CN112865644B - Initial position detection method of direct current brushless motor - Google Patents

Initial position detection method of direct current brushless motor Download PDF

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CN112865644B
CN112865644B CN202110087592.5A CN202110087592A CN112865644B CN 112865644 B CN112865644 B CN 112865644B CN 202110087592 A CN202110087592 A CN 202110087592A CN 112865644 B CN112865644 B CN 112865644B
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motor
brushless
initial position
batches
direct current
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CN112865644A (en
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阮韵霖
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Cetc Haikang Wuxi Technology Co ltd
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Cetc Haikang Wuxi Technology Co ltd
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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
    • 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
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Abstract

The invention relates to the technical field of motor control, and particularly discloses a method for detecting an initial position of a brushless direct current motor, wherein the method comprises the following steps: initializing the direct current brushless motor; acquiring suspension phase voltage values of the direct current brushless motor in multiple batches; comparing the magnitude of the suspended phase voltage values of a plurality of batches to obtain a comparison result; and judging the sector of the initial position of the rotor of the brushless DC motor according to the winding structure of the brushless DC motor and the comparison result, wherein the winding structure of the brushless DC motor comprises a stator winding in a delta connection method. The initial position detection method of the brushless DC motor can realize the initial position detection of the rotor of the motor.

Description

Initial position detection method of direct current brushless motor
Technical Field
The invention relates to the technical field of motor control, in particular to a method for detecting an initial position of a brushless direct current motor.
Background
With the rapid development of permanent magnet materials, power electronic technology, sensor technology, modern control theory and microprocessor technology, the direct current brushless motor has the advantages of high efficiency, long service life, low noise, better rotating speed-torque characteristic and the like, so that the direct current brushless motor has wide application in the industries of automobiles, aviation, household appliances and the like. The direct current brushless motor is the development direction of the motor at present, and is the speed regulating motor with the most ideal performance and the fastest development at present.
Dc brushless motors are classified into inductive and non-inductive types according to whether they are equipped with hall sensors. The inductive DC brushless motor can obtain the sector where the rotor is located according to the output conversion of the Hall sensor, thereby smoothly and accurately completing the motor starting and position detection. For a non-inductive brushless direct current motor, position detection during operation is generally solved by a back electromotive force zero-crossing detection method, so starting based on an initial position is the biggest difficulty.
At present, the starting mode of the non-inductive brushless dc motor is divided into two modes, namely, a speed-reducing restart mode and a static start mode, according to whether the initial speed is zero or not when the initial position is detected.
The tape speed re-throwing scheme is pre-positioning, and a group of upper and lower bridges are communicated for a certain period of time through initial fixing so as to ensure that the position of the motor rotor reaches an artificially preset initial position after the period of time. This solution enables to accomplish a precise initial positioning, but the drawbacks are also evident: too short duration of the initial fixed conduction period may cause the initial position to be unexpected, and too long duration may cause the starting process of the motor to be too slow; and because the initial conducting phase and the portal bridge are fixed, the motor rotor is locked when the position of the motor rotor is just coaxial with the artificially preset initial position. At this time. The actual motor rotor position direction may be the same as or opposite to the artificially planned direction. If the opposite is the case, the rotor position is actually 180 ° different from the artificially planned position, i.e. the initial positioning fails.
As for the static start scheme, a variation detection method is currently commonly used. The principle is as follows: the sector where the initial position of the rotor is located is determined by comparing the current amplification difference caused by the variation of inductance along with the magnetic field strength under the conduction condition of different phase gate bridges.
Compared with a belt speed re-throwing scheme, the variable-inductance detection method avoids hidden dangers possibly caused by the coaxial but reverse direction of the direction in principle, greatly reduces the requirement on the duration of the conduction period, and ensures the safety of the motor. However, the susceptibility detection method has the defects that: due to poor anti-interference capability and volatility of the current, in the actual measurement process, it is often difficult to accurately judge the bus current amplification difference caused by each conducting phase in unit time under different conducting conditions, so that the position detection result is difficult to judge.
Disclosure of Invention
The invention provides a method for detecting an initial position of a direct current brushless motor, which solves the problem that the initial position of the direct current brushless motor cannot be detected in the related technology.
As an aspect of the present invention, there is provided an initial position detecting method of a dc brushless motor, comprising:
initializing the direct current brushless motor;
acquiring suspension phase voltage values of the direct current brushless motor in multiple batches;
comparing the magnitude of the suspended phase voltage values of a plurality of batches to obtain a comparison result;
and judging the sector of the initial position of the rotor of the brushless DC motor according to the winding structure of the brushless DC motor and the comparison result, wherein the winding structure of the brushless DC motor comprises a stator winding in a delta connection method.
Further, the initializing the dc brushless motor includes:
and carrying out parameter initialization, bootstrap capacitor pre-charging, fault detection and processing and output enabling on the direct current brushless motor.
Further, the collecting suspended phase voltage values of multiple batches of the dc brushless motor includes:
controlling a conducting switch of a six-bridge gate pole in six batches, and reading suspended phase voltage values in ABC collected by conducting sections in each batch, wherein ABC represents three phases of a leading-out terminal;
and when the conduction and the disconnection are finished, controlling all the six-bridge gate electrodes to be disconnected, waiting for follow current, and acquiring the suspended phase voltage value of the next batch after the follow current is finished.
Further, the comparing the magnitude of the suspended phase voltage values of a plurality of batches and obtaining a comparison result comprises:
and comparing the sizes of the suspended phase voltage values of six batches to obtain the size relation of the suspended phase voltage values of six batches.
Further, when the magnitude relation between the suspended phase voltage values acquired in two specific batches of the six batches cannot be judged, the sector where the initial position of the direct current brushless motor is located is determined to be an edge sector.
Further, the bus current peak values of the conduction periods of the two specific batches are collected, and the magnitude relation of the bus current peak values is compared to judge that the initial position of the rotor of the direct current brushless motor is in the sector.
Further, the determining a sector where an initial position of a rotor of the dc brushless motor is located according to the winding structure of the dc brushless motor and the comparison result includes:
and judging the sector of the initial position of the rotor of the brushless direct current motor according to the winding structure of the brushless direct current motor and the magnitude relation of the voltage division value of the phase inductance under each acquired current magnetic potential vector.
Further, the stator winding is delta-connected, and the method comprises the following steps: and three-phase windings of the stator windings are connected end to end.
Compared with the traditional variable inductance detection method, the initial position detection method of the brushless direct current motor avoids the position detection difficulty caused by the small data fluctuation and result difference of the bus current; under the same condition of detecting six groups of data, the traditional variable-sensitivity detection method can be positioned to one of six sectors, and the embodiment of the invention can be positioned to one of twelve sectors. Therefore, the method for detecting the initial position of the direct current brushless motor comprehensively improves the clarity of the acquired data difference and the accuracy of the detection result of the initial position.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a flowchart of an initial position detection method of a dc brushless motor according to the present invention.
FIG. 2 is a flow chart of a six-bridge gate turn-on batch process according to the present invention.
Fig. 3 is a schematic diagram of a delta connection winding provided by the present invention.
Fig. 4 is a magnetization curve and a permeability curve of the ferromagnetic material provided by the present invention.
Fig. 5 is a schematic diagram of twelve sector division provided by the present invention.
Fig. 6 is a judgment basis for twelve sector correspondence according to the present invention.
Fig. 7 is a schematic diagram of voltage acquisition results according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present embodiment, a method for detecting an initial position of a dc brushless motor is provided, and fig. 1 is a flowchart of a method for detecting an initial position of a dc brushless motor according to an embodiment of the present invention, as shown in fig. 1, including:
s110, initializing the direct current brushless motor;
in some embodiments, initializing the dc brushless motor may specifically include: and carrying out parameter initialization, bootstrap capacitor pre-charging, fault detection and processing and output enabling on the direct current brushless motor.
It will be appreciated that the power is turned on and an initialization procedure is performed for the motor.
S120, collecting suspension phase voltage values of the direct current brushless motor in multiple batches;
in some embodiments, the conducting switch of the six-bridge gate is controlled in six batches, and the suspended phase voltage value in ABC collected by the conducting section in each batch is read, wherein the ABC represents three phases of a leading-out terminal;
and after the conduction and the disconnection are finished, controlling all the six-bridge gate electrodes to be disconnected, waiting for follow current, and acquiring the suspended phase voltage value of the next batch after the follow current is finished.
According to the process shown in fig. 2, the turn-on switches of the six-bridge gates are controlled in six batches. The suspended phase voltage value in ABC collected by the conduction section in each batch needs to be read, and the conduction section is generally set to be 50-100 us. After the conduction section is finished, all six gate poles are required to be disconnected, and the follow current is waited to be finished. After the follow current is finished, the suspended phase voltage acquisition of the next batch can be carried out. The sequence of six batches is not fixed and can be adjusted by self. It should be noted that: ABC refers to three phases at the leading-out end, and is not equal to UVW phases of the motor stator winding, and the corresponding relation is shown in detail in figure 3.
S130, comparing the sizes of the suspended phase voltage values of a plurality of batches to obtain a comparison result;
in some embodiments, the magnitude of the flying phase voltage values of six batches are compared and the magnitude relationship of the flying phase voltage values of six batches is obtained.
It should be noted that, when the magnitude relation between the suspended phase voltage values acquired in two specific batches of the six batches cannot be judged, it is determined that the sector where the initial position of the dc brushless motor is located is an edge sector.
In addition, if the magnitude of the suspended phase voltage values of two batches of the direct current brushless motor is difficult to judge, the bus current peak values of the conduction periods of the two specific batches are collected, and the magnitude relation of the bus current peak values is compared to judge that the initial position of the rotor of the direct current brushless motor is in the sector.
And S140, judging the sector where the initial position of the rotor of the brushless DC motor is located according to the winding structure of the brushless DC motor and the comparison result, wherein the winding structure of the brushless DC motor comprises a stator winding in a delta connection method.
In this embodiment, the dc brushless motor has a certain saliency effect.
Specifically, according to the winding structure of the dc brushless motor, the sector where the initial position of the rotor of the dc brushless motor is located is determined according to the magnitude relation of the voltage division values of the phase inductances under the collected magnetic potential vectors of the currents.
The specific judgment principle is as follows: as can be seen from the magnetization curve and permeability curve μ = f (H) of the ferromagnetic material in fig. 4: because the working area of the inductor is generally a magnetization saturation area, on the premise of a permanent magnet, the larger the magnetic field induction strength B is, the smaller the magnetic permeability mu of the coil is; the smaller the magnetic field strength B, the larger the coil permeability μ. And the inductance coefficient A L ＝L/N 2 And = muS/L, wherein L is an inductance value of the coil, N is the number of coil turns, muis magnetic permeability, S is an effective cross section area, and L is an effective magnetic path length, so that the coil inductance value L and the magnetic permeability muis in a proportional relation, namely L ═ muis, during the short conduction period of the circuit on the premise of maintaining the motor at rest, when an included angle between a magnetic potential vector formed by current in the coil and a rotor magnetic potential vector is smaller, the corresponding coil inductance value is lower, namely the inductance is lower. The smaller the voltage division value on the inductor is on the premise that the total voltage is constant. Therefore, according to the winding structure, the sector of the initial position of the rotor can be judged according to the magnitude relation of the acquired partial pressure values of the phase inductances under the magnetic potential vectors of the currents.
Compared with the traditional variable inductance detection method, the initial position detection method of the direct current brushless motor avoids the position detection difficulty caused by the fact that the bus current is small in data fluctuation and result difference; under the same condition of detecting six groups of data, the traditional variable-sensitivity detection method can be positioned to one of six sectors, and the embodiment of the invention can be positioned to one of twelve sectors. Therefore, the method for detecting the initial position of the direct current brushless motor comprehensively improves the clarity of the acquired data difference and the accuracy of the detection result of the initial position.
The detection method is described below by way of an example.
In the embodiment of the invention, the structure of the stator winding of the direct current motor adopts a delta connection method, namely as shown in fig. 3, the conduction process is as shown in fig. 2, and the acquisition result of the obtained suspended phase voltage is as shown in fig. 6.
As can be seen from fig. 3, in the present embodiment, the voltage data in fig. 6 acquired according to the flow in fig. 2 can be determined to have the following magnitude relationship: v V+ >V U+ ，V V- >V W- ，V U+ ≦V W+ ，V U- <V V- ，V W+ <V V+ ，V W- ≈V U- . The corresponding relationship of the inductance voltage division values under the corresponding current vectors of the division of the twelve sectors in fig. 5 can be known: the size relation is only one group which is difficult to judge, so that the bus current value does not need to be acquired; the rotor N pole should then be located in sector (2).
The initial position detection method of the direct current brushless motor provided by the embodiment of the invention realizes the initial position detection of the motor rotor by collecting the suspension phase voltage aiming at the direct current brushless motor with the stator winding in the delta connection method; on one hand, the judgment of the initial position detection result can be based on changing the current into the voltage, so that the detection result is clearer; on the other hand, the initial position of the motor rotor can be positioned to one of twelve sectors through six groups of voltage data.
It will be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present invention, and the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims (4)

1. An initial position detection method of a brushless DC motor, comprising:
initializing the direct current brushless motor;
acquiring suspension phase voltage values of the direct current brushless motor in multiple batches;
comparing the magnitude of the suspended phase voltage values of a plurality of batches to obtain a comparison result;
judging the sector of the initial position of the rotor of the brushless DC motor according to the winding structure of the brushless DC motor and the comparison result, wherein the winding structure of the brushless DC motor comprises a stator winding which is in a delta connection method;
the collecting of the suspended phase voltage values of the multiple batches of the direct current brushless motor comprises the following steps:
controlling a conducting switch of a six-bridge gate pole in six batches, and reading suspended phase voltage values in ABC collected by conducting sections in each batch, wherein ABC represents three phases of a leading-out terminal;
when the conduction and the disconnection are finished, controlling all the six-bridge gate electrodes to be disconnected, waiting for follow current, and acquiring the suspended phase voltage value of the next batch after the follow current is finished;
the comparing of the magnitude of the suspended phase voltage values of a plurality of batches and obtaining a comparison result comprises the following steps:
comparing the sizes of the hanging phase voltage values of six batches to obtain the size relation of the hanging phase voltage values of six batches;
when the magnitude relation of the suspended phase voltage values acquired in two specific batches of the six batches cannot be judged, judging that the sector where the initial position of the direct-current brushless motor is located is an edge sector;
and collecting the bus current peak values of the conduction periods of the two specific batches, and comparing the bus current peak values to judge that the initial position of the rotor of the direct current brushless motor is in the sector.
2. The method of claim 1, wherein the initializing the dc brushless motor comprises:
and carrying out parameter initialization, bootstrap capacitor pre-charging, fault detection and processing and output enabling on the direct current brushless motor.
3. The method according to claim 1, wherein said determining a sector where an initial position of a rotor of the dc brushless motor is located according to a winding structure of the dc brushless motor and the comparison result comprises:
and judging the sector of the initial position of the rotor of the brushless direct current motor according to the winding structure of the brushless direct current motor and the magnitude relation of the voltage division value of the phase inductance under each acquired current magnetic potential vector.
4. The method of claim 1, wherein the delta-connecting the stator winding comprises: and three-phase windings of the stator windings are connected end to end.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108574433A (en) * 2018-05-21 2018-09-25 绵阳市维博电子有限责任公司 One kind being suitable for powerful no sensor DC brushless motor phase change method
CN112104290A (en) * 2020-09-18 2020-12-18 杭州士兰微电子股份有限公司 Method and device for identifying initial position of magnetic pole of motor rotor
CN112994542A (en) * 2021-04-29 2021-06-18 常州工业职业技术学院 Brushless direct current motor non-inductive control method based on phase change point phase change

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108574433A (en) * 2018-05-21 2018-09-25 绵阳市维博电子有限责任公司 One kind being suitable for powerful no sensor DC brushless motor phase change method
CN112104290A (en) * 2020-09-18 2020-12-18 杭州士兰微电子股份有限公司 Method and device for identifying initial position of magnetic pole of motor rotor
CN112994542A (en) * 2021-04-29 2021-06-18 常州工业职业技术学院 Brushless direct current motor non-inductive control method based on phase change point phase change

Non-Patent Citations (1)

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基于三角形连接的空心杯电机无位置传感器控制方案;杜永红等;《电机与控制应用》;20081231;第35卷(第6期);第20-23,51页 *

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