CN112994533B - Brushless direct current motor control method and device, brushless direct current motor and electric appliance - Google Patents

Brushless direct current motor control method and device, brushless direct current motor and electric appliance Download PDF

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Publication number
CN112994533B
CN112994533B CN201911308631.9A CN201911308631A CN112994533B CN 112994533 B CN112994533 B CN 112994533B CN 201911308631 A CN201911308631 A CN 201911308631A CN 112994533 B CN112994533 B CN 112994533B
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direct current
current motor
brushless
brushless direct
motor
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CN112994533A (en
Inventor
张晓菲
王颜章
吴文贤
肖胜宇
陈彬
敖文彬
全威
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor

Abstract

A brushless DC motor control method and control device, wherein the control method comprises: acquiring input voltage of the brushless direct current motor when the brushless direct current motor is positioned at a preset rotating speed; judging whether the difference value between the input voltage and the first preset voltage is larger than the second preset voltage or not, wherein the first preset voltage and the second preset voltage are positively related to the preset rotating speed; if the difference value is larger than the second preset voltage, the output power of the brushless direct current motor is controlled to be stable by adjusting the electrifying time of the winding of the brushless direct current motor. A brushless DC motor and an electric appliance are also provided. The input voltage of the brushless direct current motor is detected, whether the difference value between the input voltage and the preset voltage is larger than a certain range is judged, so that the winding electrifying time of the brushless direct current motor is adjusted, the influence of the input voltage change on the working state of the brushless direct current motor is avoided, and the stability of the working state of the brushless direct current motor when the input voltage is changed is improved.

Description

Brushless direct current motor control method and device, brushless direct current motor and electric appliance
Technical Field
The invention relates to the technical field of motor control, in particular to a brushless direct current motor control method and device, a brushless direct current motor and an electric appliance.
Background
The brushless direct current motor has the advantages of high efficiency, large starting torque, convenient control and the like, is applied to various electrical equipment, but has complex and various use environments, and the condition that the voltage value of the input voltage driving the operation of the brushless direct current motor fluctuates or the power supply voltage cannot reach the rated voltage exists, so that the output power and the rotating speed of the brushless direct current motor change, the working state of the electrical equipment changes, and the requirements of users cannot be met.
Taking the portable vacuum cleaner as an example, the input voltage of the brushless direct current motor in the portable vacuum cleaner is continuously reduced along with the continuous consumption of the electric quantity of the battery in the use process of the portable vacuum cleaner, if the control mode of the brushless direct current motor is kept unchanged, when the input voltage is reduced, the output power and the rotating speed of the brushless direct current motor are reduced along with the reduction of the input voltage, so that the suction force of the portable vacuum cleaner is reduced, and the normal requirement of a user cannot be met.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that the working state of an electric appliance is unstable due to the fluctuation of the rotating speed caused by the fluctuation of the input voltage of the brushless direct current motor, thereby providing a control method of the brushless direct current motor, which comprises the following steps:
acquiring input voltage of the brushless direct current motor when the brushless direct current motor is positioned at a preset rotating speed;
judging whether the difference value between the input voltage and a first preset voltage is larger than a second preset voltage or not, wherein the first preset voltage and the second preset voltage are positively related to the preset rotating speed;
and if the difference value is larger than the second preset voltage, controlling the output power of the brushless direct current motor to be stable by adjusting the winding power-on time of the brushless direct current motor.
Preferably, the controlling the output power of the brushless dc motor to be stable by adjusting the winding energization time of the brushless dc motor if the difference is greater than the second preset voltage includes:
if the input voltage is smaller than the first preset voltage, the winding electrifying time of the brushless direct current motor is increased so as to control the output power of the brushless direct current motor to be kept stable;
and if the input voltage is larger than the first preset voltage, reducing the winding electrifying time of the brushless direct current motor so as to control the output power of the brushless direct current motor to be stable.
Preferably, the increasing the winding energization time of the brushless dc motor includes:
and increasing the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through the MCU module of the brushless direct current motor.
Preferably, the number or duty ratio of the PWM wave increased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
Preferably, the reducing the winding energization time of the brushless dc motor includes:
and reducing the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through the MCU module of the brushless direct current motor.
Preferably, the number or duty cycle of the PWM wave decreasing in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
Correspondingly, the invention also provides a brushless direct current motor control device, which comprises:
the voltage detection module is used for acquiring the input voltage of the brushless direct current motor when the brushless direct current motor is positioned at a preset rotating speed;
the judging module is used for judging whether the difference value between the input voltage and the first preset voltage is larger than a second preset voltage or not, and the first preset voltage and the second preset voltage are positively related to the preset rotating speed;
and the control module is used for controlling the output power of the brushless direct current motor to be kept stable by adjusting the winding electrifying time of the brushless direct current motor when the difference value is larger than the second preset voltage.
Preferably, the control module includes:
the first control unit is used for increasing the winding electrifying time of the brushless direct current motor when the input voltage is smaller than the first preset voltage so as to control the output power of the brushless direct current motor to be stable;
and the second control unit is used for reducing the winding electrifying time of the brushless direct current motor when the input voltage is larger than the first preset voltage so as to control the output power of the brushless direct current motor to be stable.
Preferably, the first control unit increases the number or duty ratio of the PWM waves output by the brushless dc motor in each hall period through the MCU module of the brushless dc motor, so as to increase the winding energization time of the brushless dc motor.
Preferably, the number or duty ratio of the PWM wave increased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
Preferably, the second control unit reduces the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through the MCU module of the brushless direct current motor so as to reduce the winding electrifying time of the brushless direct current motor.
Preferably, the number or duty cycle of the PWM wave decreasing in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
The invention also provides a brushless direct current motor, which comprises a motor body and any brushless direct current motor control device.
The invention also provides an electric appliance comprising the brushless direct current motor.
The present invention also provides a storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the above-described brushless dc motor control methods.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of any brushless DC motor control method when executing the program.
The technical scheme of the invention has the following advantages:
according to the brushless direct current motor control method and device, the input voltage of the brushless direct current motor is detected, whether the difference value between the input voltage and the preset voltage is larger than a certain range is judged, so that the winding electrifying time of the brushless direct current motor is adjusted, the influence of the input voltage change on the working state of the brushless direct current motor is avoided, and the stability of the working state of the brushless direct current motor when the input voltage is changed is improved.
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 needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling a brushless DC motor according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a control method of a brushless DC motor with an input voltage of 27.5V according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a control method of a brushless DC motor with an input voltage of 23V according to an embodiment of the invention;
FIG. 4 is a block diagram of a brushless DC motor control device according to an embodiment of the invention;
FIG. 5 is a block diagram of a control module according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. 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.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
A first aspect of the embodiment of the present invention provides a method for controlling a brushless dc motor, referring to fig. 1, including the following steps:
s100, obtaining input voltage of the brushless direct current motor at a preset rotating speed.
Firstly, the input voltage of the brushless direct current motor should be kept stable when the brushless direct current motor operates at a preset rotation speed, so as to ensure that the output power of the brushless direct current motor is kept stable, namely, the working state of an electric appliance comprising the brushless direct current motor is ensured to be kept stable.
The input voltage of the brushless DC motor is positively correlated with its output power. When the brushless direct current motor operates at a preset rotating speed, the output power of the brushless direct current motor deviates from the preset power if the input voltage changes.
S200, judging whether the difference value between the input voltage and the first preset voltage is larger than the second preset voltage, wherein the first preset voltage and the second preset voltage are positively related to the preset rotating speed.
When the brushless direct current motor operates according to a preset rotating speed, an input voltage value corresponding to the preset rotating speed is a first preset voltage. Comparing the detected input voltage of the brushless direct current motor with a first preset voltage, calculating a difference value between the input voltage and the first preset voltage, and comparing the difference value with a second preset voltage.
When the difference between the input voltage and the first preset voltage is larger than the second preset voltage, the input voltage of the brushless direct current motor is deviated from a numerical range for enabling the brushless direct current motor to operate according to a preset rotating speed, and the winding electrifying time of the brushless direct current motor needs to be adjusted to ensure that the output power of the brushless direct current motor is stable.
When the difference between the input voltage and the first preset voltage is smaller than the second preset voltage, the change of the rotating speed of the brushless direct current motor caused by the change value of the input voltage of the brushless direct current motor is smaller, the winding electrifying time of the brushless direct current motor is not required to be adjusted, and the current working state of the brushless direct current motor is controlled to be continued.
By introducing the second preset voltage and comparing the difference value between the input voltage of the brushless direct current motor and the first preset voltage, the phenomenon that the working state of the brushless direct current motor is improperly interfered when the winding power-on time of the brushless direct current motor is not required to be adjusted due to the small difference value is avoided, and the control accuracy of the brushless direct current motor is further enhanced.
And S300, if the difference value is larger than the second preset voltage, controlling the output power of the brushless direct current motor to be stable by adjusting the winding electrifying time of the brushless direct current motor.
Specifically, in step S300, if the difference between the input voltage and the first preset voltage is greater than the second preset voltage, the rotation speed of the brushless dc motor is controlled to be stable by adjusting the winding energization time of the brushless dc motor, which includes the following two cases: i.e. the input voltage is smaller than the first preset voltage and the input voltage is larger than the first preset voltage.
In one implementation of the embodiment of the present invention, when the input voltage of the brushless dc motor is less than the first preset voltage, the winding energization time of the brushless dc motor is increased to control the output power of the brushless dc motor to remain stable.
Optionally, the winding power-on time of the brushless direct current motor is increased, and the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period can be increased through an MCU module of the brushless direct current motor.
Preferably, the number or duty cycle of the PWM wave increased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
That is, when the input voltage of the brushless dc motor is smaller than the first preset voltage and the difference is larger, the number of PWM waves output by the brushless dc motor in each hall period is increased by the MCU module of the brushless dc motor, or the proportion of duty ratio of PWM waves output by the brushless dc motor in each hall period is increased.
In this embodiment, when the input voltage of the brushless dc motor is greater than the first preset voltage, the winding energization time of the brushless dc motor is reduced to control the output power of the brushless dc motor to remain stable.
Optionally, reducing the winding energization time of the brushless dc motor includes: the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period can be reduced through an MCU module of the brushless direct current motor.
Preferably, the number or duty cycle of the PWM wave decreasing in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
That is, when the input voltage of the brushless dc motor is greater than the first preset voltage and the difference is greater, the more the number of PWM waves output by the brushless dc motor in each hall period is reduced by the MCU module of the brushless dc motor, or the greater the proportion of duty ratio of the PWM waves output by the brushless dc motor in each hall period is reduced.
When the difference between the input voltage of the brushless direct current motor and the first preset voltage is smaller than the second preset voltage, the value of the rotation speed change caused by the change of the input voltage of the brushless direct current motor is smaller, the change of the working state of the electric appliance comprising the brushless direct current motor is not caused, and the existing working state is only required to be maintained.
Fig. 2 and 3 are schematic diagrams of a control method of a brushless dc motor when input voltages are different. The input voltage of the brushless dc motor in fig. 2 is 27.5V, and the input voltage of the brushless dc motor in fig. 3 is 23V.
Referring to fig. 2 and 3, when the brushless dc motor is operated at the first preset rotation speed, the number of PWM waves output by the brushless dc motor in each hall period is 2 when the input voltage of the brushless dc motor is 27.5V. When the input voltage is reduced to 23V, the output power of the brushless direct current motor can be stabilized within an acceptable range by adjusting the number of PWM waves output by the brushless direct current motor in each Hall period to 3 through an MCU module of the brushless direct current motor, and the difference value of the actual output power of the brushless direct current motor relative to the preset output power corresponding to the preset rotating speed can be realized to be no more than 5% of the preset output power; meanwhile, the difference between the actual rotation speed of the brushless direct current motor and the preset rotation speed is not more than 5% of the preset rotation speed.
Conversely, when the brushless direct current motor operates according to the second preset rotating speed, the number of PWM waves output by the brushless direct current motor in each Hall period is 3 when the input voltage of the brushless direct current motor is 23V; when the input voltage rises to 27.5V, the MCU module of the brushless direct current motor is used for adjusting the number of PWM waves output by the brushless direct current motor in each Hall period to be 2, so that the difference value of the actual output power of the brushless direct current motor relative to the preset power corresponding to the preset rotating speed is not more than 5% of the preset power; meanwhile, the output rotating speed of the brushless direct current motor can be stabilized within an acceptable range, namely the difference value of the actual rotating speed of the brushless direct current motor relative to the preset rotating speed is not more than 5% of the preset rotating speed.
As shown in fig. 2 and 3, the jump edge of the hall waveform of the brushless dc motor corresponds to the zero crossing of the back emf of the brushless dc motor; meanwhile, the jump edge of the Hall waveform is a phase change point of the phase voltage of the brushless direct current motor, the phase current of the brushless direct current motor corresponds to the phase voltage, and when each phase winding of the brushless direct current motor is electrified, the current flowing through the winding is correspondingly increased.
A second aspect of an embodiment of the present invention provides a brushless dc motor control device, referring to fig. 4, including: a voltage detection module 1, a judgment module 2 and a control module 3. The voltage detection module 1 is used for obtaining an input voltage when the brushless direct current motor is at a preset rotating speed. The judging module 2 is configured to judge whether a difference between the input voltage and a first preset voltage is greater than a second preset voltage, where the first preset voltage and the second preset voltage are positively related to a preset rotation speed. The control module 3 is used for controlling the output power of the brushless direct current motor to be stable by adjusting the winding power-on time of the brushless direct current motor when the difference value is larger than a second preset voltage.
Optionally, referring to fig. 5, the control module 3 includes: a first control unit 31 and a second control unit 32.
The first control unit 31 is configured to increase a winding energization time of the brushless dc motor when the input voltage is less than a first preset voltage, so as to control the output power of the brushless dc motor to remain stable.
The second control unit 32 is configured to reduce a winding energizing time of the brushless dc motor when the input voltage is greater than a first preset voltage, so as to control the output power of the brushless dc motor to remain stable.
Preferably, the first control unit 31 increases the number or duty ratio of PWM waves output from the brushless dc motor in each hall period through the MCU module of the brushless dc motor to increase the winding energization time of the brushless dc motor.
Specifically, the number or duty cycle of the PWM wave increased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
Preferably, the second control unit 32 reduces the number or duty ratio of PWM waves output from the brushless dc motor in each hall period through the MCU module of the brushless dc motor, so as to reduce the winding energization time of the brushless dc motor.
Specifically, the number or duty cycle of the PWM wave decreasing in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
A third aspect of the embodiments of the present invention provides a brushless dc motor, including a motor body, and further including a brushless dc motor control device in any of the foregoing embodiments.
A fourth aspect of the embodiments of the present invention provides an electrical appliance comprising the brushless dc motor provided in the third aspect of the embodiments of the present invention.
A fifth aspect of the embodiments of the present invention provides a storage medium having a computer program stored thereon, which when executed by a processor implements the steps of the brushless dc motor control method of the first aspect of the embodiments of the present invention.
A sixth aspect of the embodiments of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the program to implement the steps of the brushless dc motor control method according to the first aspect of the embodiments of the present invention.
According to the brushless direct current motor control method and device, the input voltage of the brushless direct current motor is detected, whether the difference value between the input voltage and the preset voltage is larger than a certain range is judged, so that the winding electrifying time of the brushless direct current motor is adjusted, the influence of the input voltage change on the working state of the brushless direct current motor is avoided, and the stability of the working state of the brushless direct current motor when the input voltage is changed is improved.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (12)

1. A brushless dc motor control method, comprising the steps of:
when the input voltage is reduced due to continuous consumption of the electric quantity of the battery, the input voltage of the brushless direct current motor at a preset rotating speed is obtained;
judging whether the difference value between the input voltage and a first preset voltage is larger than a second preset voltage or not, wherein the first preset voltage and the second preset voltage are positively related to the preset rotating speed;
if the difference value is larger than the second preset voltage, controlling the output power of the brushless direct current motor to be stable by adjusting the winding power-on time of the brushless direct current motor;
and if the difference value is greater than the second preset voltage, controlling the output power of the brushless direct current motor to be stable by adjusting the winding power-on time of the brushless direct current motor, including:
if the input voltage is smaller than the first preset voltage, the winding electrifying time of the brushless direct current motor is increased so as to control the output power of the brushless direct current motor to be kept stable;
if the input voltage is larger than the first preset voltage, the winding electrifying time of the brushless direct current motor is shortened so as to control the output power of the brushless direct current motor to be stable;
the increasing the winding energization time of the brushless dc motor includes:
the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period is increased through an MCU module of the brushless direct current motor;
when the brushless DC motor operates at a first preset rotational speed, an input voltage of the brushless DC motor
When the input voltage is reduced to 23V, the number of PWM waves output by the brushless direct current motor in each Hall period is adjusted to be 3 by the MCU module of the brushless direct current motor.
2. The method for controlling a brushless DC motor according to claim 1, wherein,
the number or duty cycle of the PWM wave increased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
3. The method of claim 1, wherein the reducing the winding energization time of the brushless dc motor comprises:
and reducing the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through the MCU module of the brushless direct current motor.
4. The method for controlling a brushless DC motor according to claim 3, wherein,
the number or duty cycle of the PWM wave decreasing in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
5. A brushless dc motor control device, comprising:
the voltage detection module is used for acquiring the input voltage of the brushless direct current motor when the input voltage is reduced due to continuous consumption of the electric quantity of the battery and the brushless direct current motor is positioned at a preset rotating speed;
the judging module is used for judging whether the difference value between the input voltage and the first preset voltage is larger than a second preset voltage or not, and the first preset voltage and the second preset voltage are positively related to the preset rotating speed;
the control module is used for controlling the output power of the brushless direct current motor to be kept stable by adjusting the winding electrifying time of the brushless direct current motor when the difference value is larger than the second preset voltage;
the control module includes:
the first control unit is used for increasing the winding electrifying time of the brushless direct current motor when the input voltage is smaller than the first preset voltage so as to control the output power of the brushless direct current motor to be stable;
the second control unit is used for reducing the winding electrifying time of the brushless direct current motor when the input voltage is larger than the first preset voltage so as to control the output power of the brushless direct current motor to be stable;
the first control unit increases the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through an MCU module of the brushless direct current motor so as to increase the winding electrifying time of the brushless direct current motor;
when the brushless direct current motor operates according to the first preset rotating speed, the number of PWM waves output by the brushless direct current motor in each Hall period is 2 when the input voltage of the brushless direct current motor is 27.5V, and when the input voltage is reduced to 23V, the number of PWM waves output by the brushless direct current motor in each Hall period is adjusted to be 3 through an MCU module of the brushless direct current motor.
6. The brushless DC motor control device according to claim 5, wherein,
the number or the duty ratio of the PWM wave increased in each Hall period is equal to the sum of the input voltage
The difference of the first preset voltage is positively correlated.
7. The brushless DC motor control device according to claim 5, wherein,
the second control unit reduces the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through the MCU module of the brushless direct current motor so as to reduce the winding electrifying time of the brushless direct current motor.
8. The brushless DC motor control device according to claim 7, wherein,
the number or duty cycle of the PWM wave decreasing in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
9. A brushless dc motor comprising a motor body and further comprising the brushless dc motor control device according to any one of claims 5 to 8.
10. An electrical appliance comprising the brushless dc motor of claim 9.
11. A storage medium having stored thereon a computer program which when executed by a processor performs the steps of the brushless dc motor control method of any one of claims 1-4.
12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the brushless dc motor control method of any one of claims 1-4 when the program is executed.
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