CN114384273A - Method and system for detecting positive and negative rotation of direct-current brushless motor - Google Patents
Method and system for detecting positive and negative rotation of direct-current brushless motor Download PDFInfo
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- CN114384273A CN114384273A CN202111528330.4A CN202111528330A CN114384273A CN 114384273 A CN114384273 A CN 114384273A CN 202111528330 A CN202111528330 A CN 202111528330A CN 114384273 A CN114384273 A CN 114384273A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 119
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000002360 preparation method Methods 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/16—Measuring asymmetry of polyphase networks
Abstract
The invention discloses a positive and negative rotation detection method and a positive and negative rotation detection system for a direct current brushless motor, wherein the positive and negative rotation detection method comprises the following steps: the method comprises the following steps: s1, establishing circuit connection: the power module is connected with the brushless controller, and the brushless controller is electrically connected with the brushless motor; the positive and negative rotation detection device is connected with the brushless controller; s2, dividing the voltage by the voltage dividing module to obtain a three-phase voltage serving as a positive input voltage of the comparator; s3, a combined signal formed by combining the output values of the comparators, and a plurality of combined signals form a detection sequence according to a time sequence and are stored in a register; a detection module in the positive and negative rotation detection device is stored with a reversing table, and the reversing table is provided with a predetermined sequence formed by a plurality of predetermined combined signals; and S4, the detection module obtains the detection sequence in the register and compares the detection sequence with a preset sequence in the reversing table to determine the positive and negative rotation of the motor. The scheme remarkably improves the bad detection rate of the direct current brushless motor.
Description
Technical Field
The invention relates to the technical field of motor state detection, in particular to a positive and negative rotation detection method and system for a direct current brushless motor.
Background
Brushless DC motor is widely applied to drive and servo system, and in many occasions, not only the motor is required to have good starting and scheduling characteristics, but also the motor is required to be capable of rotating positively and negatively, and how to carry out efficient detection on the brushless motor in the outgoing detection process of the brushless motor reduces the outflow of defective products, improves the product accuracy, reduces the bad output, reduces the customer complaints, and is always the key problem that the enterprise needs to solve.
Disclosure of Invention
The invention aims to provide a method and a system for detecting positive and negative rotation of a direct-current brushless motor, which are characterized in that the positive rotation or the negative rotation of the motor is judged by detecting voltage signals of three-phase lines ABC (UVW) and by inquiring a reversing table according to the sequence of the voltage signals before and after reversing; and judging whether the brushless controller is in a phase failure state or not by judging whether the current is continuous or not.
In order to achieve the technical purpose, the invention provides a technical scheme that the positive and negative rotation detection method of the direct current brushless motor comprises the following steps: the method comprises the following steps:
s1, establishing circuit connection: the power module is connected with the brushless controller, and the brushless controller is electrically connected with the brushless motor; the positive and negative rotation detection device is connected with the brushless controller; the voltage division module is connected with the output end of the brushless controller;
s2, dividing the voltage by the voltage dividing module to obtain a three-phase voltage serving as a positive input voltage of the comparator;
s3, a combined signal formed by combining the output values of the comparators, and a plurality of combined signals form a detection sequence according to a time sequence and are stored in a register; a detection module in the positive and negative rotation detection device is stored with a reversing table, and the reversing table is provided with a predetermined sequence formed by a plurality of predetermined combined signals;
and S4, the detection module obtains the detection sequence in the register and compares the detection sequence with a preset sequence in the reversing table to determine the positive and negative rotation of the motor.
Preferably, in step S3, the eight combined signals output by the comparator and the eight predetermined combined signals in the commutation table are: 111/110/101/100/011/010/001/000, respectively; eight detection sequences are stored in a register in bit-by-bit order.
Preferably, the detection module stores a reversing table, the reversing table stores a predetermined sequence, and the predetermined sequence includes a forward rotation state value and a reverse rotation state value corresponding to a detection sequence result.
Preferably, the forward rotation state values corresponding to the detection sequence are expressed as follows:
a forward rotation state value 001 detection sequence result 011; the positive rotation state value 010 corresponds to the detection sequence 110; the positive rotation state value 011 corresponds to the detection sequence 010; the positive rotation state value 100 corresponds to the detection sequence 101; the positive rotation state value 101 corresponds to a detection sequence 001; the forward rotation state value 110 corresponds to the detection sequence 100.
Preferably, the inversion status values corresponding to the detection sequence are expressed as follows:
the inversion state value 001 corresponds to the detection sequence 101; the inversion state value 010 corresponds to the detection sequence 011; the inverted state value 011 corresponds to the detection sequence 001; the inverted state value 100 corresponds to the detection sequence 110; the inverted state value 101 corresponds to the detection sequence 100; the inverted state value 110 corresponds to the detection sequence 010.
Preferably, when the combined signal is 111 or 000, the fault state is detected, and the positive and negative rotation detection device gives an alarm.
A positive and negative rotation detection system of a direct current brushless motor comprises a power module, a brushless controller electrically connected with the power module, and a brushless motor electrically connected with the brushless controller; the positive and negative rotation detection device is connected in parallel to the three-phase output of the brushless controller and comprises a voltage division module, the voltage divided by the voltage division module is used as the positive input voltage of the comparator, the output end of the comparator is electrically connected with the information acquisition end of the positive and negative rotation detection device, and the acquired combined signal is stored on the corresponding storage bit of the register to form a detection sequence. The voltage of the central point is used as the negative input of the comparator, the comparator performs switching action by comparing positive and negative input signals, and the output signal of the comparator is read by a corresponding register in the MCU and compared with a preset sequence.
Preferably, the detection system further comprises a voltage conversion module, wherein the voltage conversion module is connected with a three-phase output end of the brushless controller to convert three-phase electricity into power supply voltage of the positive and negative rotation detection device.
In the scheme, the positive and negative rotation detection device does not need an additional power supply, and can generate electricity through the measured controller to supply power to the positive and negative rotation detection device.
Preferably, the forward and reverse rotation detection device comprises a detection module (MUC chip) and a register, wherein a reversing table is stored in the detection module, and a forward rotation state value and a reverse rotation state value corresponding to the detection sequence are stored in the reversing table; the register stores the combined signal of the output end of the comparator, the detection module sequentially obtains the motor state result in the register and compares the motor state result with the state result in the reversing table, the output signal of the comparator is read through the corresponding register in the MCU and compared with a preset sequence to determine the positive and negative rotation of the motor.
The invention has the beneficial effects that: according to the method and the system for detecting the positive and negative rotation of the brushless direct current motor, the voltage signals of the three phase lines are detected by the comparator, and whether the motor rotates positively or reversely is judged according to the sequence of the voltage signals before and after reversing, so that the method and the system are efficient and quick; judging whether the brushless controller is in a phase failure state or not by judging whether the current is continuous or not; the bad detection rate of the direct current brushless motor is obviously improved.
Drawings
Fig. 1 is a flowchart of a method for detecting forward and reverse rotation of a dc brushless motor according to the present invention.
Fig. 2 is a schematic structural diagram of a forward/reverse rotation detection system of a brushless dc motor according to the present invention.
Fig. 3 is a schematic circuit diagram of a voltage divider module according to the present invention.
The notation in the figure is: the device comprises a power module 1, a brushless controller 2, a brushless motor 3, a voltage division module 4, a positive and negative rotation detection device 5, a comparator 6 and a voltage conversion module 7.
Detailed Description
For the purpose of better understanding the objects, technical solutions and advantages of the present invention, the following detailed description of the present invention with reference to the accompanying drawings and examples should be understood that the specific embodiment described herein is only a preferred embodiment of the present invention, and is only used for explaining the present invention, and not for limiting the scope of the present invention, and all other embodiments obtained by a person of ordinary skill in the art without making creative efforts shall fall within the scope of the present invention.
Example (b): as shown in fig. 2, a schematic structural diagram of a system for detecting positive and negative rotation of a dc brushless motor comprises a power module 1, a brushless controller 2 electrically connected to the power module, and a brushless motor 3 electrically connected to the brushless controller; the three-phase output end of the brushless controller is connected with a voltage division module 4 and a positive and negative rotation detection device 5, the voltage divided by the voltage division module is used as the positive input voltage of a comparator 6, the output end of the comparator is electrically connected with the information acquisition end of the positive and negative rotation detection device, and the acquired combined signals are stored on the corresponding storage positions of the register to form a detection sequence; the detection system further comprises a voltage conversion module, the voltage conversion module is connected with a three-phase output end of the brushless controller and converts three-phase electricity into power supply voltage of the forward and reverse rotation detection device, the forward and reverse rotation detection device does not need an additional power supply, and the power can be generated through the measured controller to supply power to the forward and reverse rotation detection device. The forward and reverse rotation detection device comprises a detection module (MUC chip) and a register, wherein a reversing table is stored in the detection module, and a forward rotation state value and a reverse rotation state value corresponding to a detection sequence are stored in the reversing table; the register stores the combined signal of the output end of the comparator, the detection module sequentially obtains the motor state result in the register and compares the motor state result with the state result in the reversing table, the output signal of the comparator is read through the corresponding register in the MCU and compared with a preset sequence to determine the positive and negative rotation of the motor.
As shown in fig. 3, which is a schematic diagram of a voltage dividing module, the three-phase line voltages U, V, W are divided into HA, HB, HC by voltage dividing resistors R36, R37, R38, R48, R49, R50; the STR is located at the center point, wherein the voltages are the average values of HA, HB and HC, the STR end is the common negative terminal input of the first comparator, the second comparator and the third comparator, HA is the positive terminal input of the first comparator 1, HB is the positive terminal input of the second comparator, and HC is the positive terminal input of the third comparator 3. The comparator outputs the combined signal to store in the register (the output value FHC/FHB/FHA of the comparator has 8 combined signals which are 111/110/101/100/011/010/001/000 respectively), the detection module reads the output value of the comparator in the register, wherein the combined signal is 111,000 and is a fault state, the two states are read and the error is directly reported when the preset time is exceeded, such as 50 ms; reading the other 6 states except the two states as correct, attaching a value to a variable hall _ status, reading the output value of the comparator in the register again, attaching the value to the variable hall1, comparing the value with a reversing table, judging whether the motor rotates forwards or reversely, attaching the value of hall1 to the hall _ status, circulating the process, namely, the hall _ status is the last reversing state value, the hall1 is the current reversing state value, judging the forward and reverse rotation by judging the sequence in the state value correspondence table of the previous and next two times, if the forward rotation gives a forward rotation signal to a user, and if the reverse rotation gives a reverse rotation signal to the user; voltage signals of three-phase lines UVW (ABC) are detected, and whether the motor rotates forwards or backwards is judged according to the sequence of the voltage signals before and after commutation.
As shown in fig. 1, a flow chart of a method for detecting positive and negative rotation of a dc brushless motor: the method comprises the following steps:
s1, establishing circuit connection: the power module is connected with the brushless controller, and the brushless controller is electrically connected with the brushless motor; the positive and negative rotation detection device is connected with the brushless controller;
s2, dividing the voltage by the voltage dividing module to obtain a three-phase voltage serving as a positive input voltage of the comparator;
s3, a combined signal formed by combining the output values of the comparators, and a plurality of combined signals form a detection sequence according to a time sequence and are stored in a register; a detection module in the positive and negative rotation detection device is stored with a reversing table, and the reversing table is provided with a predetermined sequence formed by a plurality of predetermined combined signals;
and S4, the detection module obtains the detection sequence in the register and compares the detection sequence with a preset sequence in the reversing table to determine the positive and negative rotation of the motor.
As an embodiment, the commutation sequence of the output voltage of the brushless controller is UAB/UAC/UBC/UBA/UCA/UCBOr UAB/UCB/UCA/UBA/UBC/UAC。
In step S3, the eight combined signals output by the comparator and the eight predetermined combined signals in the commutation table are: 111/110/101/100/011/010/001/000, respectively; eight detection sequences are stored in a register in bit-by-bit order. When the combined signal is 111 or 000, the fault state is achieved, and the positive and negative rotation detection device gives an alarm.
The detection module is stored with a reversing table, the reversing table is stored with a predetermined sequence, and the predetermined sequence comprises a forward rotation state value and a reverse rotation state value corresponding to the detection sequence result.
The detection sequence comprises variables hall _ status and hall1, wherein the hall _ status and the hall1 respectively store the state values output by the comparators twice before and after, the hall _ status stores the state value output by the comparator for the first time, and the hall1 stores the state value output by the comparator for the second time; and comparing the acquired detection sequence with a preset sequence to determine the positive and negative installation of the motor.
One embodiment is as follows: the forward rotation status values corresponding to the detection sequence are expressed as follows:
wherein, hall _ status stores the positive rotation state value, and hall1 stores the detection sequence result, such as: a forward rotation state value 001 detection sequence result 011; the positive rotation state value 010 corresponds to the detection sequence 110; the positive rotation state value 011 corresponds to the detection sequence 010; the positive rotation state value 100 corresponds to the detection sequence 101; the positive rotation state value 101 corresponds to a detection sequence 001; the positive rotation state value 110 corresponds to the detection sequence 100;
the inversion status values corresponding to the detection sequence are expressed as follows:
wherein, hall _ status stores the reverse rotation state value, and hall1 stores the detection sequence, such as: the inversion state value 001 corresponds to the detection sequence 101; the inversion state value 010 corresponds to the detection sequence 011; the inverted state value 011 corresponds to the detection sequence 001; the inverted state value 100 corresponds to the detection sequence 110; the inverted state value 101 corresponds to the detection sequence 100; the inverted state value 110 corresponds to the detection sequence 010.
The above-mentioned embodiments are preferred embodiments of the method and system for detecting forward and reverse rotation of a brushless dc motor according to the present invention, and the scope of the present invention is not limited thereto, and all equivalent changes in shape and structure according to the present invention are within the scope of the present invention.
Claims (8)
1. A positive and negative rotation detection method of a direct current brushless motor comprises the following steps: the method is characterized by comprising the following steps:
s1, establishing circuit connection: the power module is connected with the brushless controller, and the brushless controller is electrically connected with the brushless motor; the positive and negative rotation detection device is connected with the brushless controller;
s2, dividing the voltage by the voltage dividing module to obtain a three-phase voltage serving as a positive input voltage of the comparator;
s3, a combined signal formed by combining the output values of the comparators, and a plurality of combined signals form a detection sequence according to a time sequence and are stored in a register; a detection module in the positive and negative rotation detection device is stored with a reversing table, and the reversing table is provided with a predetermined sequence formed by a plurality of predetermined combined signals;
and S4, the detection module obtains the detection sequence in the register and compares the detection sequence with a preset sequence in the reversing table to determine the positive and negative rotation of the motor.
2. The method for detecting forward and reverse rotation of a brushless dc motor according to claim 1: in step S3, the eight combined signals output by the comparator and the eight predetermined combined signals in the commutation table are respectively: 111/110/101/100/011/010/001/000, respectively; eight detection sequences are stored in a register in bit-by-bit order.
3. The method according to claim 2, wherein the method comprises the following steps: it is characterized in that the preparation method is characterized in that,
the detection module is stored with a reversing table, the reversing table is stored with a predetermined sequence, and the predetermined sequence comprises a forward rotation state value and a reverse rotation state value corresponding to the detection sequence result.
4. The method according to claim 3, wherein the method comprises the following steps: it is characterized in that the preparation method is characterized in that,
the detection sequence comprises variables hall _ status and hall1, wherein the hall _ status and the hall1 respectively store the state values output by the comparators twice before and after, the hall _ status stores the state value output by the comparator for the first time, and the hall1 stores the state value output by the comparator for the second time; and comparing the acquired detection sequence with a preset sequence to determine the positive and negative rotation of the motor.
5. The method for detecting forward and reverse rotation of a brushless DC motor according to claim 2, 3 or 4: it is characterized in that the preparation method is characterized in that,
when the combined signal is 111 or 000, the fault state is achieved, and the positive and negative rotation detection device gives an alarm.
6. A positive and negative rotation detection system of a direct current brushless motor is characterized by comprising a power module, a brushless controller electrically connected with the power module, and a brushless motor electrically connected with the brushless controller; the positive and negative rotation detection device is connected in parallel to the three-phase output of the brushless controller and comprises a voltage division module, the voltage divided by the voltage division module is used as the positive input voltage of the comparator, the output end of the comparator is electrically connected with the information acquisition end of the positive and negative rotation detection device, and the acquired combined signal is stored on the corresponding storage bit of the register to form a detection sequence.
7. The system according to claim 6, further comprising a voltage conversion module, wherein the voltage conversion module is connected to the three-phase output terminal of the brushless controller to convert the three-phase voltage into the supply voltage of the forward/reverse rotation detection device.
8. The system according to claim 6 or 7, wherein the forward/reverse rotation detecting device comprises a detecting module and a register, the detecting module stores a reversing table, and the reversing table stores a forward rotation state value and a reverse rotation state value corresponding to the detecting sequence; the register stores the combined signal of the output end of the comparator, and the detection module sequentially obtains the motor state result in the register and compares the motor state result with the state result in the reversing table to determine the positive and negative rotation of the motor.
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