 claims abstract description 110
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 6
- 230000008859 change Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 16
- 238000009527 percussion Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 239000010687 lubricating oil Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Portable Power Tools In General (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The embodiment of the invention discloses a control method of an electric tool and the electric tool. The electric tool is provided with a non-inductive motor and a controller, the method comprising: when the electric tool is started, if the electric tool is determined to be locked, outputting a first control signal for driving the non-inductive motor to rotate reversely; after the first control signal is applied to the sensorless motor for a set time, a second control signal for driving the sensorless motor to rotate forward is output. By reversing, a certain gap is formed between gears in the gearbox transmission mechanism of the electric tool, so that the starting load of the sensorless motor is reduced. At this time, the non-inductive motor rotates forward, and the non-inductive motor can rapidly increase the rotating speed under a smaller starting load, so that the electric tool is successfully started. The problem that the motor cannot be started due to the fact that the load of the non-inductive motor is increased, and the problem that the motor cannot be started due to the fact that the load of the non-inductive motor is increased is solved, and the motor can be started smoothly when the motor is locked.
Description
Technical Field
The embodiment of the invention relates to a non-inductive motor control technology, in particular to a control method of an electric tool and the electric tool.
Background
The impact wrench has a large load during starting, and after the impact wrench is used for a period of time, the output shaft of the impact wrench is ground, and lubricating oil of the gear box is carbonized, so that the load is increased during starting, and the phenomenon of locked-rotor is easy to occur. When the non-inductive motor is blocked, the problem of phase change error exists, and the impact wrench cannot be started.
Disclosure of Invention
The embodiment of the invention provides a control method of an electric tool and the electric tool, which are used for realizing normal starting of the electric tool when the electric tool is locked.
In a first aspect, an embodiment of the present invention provides a power tool control method provided with a non-inductive motor for driving the power tool and a controller for applying a control signal to the non-inductive motor, the method comprising:
when the electric tool is started, if the electric tool is determined to be locked, outputting a first control signal for driving the non-inductive motor to rotate reversely;
and outputting a second control signal for driving the non-inductive motor to rotate forward after the first control signal is applied to the non-inductive motor for a set time.
In a second aspect, an embodiment of the present invention also provides a power tool provided with a non-inductive motor for driving the power tool and a controller for applying a control signal to the non-inductive motor, the controller comprising:
the first control signal output module is used for outputting a first control signal for driving the non-inductive motor to rotate reversely when the power tool is determined to be locked;
and the second control signal output module is used for outputting a second control signal for driving the noninductive motor to rotate positively after the first control signal is applied to the noninductive motor for a set time.
When the locked rotation of the electric tool is detected, the embodiment of the invention outputs a control signal for reversing the non-inductive motor to the non-inductive motor, so that the non-inductive motor reversely rotates for a certain time; after the reversing, a certain gap is formed between gears in a gear box transmission mechanism of the electric tool, so that the load of the sensorless motor is reduced; and then, a forward rotation control signal is applied to the non-inductive motor, and at the moment, the non-inductive motor can rapidly increase the rotating speed under a smaller starting load, so that the electric tool is successfully started. According to the technical scheme, the problem that the electric tool cannot be started due to the fact that the load of the non-inductive motor is increased and the rotation is blocked in the background art is solved, and the electric tool can be started smoothly when the electric tool is blocked.
Drawings
FIG. 1 is a flowchart of a method for controlling an electric tool according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a method for controlling an electric tool according to a second embodiment of the present invention;
FIG. 3 is a block diagram of a power tool according to a third embodiment of the present invention;
fig. 4 is a block diagram of a controller according to a third embodiment of the present invention.
Description of the embodiments
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Examples
Fig. 1 is a flowchart of a control method of an electric tool according to an embodiment of the present invention, where the embodiment is applicable to a situation that a locked rotor occurs in a starting process of the electric tool, for example, a starting load of an impact wrench is large, and when the impact wrench is aged, the starting load is further increased, and the locked rotor occurs, so that the impact wrench cannot be started normally. The method may be performed by a controller of a power tool, the method comprising the steps of:
and S110, when the electric tool is started, if the electric tool is determined to be blocked, outputting a first control signal for driving the non-inductive motor to rotate reversely.
The locked-rotor of the electric tool refers to the condition that the electric tool still outputs torque when the rotating speed is zero, at this time, the rotor of the non-inductive motor in the electric tool cannot normally rotate, but the stator winding of the non-inductive motor is still continuously electrified, so that the non-inductive motor of the electric tool is easily damaged in the locked-rotor state. If the power tool is locked when started, the power tool cannot be started normally.
A sensorless motor refers to a motor without a position sensor. When the controller determines that the electric tool is locked, the controller generates a first control signal for reversing the non-inductive motor according to the reversing logic of the rotor of the non-inductive motor, and applies the first control signal to the non-inductive motor to reverse the non-inductive motor. Reversing refers to the rotation of the sensorless motor in a direction opposite to the operating direction. By reversing the sensorless motor, the load of the power tool can be reduced.
Optionally, the present embodiment determines whether the power tool is locked by determining whether a phase change signal is received within a set time, and the process specifically includes:
acquiring a commutation signal of the sensorless motor;
if the next commutation signal is not received within the set time threshold, determining that the electric tool is blocked; otherwise, it is determined that the power tool is not locked.
The controller applies corresponding control signals to the stator according to the current position of the rotor of the sensorless motor, so that the rotor rotates from the current position to the next position. The switching of the stator of the non-inductive motor from one energizing state to the other energizing state is phase change. The controller of the power tool may record the commutation time at each commutation. Thus, the controller judges whether the commutation is normal or not by calculating the time difference of two successive commutation and comparing the time difference with the time threshold. For example, if the set time threshold is 50ms, if the time difference between two consecutive commutation is 45ms, that is, the next commutation signal can be received within the set time threshold, it is determined that the electric tool has no locked-rotor; if the commutation time difference between two consecutive times is 51ms, that is, the next commutation signal is not received within the set time threshold, the power tool is determined to be blocked.
The set time threshold is related to the rotational speed of the sensorless motor, and the larger the rotational speed is, the smaller the time threshold is. Since the rotation speed of the non-inductive motor has a corresponding relation with the applied current, the rotation speed of the non-inductive motor can be determined by acquiring the current signal applied to the non-inductive motor, and the corresponding time threshold can be determined by combining the characteristic curve of the non-inductive motor. Typically, the time threshold is set to a multiple of the theoretical commutation time difference at the corresponding rotational speed. For example, if the normal phase change time is 2ms at a certain rotation speed, the time threshold may be set to 30ms to accurately determine that the electric tool is in the locked state. Optionally, the time threshold is set to 30ms to 100ms.
And S120, after the first control signal is applied to the non-inductive motor for a set time, outputting a second control signal for driving the non-inductive motor to rotate positively.
The positive rotation means that the non-inductive motor rotates according to the working steering, and the working steering of the non-inductive motor can be set by a user. And (3) applying a second control signal to the non-inductive motor to enable the non-inductive motor to perform phase inversion according to the phase inversion logic of forward rotation.
The setting time can be set according to factors such as the model of the sensorless motor, the service time of the electric tool and the like, for example, the longer the service time is, the larger the setting time is relatively; the shorter the use time, the smaller the set time is relatively. Typically, the set time is 30 to 60ms.
The non-inductive motor rotates reversely to drive the functional parts of the electric tool to rotate reversely. For example, when the electric tool is a percussion drill, the impact block of the percussion drill moves back and forth along with the non-inductive motor under the drive of the non-inductive motor, and the hammer of the percussion drill is not moved, so that the percussion drill can be driven to retreat for a certain distance through the reverse rotation of the non-inductive motor, thereby flowing out for a certain distance from the percussion drill and the hammer, and leaving a certain gap in the gear. At this time, when the non-inductive motor rotates forward again, the load of the non-inductive motor is reduced, so that the non-inductive motor can rotate at a higher rotation speed than before the locked-rotor, and the electric tool can be started during the locked-rotor.
After the sensorless motor is reversed by applying the first control signal, optionally, the present embodiment determines the rotor position of the sensorless motor by using the back electromotive force zero-crossing detection method, and applies the second control signal to the sensorless motor to drive the sensorless motor to rotate in the forward direction. The method specifically comprises the following steps:
acquiring a back electromotive force zero crossing signal output by the back electromotive force detection circuit;
calculating the rotor position of the sensorless motor according to the back electromotive force zero crossing signal;
and outputting a second control signal for driving the non-inductive motor to rotate positively according to the rotor position of the non-inductive motor.
The counter electromotive force zero crossing signal refers to a counter electromotive force zero crossing signal of a suspended phase of the sensorless motor, the rotor position of the sensorless motor can be determined through the counter electromotive force zero crossing signal, and the controller applies a phase change signal to the sensorless motor according to the rotor position. Therefore, when the controller detects the counter electromotive force zero crossing signal, a second control signal is output to perform phase change on the non-inductive motor, so that the non-inductive motor rotates normally.
The technical scheme of the embodiment is particularly suitable for the condition that the stalling occurs in the starting process of the sensorless motor, for example, when the electric tool is an impact wrench, the impact wrench is usually used for more than 6 months, and because the output shaft is worn, gear box lubricating oil is carbonized, so that the load of the impact wrench is increased during starting. At this time, the situation of locked-up is easy to occur, resulting in failure of starting the impact wrench. At this time, through to the first control signal of noninductive motor output, let noninductive motor reversal to drive impact wrench reverse rotation, leave certain clearance for impact wrench's gear box, apply forward rotation control signal to noninductive motor again, noninductive motor's area load reduces this moment, and the rotational speed promotes soon, thereby promotes impact wrench's start probability by a wide margin.
The working principle of the electric tool control method is as follows: in the starting process of the non-inductive motor, if the non-inductive motor is detected to be blocked, a control signal for reversing the non-inductive motor is output first to reverse the electric tool, and after reversing, a certain gap is reserved between gears in a gear box transmission mechanism of the electric tool, so that the load of the non-inductive motor is reduced, and then a forward control signal is applied to the non-inductive motor, and at the moment, the electric tool can be started smoothly because the starting load of the non-inductive motor is reduced.
According to the technical scheme, when the locked rotation of the electric tool is detected, a control signal for enabling the non-inductive motor to rotate reversely is output to the non-inductive motor, so that the non-inductive motor rotates reversely for a certain time; after the reversing, a certain gap is formed between gears in a gear box transmission mechanism of the electric tool, so that the load of the sensorless motor is reduced; and then, a forward rotation control signal is applied to the non-inductive motor, and at the moment, the non-inductive motor can rapidly increase the rotating speed under a smaller starting load, so that the electric tool is successfully started. According to the technical scheme, the problem that the electric tool cannot be started due to the fact that the load of the non-inductive motor is increased and the rotation is blocked in the background art is solved, and the electric tool can be started smoothly when the electric tool is blocked.
Examples
Fig. 2 is a flowchart of a control method of an electric tool according to a second embodiment of the present invention, where the method for obtaining a commutation time of the electric tool before a locked-rotor is optimized based on the foregoing embodiment, and the method specifically includes:
and S210, when the electric tool is started, acquiring a back electromotive force zero crossing signal output by the back electromotive force detection circuit, and determining the back electromotive force zero crossing signal as a phase change signal of the sensorless motor.
When an electric signal is applied to the stator winding of the non-inductive motor, the rotor of the non-inductive motor is driven to rotate by the magnetic field generated by the electric signal, meanwhile, the non-inductive motor rotates to generate a variable magnetic field inside the non-inductive motor, and counter electromotive force is induced by each phase of the stator winding of the non-inductive motor under the action of the variable magnetic field. When commutation is carried out each time, the counter electromotive force of the suspended phase of the stator winding of the sensorless motor just crosses zero, namely the counter electromotive force zero crossing signal corresponds to the commutation moment one by one, so that the counter electromotive force zero crossing signal can be determined as the commutation signal of the sensorless motor.
And S220, if the next commutation signal is not received within the set time threshold, determining that the electric tool is blocked.
And S230, sending a power-off shutdown signal to a driving circuit of the electric tool, and stopping supplying power to the non-inductive motor until the non-inductive motor is stopped.
In this case, the time for stopping the power supply is usually set to 50ms, and the sensorless motor is stopped to prevent the inertia due to the forward rotation from affecting the reverse rotation.
And S240, after the first control signal is applied to the non-inductive motor for a set time, a brake stop signal is sent to a driving circuit of the electric tool so as to stop the rotor of the non-inductive motor.
S250, outputting a second control signal for driving the sensorless motor to rotate positively.
According to the technical scheme, whether the electric tool is locked or not is judged by judging whether the commutation signal is received or not within the set time threshold. When the power tool is determined to be locked, firstly stopping supplying power to the non-inductive motor, stopping the non-inductive motor, and then applying a reverse control signal to the non-inductive motor to prevent the inertia of the forward rotation of the non-inductive motor from influencing the reverse rotation; after a control signal for reversing the non-inductive motor is applied to the non-inductive motor for a certain time, a brake stop signal is applied to the non-inductive motor to stop the non-inductive motor, and then a control signal for forward rotation of the non-inductive motor is applied to the non-inductive motor to start the non-inductive motor. By applying the control signal before the reverse rotation and before the forward rotation, the motor is stopped, the influence of the rotational inertia of the previous state on the current rotational state is eliminated, and the starting probability of the sensorless motor is further improved.
Examples
Fig. 3 is a block diagram of a power tool according to a third embodiment of the present invention, where the power tool is provided with a non-inductive motor 320 and a controller 310, the non-inductive motor 320 is used to drive the power tool, and the controller 310 is used to apply a control signal to the non-inductive motor 320. The power tool further includes a back emf detection circuit 340, the back emf detection circuit 340 configured to detect a back emf zero crossing signal of the sensorless motor 320. The controller 310 determines a commutation signal of the sensorless motor according to the output result of the back electromotive force detection circuit 340, and then outputs a corresponding control signal to the driving circuit 330, and drives the sensorless motor 310 to rotate through the driving circuit 330.
Fig. 4 is a block diagram of a controller according to a third embodiment of the present invention, where the controller 310 specifically includes: a first control signal output module 311 and a second control signal output module 312, wherein,
the first control signal output module 311 is configured to output a first control signal for driving the sensorless motor to reverse when the power tool is started and the power tool is determined to be locked;
the second control signal output module 312 is configured to output a second control signal for driving the sensorless motor to rotate forward after the first control signal is applied to the sensorless motor for a set time.
Optionally, the controller further includes:
the phase change acquisition module is used for acquiring a phase change signal of the non-inductive motor;
and the locked rotor determining module is used for determining that the electric tool is locked rotor if the next phase-change signal is not received within the set time threshold.
Optionally, an input end of the controller is connected to a back electromotive force detection circuit 340, the back electromotive force detection circuit 340 is configured to detect a back electromotive force of the sensorless motor, and the phase-change signal acquisition module specifically includes:
a first counter electromotive force signal acquisition unit for acquiring a counter electromotive force zero crossing signal output by the counter electromotive force detection circuit;
and the phase change determining unit is used for determining the back electromotive force zero crossing signal as a phase change signal of the sensorless motor.
In the phase change signal acquisition module, the time threshold is set according to the rotation speed of the sensorless motor.
Optionally, the second control signal output module 312 specifically includes:
a second back electromotive force signal acquisition unit for acquiring a back electromotive force zero crossing signal output by the back electromotive force detection circuit;
and the second control signal output unit is used for outputting a second control signal for driving the sensorless motor to rotate positively when the back electromotive force zero crossing signal is acquired.
On the basis of the above technical solution, optionally, the controller further includes:
and the shutdown protection module is used for sending a power-off shutdown signal to a driving circuit of the electric tool and stopping supplying power to the non-inductive motor until the non-inductive motor is stopped.
On the basis of the above technical solution, optionally, the controller further includes:
and the brake stopping module is used for sending a brake stopping signal to a driving circuit of the electric tool so as to stop the sensorless motor rotor.
The electric tool provided by the embodiment of the invention can execute the electric tool control method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Reference is made to the description of embodiments of the method according to the invention, which are not described in detail in this embodiment.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A method of controlling an electric tool, the electric tool being provided with a non-inductive motor and a controller, the method being applied to the controller, the method comprising:
when the electric tool is started, if the electric tool is determined to be locked, outputting a first control signal for driving the non-inductive motor to rotate reversely;
after the first control signal is applied to the non-inductive motor for a set time, outputting a second control signal for driving the non-inductive motor to rotate positively;
the non-inductive motor rotates reversely, a gap is reserved between gears in the gear box transmission mechanism of the electric tool, the load of the non-inductive motor is reduced, and then a forward rotation control signal is applied to the non-inductive motor, so that the non-inductive motor has smaller starting load.
2. The method of claim 1, wherein the determining that the power tool is locked comprises:
acquiring a commutation signal of the sensorless motor;
and if the next commutation signal is not received within the set time threshold, determining that the electric tool is blocked.
3. The method of claim 2, wherein the controller has an input connected to a back emf detection circuit, the back emf detection circuit configured to detect a back emf zero crossing signal of the sensorless motor, and the acquiring the commutation signal of the sensorless motor comprises:
acquiring a back electromotive force zero crossing signal output by the back electromotive force detection circuit;
and determining the back electromotive force zero crossing signal as a commutation signal of the sensorless motor.
4. The method of claim 2, wherein the time threshold is set based on a rotational speed of the sensorless motor.
5. The method of claim 1, wherein the controller has an input connected to a back emf detection circuit for detecting a back emf zero crossing signal of the sensorless motor, and wherein the outputting a second control signal for driving the sensorless motor in a forward direction comprises:
acquiring a back electromotive force zero crossing signal output by the back electromotive force detection circuit;
calculating the rotor position of the sensorless motor according to the back electromotive force zero crossing signal;
and outputting a second control signal for driving the non-inductive motor to rotate positively according to the rotor position of the non-inductive motor.
6. The method of claim 1, wherein after determining that the power tool is locked, the method further comprises:
and sending a power-off stop signal to a driving circuit of the electric tool, and stopping supplying power to the non-inductive motor until the non-inductive motor is stopped.
7. The method of claim 1, wherein after applying the first control signal to the sensorless motor for a set time, the method further comprises:
and sending a brake stopping signal to a driving circuit of the electric tool so as to stop the sensorless motor rotor.
8. An electric tool provided with a non-inductive motor for driving the electric tool and a controller for applying a control signal to the non-inductive motor, the controller comprising:
the first control signal output module is used for outputting a first control signal for driving the non-inductive motor to rotate reversely if the power tool is determined to be locked when the power tool is started;
the second control signal output module is used for outputting a second control signal for driving the noninductive motor to rotate positively after the first control signal is applied to the noninductive motor for a set time;
the non-inductive motor rotates reversely, a gap is reserved between gears in the gear box transmission mechanism of the electric tool, the load of the non-inductive motor is reduced, and then a forward rotation control signal is applied to the non-inductive motor, so that the non-inductive motor has smaller starting load.
9. The power tool of claim 8, wherein the controller further comprises:
the phase change acquisition module is used for acquiring a phase change signal of the non-inductive motor;
and the locked rotor determining module is used for determining that the electric tool is locked rotor if the next phase-change signal is not received within the set time threshold.
10. The power tool of claim 9, wherein the phase change signal acquisition module comprises:
a back electromotive force signal acquisition unit for acquiring a back electromotive force zero crossing signal output by the back electromotive force detection circuit;
and the phase change determining unit is used for determining the back electromotive force zero crossing signal as a phase change signal of the sensorless motor.
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| CN113411034B (en) * | 2021-07-21 | 2023-06-06 | 深圳绿威科技有限公司 | Non-inductive brushless permanent magnet motor locked-rotor control method and variable frequency controller |
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