CN113131805A - Control device and method of brushless direct current motor - Google Patents
Control device and method of brushless direct current motor Download PDFInfo
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- CN113131805A CN113131805A CN201911419165.1A CN201911419165A CN113131805A CN 113131805 A CN113131805 A CN 113131805A CN 201911419165 A CN201911419165 A CN 201911419165A CN 113131805 A CN113131805 A CN 113131805A
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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
- H02P6/14—Electronic commutators
- H02P6/15—Controlling commutation time
- H02P6/153—Controlling commutation time wherein the commutation is advanced from position signals phase in function of the speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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Abstract
The invention discloses a control device and a method of a brushless direct current motor, wherein the device comprises: the output three-phase bridge is connected with a three-phase input end of the brushless direct current motor; the input voltage detection circuit is connected with the output three-phase bridge in parallel between two poles of an input power supply; the input end of the microcontroller is connected with the input voltage detection circuit and the three-phase input end of the brushless direct current motor, the output end of the microcontroller is connected with the output three-phase bridge, the microcontroller sends a first driving signal to the output three-phase bridge in a PWM-ON modulation mode, detects counter electromotive force of the three-phase input end of the brushless direct current motor, samples the zero crossing point of the counter electromotive force, calculates to obtain a second driving signal of phase change in advance by combining with power voltage sampled by the input voltage detection circuit, and sends the second driving signal to the output three-phase bridge. The invention adopts 150-degree drive control and performs advanced control, improves the current waveform, improves the follow current state during phase change, and prevents the problem that the zero crossing point is submerged due to overlong follow current time under different loads.
Description
Technical Field
The invention belongs to the technical field of brushless direct current motors, and particularly relates to a high-speed brushless direct current motor position sensorless control device and method adopting a 12-beat driving mode.
Background
Brushless direct current motors (BLDC) are increasingly widely used in the fields of small electric tools, hand-held vacuum cleaners, medical devices, and the like, due to their simple structure, high efficiency, and elimination of brushes and the like. The conventional BLDC adopts a 120-degree square wave mode for driving control, and this operation mode is colloquially called 6-beat control. The conduction mode of 6-beat control is simple, and mature driving circuits are the most mature and reliable technical scheme in BLDC application. However, the square wave control with the phase change of every 60 degrees forms a large harmonic current at the winding end, so that the harmonic loss and the iron loss of the motor are increased, and the efficiency of the motor is reduced. Meanwhile, the electromagnetic torque pulsation of the motor is large due to the conduction and the phase change of every 60 degrees, vibration and noise are generated due to the torque pulsation in the operation of the motor, the overall stability of the equipment is influenced, and the experience in use is poor.
By increasing the number of commutation times in the 360-degree electric cycle, the current waveform of the motor can be effectively improved, and the influence of torque pulsation is reduced while current harmonics are reduced. For example, if the number of phase changes in one electrical cycle is increased to 12, the angle of the original two-phase conduction is reduced to 30 °, and a 30 ° three-phase conduction process is inserted between each two-phase conduction, so that the 120 ° square wave control becomes 150 ° control, which is commonly referred to as 12-beat square wave control. The Hall position sensor can be used for simply and conveniently acquiring the position of the rotor to perform phase change operation, but the use of the Hall position sensor not only increases the volume and complexity of the system, but also increases the cost of the system, and simultaneously reduces the reliability of the system. Like the 120-degree square wave control, in the process of conducting each two phases, the suspended phases which are not electrified can be subjected to position judgment in a mode of reading back electromotive force, and the sensorless rotor position identification can still be realized in the mode. Slightly different from the 120 ° control, the 150 ° effective judgment interval is reduced from 60 ° to 30 °, especially for high-speed rotation applications, the simple use of 30 ° to judge the position may cause many problems, resulting in commutation failure.
Disclosure of Invention
The purpose of the invention is realized by the following technical scheme.
According to a first aspect of the present application, there is provided a control apparatus of a brushless dc motor, comprising: the output three-phase bridge is connected with a three-phase input end of the external brushless direct current motor; the input voltage detection circuit is connected with the output three-phase bridge in parallel between two poles of an input power supply; the input end of the microcontroller is connected with the input voltage detection circuit and the three-phase input end of the brushless direct current motor, the output end of the microcontroller is connected with the output three-phase bridge, the microcontroller sends a first driving signal to the output three-phase bridge in a PWM-ON modulation mode, detects the terminal voltage of the three-phase input end of the brushless direct current motor, calculates a second driving signal which is in advance phase-commutation by combining the power voltage obtained by sampling of the input voltage detection circuit, and sends the second driving signal to the output three-phase bridge.
In some embodiments of the present application, further comprising: and the current detection circuit is connected between the negative electrode of the input power supply and the output three-phase bridge in series and is connected with the microcontroller.
In some embodiments of the present application, further comprising: and the direct current bus supporting capacitor is connected between the two poles of the input power supply in parallel with the output three-phase bridge.
In some embodiments of the present application, the input voltage detection circuit is two serially connected first and second resistors, the first resistor is connected to the positive pole of the input power source, and the second resistor is connected to the negative pole of the input power source.
In some embodiments of the present application, the current detection circuit is a third resistor.
According to a second aspect of the present application, a method for controlling a brushless dc motor is provided, wherein a PWM-ON modulation method is adopted to send a first driving signal to an output three-phase bridge; detecting the terminal voltage of the three-phase input end of the brushless direct current motor, and calculating to obtain a second driving signal of the advanced commutation by combining the power supply voltage obtained by sampling the voltage of the input power supply; and sending the second driving signal to an output three-phase bridge.
In some embodiments of the present application, the calculating the second drive signal that is phase-shifted in advance comprises: and carrying out advanced commutation operation by a preset lead angle to obtain a second driving signal.
In some embodiments of the present application, the performing of the advance commutation operation at the preset lead angle comprises: and detecting a half power supply voltage plus a first constant when the back edge of the terminal voltage of the back electromotive force is turned on by pulse width modulation, detecting a 0 plus a first constant when the pulse width modulation is turned off, detecting a half power supply voltage minus the first constant when the front edge of the terminal voltage is turned on by pulse width modulation, and detecting a power supply voltage minus the first constant when the pulse width modulation is turned off, wherein the time when each value is detected is used as the commutation time.
In some embodiments of the present application, the logic for commutation is:
detecting a first zero crossing point, then carrying out odd phase change, recording the interval time T60 between the zero crossing point and the last zero crossing point, and dividing by 2 to obtain the time T30 which is T60/2 and is required by delaying 30 degrees; the even numbered sectors of the first driving signal are conducted in two phases, and the odd numbered sectors of the first driving signal are conducted in three phases;
starting a timer to delay T30 and then carrying out even number phase commutation;
starting follow current shielding time, and starting AD zero-crossing detection after shielding is finished;
and after the zero crossing point is detected, the operation of the steps is carried out, and the operation is repeated in a cycle.
In some embodiments of the present application, said detecting a first zero crossing and then performing an odd commutation comprises: starting the counter potential AD scanning of the corresponding detection phase according to the fact that the sector is an even-numbered sector and the first time delay is completed; and judging whether phase commutation occurs or not according to the corresponding threshold values of the front edge and the rear edge of the terminal voltage.
According to a third aspect of the present application, there is provided an electronic device comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing when executing the computer program to implement the method according to any of the second aspect.
According to a fourth aspect of the present application, a computer-readable medium is proposed, on which computer-readable instructions are stored, which are executable by a processor to implement the method according to any one of the second aspects.
The invention has the advantages that:
1. compared with the original 120-degree driving scheme, the 150-degree driving control BLDC has the advantages that harmonic components in the current flowing into the motor end are greatly reduced, torque pulsation is reduced, and motor loss caused by current harmonics is reduced;
2. the current waveform when the power is switched on at 150 degrees can be improved by adopting 150-degree driving control and carrying out advanced phase conversion, so that the current harmonic wave is further reduced;
3. the 150-degree driving control is adopted for carrying out the advance control, the current waveform is improved, the follow current state during phase change is also improved, and the problem that the zero crossing point is submerged due to overlong follow current time in different loads is solved. The follow current time is shortened, the time for effectively detecting the position is further advanced, and the stability of phase change operation is improved;
4. the time for detecting the commutation point is further advanced by increasing or decreasing the zero crossing point judgment value by one increment, so that advanced commutation can be carried out at a new angle which is larger than the theoretical commutation angle of 15 degrees;
5. in the ultra-high speed application, the 15-degree commutation time corresponds to the time of only tens of microseconds, the time for effectively detecting the zero crossing point is prolonged by adding and subtracting increments, and the problem of commutation failure caused by single detection error is avoided;
6. the problem of untimely phase change caused by factors such as circuit and sampling delay during 150-degree ultrahigh-speed control is solved by a plus-minus increment advance phase change mode, and a low-cost MCU with a slow speed can also be adopted to obtain relatively sufficient processing time, so that the application cost is reduced;
7. meanwhile, the limitation problem that a Hall signal is needed to carry out phase change exceeding the theoretical 15 degrees is avoided, and the control of a 150-degree driving position-free sensor is realized;
8. by selecting a proper PWM modulation mode, the front edge and the rear edge of the back electromotive force can be effectively detected in advance at the PWM switching-on and switching-off moments;
9. the controllable range of the rotating speed is improved through the advanced phase change mode of the addition and subtraction increment.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic block diagram illustrating the architecture of the system of the present invention;
FIG. 2 shows a schematic diagram of a BLDC square wave drive theoretical waveform with 150 ° conduction control (no lead control);
FIG. 3 shows a schematic diagram of a commutation scheme according to the present invention;
FIG. 4 is a diagram illustrating the software back emf zero crossing process of the present invention;
FIG. 5 is a logic diagram showing the timing of the advance control commutation within one electrical cycle;
FIG. 6 is a flow chart of the control software of the present invention;
FIG. 7 shows a current and voltage versus position diagram for a 150 square wave drive control of the lead;
FIG. 8 is a schematic diagram showing a conventional 150 ° controlled rotational speed;
FIG. 9 is a schematic diagram illustrating rotational speed after leading commutation control according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a schematic block diagram of the system architecture of the present invention. As shown in fig. 1, the reference numerals have the following meanings: 101, 102, 103, 104, 105, 106 and 107 direct current bus current sampling resistors, 102MCU, 103, 105 motor terminal voltage sampling, 106 and 109 direct current bus supporting capacitors. Where Vdc is the input supply voltage.
The main circuit includes an input power supply, a battery and other regulated power supplies, and a dc bus support capacitor 109 for bus voltage (i.e., supply voltage) stabilization, which uses a three-phase full bridge to control the input BLDC motor voltage. And the MCU performs terminal voltage detection on the three-phase output voltage and is used for detecting a phase change point. And the MCU samples the bus voltage and the bus current to control the power. The driving signal 107 of the MCU drives the output three-phase bridge 106 via a driving means (not shown, well known in the art).
In the MCU control system, the phase change of 6 beats is different from 120 degrees, and the phase change of 150 degrees is to insert a three-phase conduction state once between two beats on the basis of the conduction of two phases of 6 beats, so that the original 6 beats are changed into 12 beats. The difficulty of system control is that the time interval between the timely detection of the zero crossing point and the phase change is short. The method is characterized by comprising the following two points:
in the ultra-high speed operation control, for example, 150000rpm, even if the motor only has a pair of polar frequencies as high as 2500Hz, the control time of 30-degree sector is only 33.3us, and the time of 15-degree commutation is only 16.7us for processing, the cost requirement of equipment similar to battery application is high, the calculation and sampling delay of MCU can affect the system control, the zero-crossing judgment and commutation time are prolonged by adopting a leading conduction mode, and the low-cost MCU application with limited calculation capability is facilitated. The operation of detecting only the falling edge makes the MCU calculate the pressure lower in 270 degrees in the whole electric cycle control, and other work can be carried out in the time. For the reasons, the zero crossing point is detected in time, and the phase change time is reasonably arranged.
The theoretical commutation switching on logic diagram for the BLDC square wave drive scheme with 150 ° conduction control is shown in fig. 2: in fig. 2, the thick line part is a back electromotive force theoretical waveform of square wave drive, the thin line part is a waveform of three-phase current, the sequence number part in the figure indicates the phase change sector number of 150 ° drive, and the turn arrow in the figure indicates the phase change point time. This theoretical way of delaying the phase change by 15 ° after the detection of the zero crossing point is known, in which the current and counter-potential waveforms theoretically coincide.
The specific PWM driving and detection relationship list is shown in table 1 below:
TABLE 1 150 ° commutation logic and position detection relation table
The theoretical 150 commutation control can be achieved according to the sequential control logic of table 1 and fig. 2. The theoretical 150 degree driving control BLDC is suitable for a low-speed motor, and the MCU has enough time to detect a zero crossing point and perform 15 degree delayed commutation control. In the practical use process, particularly the application of the high-speed motor is realized under the condition that the commutation logic of the table 1 is kept unchanged, and the performance of the ultra-high-speed motor can be improved by carrying out the following measures.
The conventional chopping control mode needs to be realized by matching different PWM modulation modes, and the more classical modes include H-PWM-L-ON, H-ON-L-PWM, PWM-ON and ON-PWM, and the different modulation modes determine the switching state of a switching tube/element (such as Mosfet) in the inverter. Different modulation modes can generate different motor terminal voltage waveforms, and the waveforms directly determine the judgment threshold value of the AD sampling counter potential zero crossing point and the control strategy. And is therefore very important.
In order to achieve the purpose of the invention, the invention adopts a PWM-ON modulation mode, because the three-phase terminal voltage waveform required by the control strategy of the invention can be obtained. In combination with the commutation logic of table 1, a specific switching tube/element (e.g., Mosfet) logic can be obtained as shown in table 2.
TABLE 2 150 ° commutation logic, position detection relation and PWM modulation mode TABLE
If the phase-change logic and PWM modulation scheme of table 2 are used to perform the phase-change operation, the terminal voltage waveform can be obtained as shown in fig. 3. Where 201 is a preceding stream time, 202 is a subsequent stream time, 204 is a zero-crossing point of a preceding PWM on time, 203 is a zero-crossing point of a preceding PWM off time, 205 is a zero-crossing point of a following PWM on time, 206 is a zero-crossing point of a following PWM off time, 209 is an advanced detection position of a following PWM on time, 210 is an advanced detection position of a following PWM off time, 208 is an advanced detection position of a preceding PWM on time, 207 is an advanced detection position of a preceding PWM off time, which cannot be detected, and 211 is an advanced phase change set advance detected voltage AD value increment.
As can be seen from fig. 3, when the modulation scheme of PWM-ON is employed, the zero-crossing detection scheme is to detect Vdc/2 when the leading edge of the terminal voltage is ON with PWM and Vdc Off when the trailing edge of the terminal voltage is ON with PWM and to detect 0 when the trailing edge of the terminal voltage is ON with PWM, determine the rotor position as the back-emf zero-crossing point, and then perform the commutation operation in advance.
In the invention, to carry out the phase-change operation in advance with the lead angle theta, the detection point is changed into the following point: PWM On ═ Vdc/2+ m; PWM Off is 0+ m. For terminal voltage front: PWM On time is equal to Vdc/2-m; PWM Off is Vdc-m. In this way, the phase advance commutation with the lead angle θ can be realized.
As shown in fig. 4 (taking back-emf trailing-edge zero-crossing detection as an example), 301 is a theoretical back-emf waveform, 302 is a masking time for avoiding a phase-follow current at t1, 303 is a zero-crossing processing time for AD detection for advance detection at t2, 304 is a software zero-crossing processing procedure, 305 is an advance detection time (advance angle θ) set for t3 software, 306 is a theoretical back-emf zero-crossing point, 307 is an actually set advance detection point (0+ m), 308 is a maximum advance-possible angle at the time of theoretical detection, and 309 is a maximum advance-possible control angle using advance detection.
When entering the sector 2, 4, 6, 8, 10, 12 where back emf detection can be performed, firstly, the delay of t1 time is completed, and in the time period, the interval in which back emf judgment is disabled due to the follow current state of the switching tube caused by inductance factors because the current direction in the winding changes when the last commutation is completed is mainly avoided, and the interval is called follow current shielding time or undetectable time. Starting AD sampling of the corresponding phase after the delay of the time t1 is completed, then starting AD to continuously scan the terminal voltage value of the corresponding phase, wherein the standard of terminal voltage judgment is that when the counter potential rises, the PWM On time is equal to Vdc/2-m; when PWM Off is equal to Vdc-m; on the back-emf falling edge, PWM On ═ Vdc/2+ m; PWM Off is 0+ m. The interval time available for checking is t2, and t2 is a random time, the length of which depends on when the appropriate voltage value is sampled. And after the AD scans to a proper voltage value, carrying out phase change according to the optimal advance angle value. The advance angle θ may be determined by the t3 setting as the t2 time ends. Different from the traditional scheme, the advancing angle can theoretically span the range of 15 degrees and is increased from theta to theta' by adopting the scheme.
For commutation logic, in combination with table 1, the present invention provides that even numbered commutation phases are two-phase conduction and odd numbered commutation phases are three-phase conduction. The commutation logic is as follows:
(1) after the first zero crossing point is detected, carrying out odd phase change immediately, recording the interval time T60 between the zero crossing point and the last zero crossing point, and dividing the interval time T60 by 2 to obtain the time T30 which is T60/2 required by delaying 30 degrees;
(2) starting a timer to delay T30 and then carrying out even number phase commutation;
(3) starting follow current shielding time, and starting AD zero-crossing detection after shielding is finished;
(4) and after the zero crossing point is detected, the first operation is carried out, and the operation is repeated in a cycle.
As shown in fig. 5, 401 is a sector number, 402 is an electrical angle corresponding to the sector, 403 is a non-zero-crossing detection region estimated from the time of T30 two commutation, 404 is a time interval of T60 two effective zero-crossing determinations, 405 is a freewheel masking time which is T1 time, and 406 is zero-crossing detection (ZC) and advanced commutation processing.
The control flow chart of the zero-crossing processing software is shown in fig. 6, the zero-crossing judgment process is performed in an even-numbered sector, and before entering the zero-crossing judgment, the follow current is avoided by ensuring the time delayed by t 1. And starting the counter potential AD scanning of the corresponding phase after the time delay of t1 is finished, and judging whether to change the phase according to the corresponding threshold values of the front edge and the back edge of the terminal voltage. The delay time corresponding to the angle value is related to the running speed of the motor and is determined by a look-up table. The time is long when the motor runs at a slow speed, and the time is short when the motor runs at a fast speed, and is inversely proportional to the speed. After the commutation is finished, the interval time T60 between the zero crossing point and the last zero crossing point is recorded, the time required by delaying 30 degrees is obtained by dividing the interval time by 2, the time T30 of odd number commutation is calculated to be T60/2 and the avoidance follow current time T1, and then the timing function is started.
The theoretical current position and the back electromotive position will tend to advance compared with each other after the processing according to the above-described scheme, which is referred to as advance control in the present invention, and the waveform behavior thereof will change as shown in fig. 7. Here, 501 is a sector number, 502 is an electrical angle corresponding to a sector, 503 is a U-phase reverse potential waveform, 504 is a U-phase current waveform, 505 is a V-phase reverse potential waveform, 506 is a V-phase current waveform, 507 is a W-phase reverse potential waveform, and 508 is a W-phase current waveform.
Compared with the original 120-degree driving scheme, the 150-degree driving control BLDC has the advantages that the number of current steps is increased due to the insertion of a three-phase conduction process, the current waveform is closer to a sine wave, and harmonic components in the current flowing into the motor end are greatly reduced. The zero crossing point is judged by a method of detecting the suspended opposite potential in the two-phase conduction process, so that the position of the rotor is obtained, the control of a position-free sensor driven by 150 degrees is realized, and the system cost is reduced. During the phase change process of obtaining the rotor position by detecting the zero crossing point, the position of the phase change point is changed to move back and forth by a certain angle (called as leading phase change or lagging phase change) to obtain different control effects, and especially the waveform of the current flowing into the motor is further changed. The current waveform can be further improved and the harmonic wave can be reduced by adopting a leading phase conversion mode on the basis of the original current waveform improvement. And the more lead angles, the shorter the freewheel time of the current. Therefore, by adopting the advanced commutation, the current harmonic can be effectively reduced, the motor efficiency is improved, the risk that the zero crossing point is submerged due to the overlong follow current time can be reduced, and the commutation stability is greatly improved.
Particularly in low-voltage high-current BLDC high-speed applications, the freewheel time increases with increasing current, which eventually results in the zero crossing being buried. As shown in fig. 8, the control was performed in a conventional manner at 150 ° and 114780 rpm. For ultrahigh-speed application, due to the problems of back electromotive force detection hardware delay, low-price MCU operation speed and the like, when the advanced control is not carried out, the time for entering 12-thousand-turn left and right controllable position detection becomes very short, and then the speed-up system is out of control.
When the high-speed BLDC motor runs, 150-degree driving is adopted, the difference between the back electromotive force zero-crossing position and the phase-change point is only 15 degrees, and particularly for an ultra-high-speed motor, the 15 degrees are often only ten or more microseconds. Too short a response time to detect motion results in insufficient lead time after back-emf detection to allow for leading commutation. According to the method provided by the embodiment, on the premise of not increasing any hardware cost, the zero crossing point is judged in advance by selecting a proper PWM (pulse width modulation) mode and a mode of detecting the counter potential upper/lower edge and predicting the zero crossing, the judgment time in advance is applied to the advanced commutation, the harmonic quality of the current waveform is further improved, and the efficiency of the high-speed BLDC motor is further improved. FIG. 9 shows the result of the control according to the proposed method of this embodiment, with a rotational speed of 149220 rpm.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (12)
1. A control device for a brushless dc motor, comprising:
the output three-phase bridge is connected with a three-phase input end of the external brushless direct current motor;
the input voltage detection circuit is connected with the output three-phase bridge in parallel between two poles of an input power supply;
the input end of the microcontroller is connected with the input voltage detection circuit and the three-phase input end of the brushless direct current motor, the output end of the microcontroller is connected with the output three-phase bridge, the microcontroller sends a first driving signal to the output three-phase bridge in a PWM-ON modulation mode, detects the terminal voltage of the three-phase input end of the brushless direct current motor, calculates a second driving signal which is in advance phase-commutation by combining the power voltage obtained by sampling of the input voltage detection circuit, and sends the second driving signal to the output three-phase bridge.
2. The control device of a brushless dc motor according to claim 1, further comprising:
and the current detection circuit is connected between the negative electrode of the input power supply and the output three-phase bridge in series and is connected with the microcontroller.
3. The control device of a brushless dc motor according to claim 1, further comprising:
and the direct current bus supporting capacitor is connected between the two poles of the input power supply in parallel with the output three-phase bridge.
4. The control apparatus of a brushless DC motor according to claim 1,
the input voltage detection circuit comprises a first resistor and a second resistor which are connected in series, the first resistor is connected with the anode of the input power supply, and the second resistor is connected with the cathode of the input power supply.
5. The control apparatus of a brushless DC motor according to claim 1,
the current detection circuit is a third resistor.
6. A method for controlling a brushless DC motor is characterized in that,
sending a first driving signal to an output three-phase bridge by adopting a PWM-ON modulation mode;
detecting terminal voltages of three-phase input ends of the brushless direct current motor;
sampling the terminal voltage, and calculating to obtain a second driving signal of the advanced commutation by combining the power supply voltage obtained by sampling the voltage of the input power supply;
and sending the second driving signal to an output three-phase bridge.
7. The control method of a brushless DC motor according to claim 6,
the calculating to obtain the second driving signal of the advanced commutation comprises the following steps:
and carrying out advanced commutation operation by a preset lead angle to obtain a second driving signal.
8. The control method of a brushless DC motor according to claim 7,
the phase advance commutation operation with a preset lead angle comprises:
and detecting a half power supply voltage plus a first constant when the back edge of the terminal voltage of the back electromotive force is turned on by pulse width modulation, detecting a 0 plus a first constant when the pulse width modulation is turned off, detecting a half power supply voltage minus the first constant when the front edge of the terminal voltage is turned on by pulse width modulation, and detecting a power supply voltage minus the first constant when the pulse width modulation is turned off, wherein the time when each value is detected is used as the commutation time.
9. The control method of a brushless DC motor according to any one of claims 6 to 8,
the logic of the commutation is:
detecting the first zero crossing point, then carrying out odd phase change, and recording the interval time T between the zero crossing point and the last zero crossing point60Dividing the value by 2 to obtain the time T30 which is required by delaying 30 degrees, namely T60/2; the even numbered sectors of the first driving signal are conducted in two phases, and the odd numbered sectors of the first driving signal are conducted in three phases;
starting a timer to delay T30 and then carrying out even number phase commutation;
starting follow current shielding time, and starting AD zero-crossing detection after shielding is finished;
and after the zero crossing point is detected, the operation of the steps is carried out, and the operation is repeated in a cycle.
10. The control method of a brushless DC motor according to claim 9,
the detecting the first zero crossing point and then performing odd commutation includes:
starting the counter potential AD scanning of the corresponding detection phase according to the fact that the sector is an even-numbered sector and the first time delay is completed;
and judging whether phase change occurs according to corresponding threshold values of the front edge and the back edge of the terminal voltage, wherein the threshold value is a threshold value with an advance angle, and performing phase change operation according to the condition that the terminal voltage reaches the threshold value.
11. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor executes when executing the computer program to implement the method according to any of claims 6-10.
12. A computer readable medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 6 to 10.
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| CN114844397A (en) * | 2022-05-19 | 2022-08-02 | 重庆中科芯亿达电子有限公司 | Control circuit and method for reducing phase-change degaussing time |
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| CN114844397A (en) * | 2022-05-19 | 2022-08-02 | 重庆中科芯亿达电子有限公司 | Control circuit and method for reducing phase-change degaussing time |
| CN114844397B (en) * | 2022-05-19 | 2023-11-10 | 重庆中科芯亿达电子有限公司 | Control circuit and method for reducing commutation and demagnetization time |
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