CN114448299B - Hall synchronous angle determining method and system - Google Patents
Hall synchronous angle determining method and system Download PDFInfo
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- CN114448299B CN114448299B CN202210076196.7A CN202210076196A CN114448299B CN 114448299 B CN114448299 B CN 114448299B CN 202210076196 A CN202210076196 A CN 202210076196A CN 114448299 B CN114448299 B CN 114448299B
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
A Hall synchronous angle determining method and system, the determining method includes the following steps: driving a motor rotor of the synchronous motor to rotate to an initial angular position; the initial angular position is used for representing the angular position corresponding to the highest point of the U opposite potential of the synchronous motor; determining Hall state information of the synchronous motor; the Hall state information is used for representing the Hall state change sequence of the initial Hall state signal detected by the Hall sensor group; the terminal position of the motor rotor is adjusted according to the Hall angle adjustment interval, and the Hall angle adjustment interval is adjusted according to a terminal Hall state signal and Hall state information corresponding to the terminal position until the interval width of the Hall angle adjustment interval is smaller than or equal to the preset error allowable width; the initial interval of the Hall angle adjustment interval is used for representing the maximum range of Hall synchronous angle adjustment. The method solves the problem that the accuracy of the determined Hall synchronous angle is low.
Description
Technical Field
The invention belongs to the field of synchronous motors, and particularly relates to a Hall synchronous angle determining method and system.
Background
The synchronous motor is widely applied at present, the Hall sensor is an important component of the synchronous motor, the Hall sensor is a low-precision position sensor and is used for acquiring the real-time position of a motor rotor to control the motor to operate correctly, and three Hall sensors in the synchronous motor are usually used. In general, a certain error may occur in the installation of the hall sensor of the motor, and the accuracy of the deviation angle may affect the normal operation of the synchronous motor. The deviation angle is called as a Hall synchronous angle, and the current industry recognizes that the highest counter potential point of the motor U is taken as the initial angular position of the motor rotor, and the delay angle from the rising edge of the Hall sensor Ha to the highest counter potential point of the motor U is taken as the Hall synchronous angle. As shown in fig. 1 and 2, the position corresponding to the dashed line in fig. 2 represents the initial angular position of the motor rotor, and θ_syn in fig. 2 represents the hall sync angle.
At present, a common method for determining the Hall synchronous angle is to directly set a default Hall synchronous angle, the installation errors of Hall sensors on different synchronous motors are different, the Hall synchronous angle is different, and the deviation between the direct default Hall synchronous angle and the actual Hall synchronous angle is too large, so that the synchronous motor cannot normally operate.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a Hall synchronous angle determining method, which solves the problem of low accuracy of the determined Hall synchronous angle.
The invention also provides a Hall synchronous angle determining system.
According to an embodiment of the first aspect of the invention, the Hall synchronous angle determining method comprises the following steps:
driving a motor rotor of the synchronous motor to rotate to an initial angular position; the initial angular position is used for representing the angular position corresponding to the highest point of the U opposite potential of the synchronous motor;
determining Hall state information of the synchronous motor; the Hall state information is used for representing the Hall state change sequence of the initial Hall state signal detected by the Hall sensor group;
the terminal position of the motor rotor is adjusted according to a Hall angle adjustment interval, and the Hall angle adjustment interval is adjusted according to a terminal Hall state signal corresponding to the terminal position and the Hall state information until the interval width of the Hall angle adjustment interval is smaller than or equal to a preset error allowable width; the initial interval of the Hall angle adjustment interval is used for representing the maximum range of Hall synchronous angle adjustment.
The Hall synchronous angle determining method provided by the embodiment of the invention has at least the following technical effects: firstly, a motor rotor of a synchronous motor is driven to rotate to an initial angular position, then Hall state information can be obtained through one circle of rotation of the motor rotor, then, the terminal position of the motor rotor can be adjusted according to a Hall angle adjustment section, and the Hall angle adjustment section is adjusted according to a terminal Hall state signal corresponding to the terminal position and the Hall state information until the section width of the Hall angle adjustment section is reduced to be smaller than or equal to a preset error allowable width, the detection process is simple, the detection result precision is high, and the problem that the accuracy of the determined Hall synchronous angle is low is solved.
According to some embodiments of the present invention, the adjusting the terminal position of the motor rotor according to the hall angle adjustment interval includes the following steps:
calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval;
and adjusting the motor rotor to the terminal position corresponding to the adjustment average value.
According to some embodiments of the present invention, the adjusting the hall angle adjustment interval according to the terminal hall state signal and the hall state information corresponding to the terminal position includes the following steps:
if the interval width of the Hall angle adjustment interval is larger than the error allowable width, adjusting the Hall angle adjustment interval according to the terminal Hall state signal and the Hall state information corresponding to the terminal position;
if the interval width of the Hall angle adjustment interval is smaller than or equal to the error allowable width, calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval, and determining an angle corresponding to the adjustment average value as the Hall synchronous angle.
According to some embodiments of the invention, the hall state information includes a plurality of initial hall state signals sequentially arranged according to the hall state-change order;
the Hall angle adjustment interval is adjusted according to the terminal Hall state signal and the Hall state information corresponding to the terminal position, and the method comprises the following steps:
if the terminal Hall state signal is equal to the initial Hall state signal in the Hall state information, calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval, and confirming the adjustment average value as a lower limit value of the Hall angle adjustment interval;
if the terminal Hall state signal is not equal to the initial Hall state signal in the Hall state information, calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval, and confirming the adjustment average value as an upper limit value of the Hall angle adjustment interval;
and adjusting the motor rotor to an angle position corresponding to an adjusted average value of end point values at two ends of the Hall angle adjustment interval after adjustment.
According to some embodiments of the invention, the hall state information of the synchronous motor is determined by: and driving the motor rotor to rotate for one circle from the initial angular position, and recording the Hall state change sequence of a plurality of initial Hall state signals as the Hall state information.
According to a second aspect of the present invention, a hall synchronous angle-determining system includes:
a synchronous motor;
the Hall sensors are arranged on the synchronous motor, and the number of the Hall sensors is consistent with the number of the voltage output ends of the synchronous motor;
the motor driving device is respectively connected with a motor rotor of the synchronous motor and the Hall sensor group, and is used for driving the synchronous motor to rotate and receiving Hall state signals detected by the Hall sensor group;
the control unit is used for adjusting the terminal position of the motor rotor according to the Hall angle adjustment interval, and adjusting the Hall angle adjustment interval according to a terminal Hall state signal and an initial Hall state signal corresponding to the terminal position until the interval width of the Hall angle adjustment interval is smaller than or equal to the preset error allowable width; the initial interval of the Hall angle adjustment interval is used for representing the maximum range of Hall synchronous angle adjustment; the initial Hall state signal is obtained from Hall state information, and the Hall state information characterizes a Hall state change sequence determined by the control unit according to the initial Hall state signal detected by the Hall sensor group.
The Hall synchronous angle determining system provided by the embodiment of the invention has at least the following technical effects: the synchronous motor can be driven to rotate through the motor driving device, and the Hall state signal of the synchronous motor in the rotating process can be detected through the Hall sensor group. The terminal position of the motor rotor can be adjusted according to the Hall angle adjustment interval through the control unit, the Hall angle adjustment interval is adjusted according to the terminal Hall state signal and the initial Hall state signal corresponding to the terminal position until the interval width of the Hall angle adjustment interval is smaller than or equal to the preset error allowable width, the Hall synchronous angle is obtained, an oscilloscope and an operation motor are not needed, the detection process is simple, the precision of the detection result is high, the problems that the operation of the detection process of the Hall synchronous angle is complex, and the accuracy of the detection result is low are solved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of an installation of a Hall sensor group in accordance with an embodiment of the present invention;
FIG. 2 is a waveform diagram of a Hall synchronous angle determination method according to an embodiment of the present invention;
FIG. 3 is a flowchart of a Hall synchronous angle determination method according to an embodiment of the present invention;
fig. 4 is a block diagram of a hall synchronization angle determination system according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation, such as upper, lower, front, rear, left, right, etc., are merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be taken as limiting the invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
A hall synchronization angle determination method according to an embodiment of the first aspect of the present invention is described below with reference to fig. 1 to 4.
The Hall synchronous angle determining method provided by the embodiment of the invention comprises the following steps of:
driving a motor rotor of the synchronous motor to rotate to an initial angular position; the initial angular position is used for representing the angular position corresponding to the highest point of the U opposite potential of the synchronous motor;
determining Hall state information of the synchronous motor; the Hall state information is used for representing the Hall state change sequence of the initial Hall state signal detected by the Hall sensor group;
the terminal position of the motor rotor is adjusted according to the Hall angle adjustment interval, and the Hall angle adjustment interval is adjusted according to a terminal Hall state signal and Hall state information corresponding to the terminal position until the interval width of the Hall angle adjustment interval is smaller than or equal to the preset error allowable width; the initial interval of the Hall angle adjustment interval is used for representing the maximum range of Hall synchronous angle adjustment.
The angle position corresponding to the highest point of the U opposite potential of the synchronous motor is the initial angle position of the motor rotor, the motor rotor of the synchronous motor is driven to rotate to the initial angle position, then the motor rotor is driven to rotate one circle from the initial angle position, the Hall state change sequence of the initial Hall state signal detected by the Hall sensor group can be obtained, and the Hall state change sequence is recorded as Hall state information. As shown in fig. 1, the hall sensor group includes a hall sensor Ha, a hall sensor Hb, and a hall sensor Hc, the initial hall state signal is a combination of high-low level signals of the hall sensor Ha, the hall sensor Hb, and the hall sensor Hc, and the high-low level signal of any one of the initial hall state signals changes from a high level to a low level or from a low level to a high level, that is, the initial hall state signal changes once. As shown in fig. 2, the initial hall state signal corresponding to the position of the dotted line in the figure indicates that the hall sensor Ha at this time is at a high level, the hall sensor Hb is at a low level, the hall sensor Hc is at a high level, and the direction of change of the initial hall state signal is left. And comparing the Hall state information with the theoretical Hall state change sequence, determining whether the wiring sequence of the Hall sensor group is consistent with the theoretical wiring sequence, and avoiding the possibility of determining the Hall synchronous angle error caused by the fact that the actual wiring sequence of the Hall sensor group is inconsistent with the theoretical wiring sequence.
The maximum possible range of the hall synchronization angle is 0 ° to 60 °, so that the initial interval of the hall angle-adjustment interval may be set to 0 ° to 60 °, that is, the lower limit value of the initial interval of the hall angle-adjustment interval is set to 0 °, the upper limit value is set to 60 °, and then the hall synchronization angle starts to be determined: and adjusting the terminal position of the motor rotor according to the Hall angle adjustment interval, wherein an angle value corresponding to the terminal position is in the range of the Hall angle adjustment interval, and adjusting the Hall angle adjustment interval according to a terminal Hall state signal and Hall state information which correspond to the terminal position and are detected by the Hall sensor group after the adjustment is completed. In order to facilitate the subsequent description of the high-low level signal variation, the high level of the waveforms of the hall sensor Ha, hall sensor Hb, and hall sensor Hc in fig. 2 is regarded as 1, and the low level is regarded as 0. As shown in fig. 2, the initial hall state signal at the position corresponding to the broken line in the figure is 101, and the subsequent initial hall state signals are 001, 011, 010, 110, 100 in order, wherein the first initial hall state signal is 101. If the motor rotor is adjusted to the corresponding terminal Hall state signal at the position of 30 degrees to be 101, the motor rotor is characterized in that the angle of adjustment of the motor rotor is insufficient, and the motor rotor needs to be adjusted to an angle larger than 30 degrees; if the motor rotor is adjusted to the corresponding terminal hall state signal at 30 degrees to be 001, the angle representing the adjustment of the motor rotor is overlarge, and the motor rotor needs to be adjusted to an angle smaller than 30 degrees. And adjusting the Hall angle adjustment interval by a dichotomy, gradually reducing the interval width of the Hall angle adjustment interval, and adjusting the terminal position of the motor rotor according to the adjusted Hall angle adjustment interval until the interval width of the Hall angle adjustment interval is smaller than or equal to the preset error allowable width, so that the Hall synchronous angle can be obtained. The Hall synchronous angle determined by the method has high accuracy, and the whole determination process is simple without manual external force operation.
According to the Hall synchronous angle determining method provided by the embodiment of the invention, firstly, the motor rotor of the synchronous motor is driven to rotate to the initial angular position, then, the Hall state information can be obtained by driving the motor rotor to rotate for one circle, then, the terminal position of the motor rotor can be adjusted according to the Hall angle adjusting section, and the Hall angle adjusting section is adjusted according to the terminal Hall state signal and the Hall state information corresponding to the terminal position until the section width of the Hall angle adjusting section is reduced to be smaller than or equal to the preset error allowable width, so that the Hall synchronous angle is obtained. The detection process is simple, the detection result accuracy is high, and the problem that the accuracy of the determined Hall synchronous angle is low is solved.
The process of confirming the Hall synchronous angle is the preparation work needed to be done before the motor works normally, after confirming the Hall synchronous angle, the rotating speed of the motor and the angle of the motor rotor are calculated according to the Hall synchronous angle, and then signal conversion is carried out according to the calculated rotating speed and angle so as to control the motor to operate normally. The hall synchronous angle determining method can be applied to synchronous motors such as a brushless direct current motor of a running machine and a brushless direct current motor of a brake machine, and the type of the motor to be applied is not to be construed as limiting the invention.
In some embodiments of the present invention, adjusting a terminal position of a motor rotor according to a hall angle adjustment interval includes the steps of:
calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval;
and adjusting the motor rotor to the terminal position corresponding to the average value.
The initial interval of the Hall angle adjustment interval is 0-60 degrees, the end values of the two end points are 0-60 degrees, an adjustment average value is obtained by dividing the two end points by 2 after adding, namely (0+60 degrees)/2=30 degrees, then the motor rotor is adjusted to 30 degrees, then whether the Hall angle adjustment interval adjusted next time is 0-30 degrees or 30-60 degrees can be determined through the subsequent comparison process, the corresponding motor rotor is adjusted to 15 degrees or 45 degrees, and the like. The thought of taking the average value to adjust the Hall angle adjustment interval is consistent with the thought of the dichotomy, so that the speed of determining the Hall synchronous angle is high.
In some embodiments of the present invention, the hall angle adjustment interval is adjusted according to the terminal hall state signal and the hall state information corresponding to the terminal position, and the method includes the following steps:
if the interval width of the Hall angle adjustment interval is larger than the error allowable width, adjusting the Hall angle adjustment interval according to the terminal Hall state signal and the Hall state information corresponding to the terminal position;
if the interval width of the Hall angle adjustment interval is smaller than or equal to the error allowable width, calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval, and determining an angle corresponding to the adjustment average value as a Hall synchronous angle.
The smaller the preset error allowable width, the higher the accuracy representing the determined hall synchronization angle, and the specific error allowable width is determined according to the width of the use requirement. When the interval width of the Hall angle adjustment interval is adjusted to be smaller than the error allowable width, the normal working requirement of the synchronous motor is met, and the adjustment average value of the endpoint values at the two ends of the Hall angle adjustment interval can be determined to be the Hall synchronous angle.
In some embodiments of the present invention, referring to fig. 1 and 2, the hall state information includes a plurality of initial hall state signals sequentially arranged according to a hall state-change order; the Hall angle adjustment interval is adjusted according to the terminal Hall state signal and the Hall state information corresponding to the terminal position, and the method comprises the following steps:
if the terminal Hall state signal is equal to the first initial Hall state signal in the Hall state information, calculating an adjustment average value of end point values at two ends of a Hall angle adjustment interval, and confirming the adjustment average value as a lower limit value of the Hall angle adjustment interval;
if the terminal Hall state signal is not equal to the initial Hall state signal in the Hall state information, calculating an adjustment average value of end point values at two ends of a Hall angle adjustment interval, and confirming the adjustment average value as an upper limit value of the Hall angle adjustment interval;
and adjusting the motor rotor to an angle position corresponding to an adjusting average value of end point values at two ends of the adjusted Hall angle adjusting interval.
Under the condition that the number of the Hall sensors is three, the synchronous motor rotates for one circle, and only six relative angle positions, namely the angles of six Hall state switching positions, can be accurately detected through the Hall sensors. As shown in fig. 2, the hall state information is 101, 001, 011, 010, 110, 100, wherein the initial hall state signal is 101, that is, the position corresponding to the dotted line in the figure indicates that the hall sensor Ha at this time is at high level, the hall sensor Hb is at low level, the hall sensor Hc is at high level, and the direction of change of the initial hall state signal is left. The position corresponding to the dotted line in the figure represents the angular position of the motor rotor, and θ_syn in the figure represents the hall synchronous angle. If the terminal hall state signal is equal to the first initial hall state signal in the hall state information, namely 101, the initial hall state signal representing that the moment has not changed, the rotation angle of the motor rotor is insufficient, and the adjustment angle needs to be adjusted in the direction close to the initial hall state signal being 001, namely the adjustment angle needs to be larger, so that the adjustment average value of the endpoint values at the two ends of the hall angle adjustment interval needs to be calculated, the adjustment average value is confirmed to be the lower limit value of the hall angle adjustment interval, the lower limit value of the hall angle adjustment interval is increased, namely the hall angle adjustment interval is changed from 0-60 degrees to 30-60 degrees, and then the motor rotor is adjusted from 30-45 degrees; if the terminal hall state signal is not equal to the first initial hall state signal in the hall state information, the initial hall state signal representing that the moment has changed, the rotation angle of the motor rotor is too large, and the adjustment needs to be carried out towards the direction close to the initial hall state signal being 101, namely the adjustment angle needs to be reduced, so that the adjustment average value needs to be confirmed to be the upper limit value of the hall angle adjustment interval, the upper limit value of the hall angle adjustment interval is reduced, namely the hall angle adjustment interval is changed from 0-60 degrees to 0-30 degrees, and then the motor rotor is adjusted from 30 degrees to 15 degrees.
In some embodiments of the present invention, referring to fig. 2, hall state information of a synchronous motor is determined by: the rotor of the driving motor starts to rotate one circle from the initial angular position, and the Hall state change sequence of a plurality of initial Hall state signals is recorded as Hall state information.
When the motor rotor starts to rotate for one circle from the initial angular position, the detected Hall state information is the same, so that the motor rotor needs to be driven to rotate for one circle from the initial angular position, and the Hall state change sequence of a plurality of initial Hall state signals is recorded, so that the Hall angle adjustment interval is adjusted according to the terminal Hall state signals and the Hall state information corresponding to the terminal position of the motor rotor.
A hall synchronous angle determination system according to an embodiment of the second aspect of the present invention is described below with reference to fig. 1 to 4.
According to an embodiment of the invention, a Hall synchronous angle determining system comprises:
a synchronous motor;
the Hall sensors are arranged on the synchronous motor, and the number of the Hall sensors is consistent with the number of voltage output ends of the synchronous motor;
the motor driving device is respectively connected with a motor rotor of the synchronous motor and the Hall sensor group, and is used for driving the synchronous motor to rotate and receiving Hall state signals detected by the Hall sensor group;
the control unit is used for adjusting the terminal position of the motor rotor according to the Hall angle adjustment interval, and adjusting the Hall angle adjustment interval according to the terminal Hall state signal and the initial Hall state signal corresponding to the terminal position until the interval width of the Hall angle adjustment interval is smaller than or equal to the preset error allowable width; the initial interval of the Hall angle adjustment interval is used for representing the maximum range of Hall synchronous angle adjustment; the initial hall state signals are obtained by hall state information, and the hall state information represents a hall state change sequence determined by the control unit according to the initial hall state signals detected by the hall sensor group.
The motor rotor of the synchronous motor can be driven to rotate to an initial angular position through the motor driving device, wherein the initial angular position represents an angular position corresponding to the highest point of the U opposite electric potential of the synchronous motor, and then the motor rotor is driven to rotate for one circle from the initial angular position, so that a Hall state signal of the synchronous motor in the rotation process is detected through the Hall sensor group, and the Hall state signal is a high-low level signal. As shown in fig. 1, the hall sensor group includes a hall sensor Ha, a hall sensor Hb, and a hall sensor Hc, and the hall state signal changes from a high level to a low level or from a low level to a high level, that is, the hall state signal changes once. As shown in fig. 2, the initial hall state signal corresponding to the position of the dotted line in the figure indicates that the hall sensor Ha at this time is at a high level, the hall sensor Hb is at a low level, the hall sensor Hc is at a high level, and the direction of change of the initial hall state signal is left. Since the maximum possible range of the hall synchronization angle is 0 ° to 60 °, the initial interval of the hall angle adjustment interval may be 0 ° to 60 °, that is, the lower limit value of the initial interval of the hall angle adjustment interval may be 0 °, and the upper limit value may be 60 °. The terminal position of the motor rotor can be adjusted according to the Hall angle adjustment interval through the control unit, the Hall angle adjustment interval is adjusted according to the terminal Hall state signal and the initial Hall state signal corresponding to the terminal position until the interval width of the Hall angle adjustment interval is smaller than or equal to the preset error allowable width, and then the Hall synchronous angle can be obtained. The Hall synchronous angle determining system has the advantages that the Hall synchronous angle determining process is simple, manual external force operation is not needed, an oscilloscope is not needed, and the accuracy of a detection result is high.
According to the Hall synchronous angle determining system provided by the embodiment of the invention, the synchronous motor can be driven to rotate through the motor driving device, and the Hall state signal of the synchronous motor in the rotating process can be detected through the Hall sensor group. The terminal position of the motor rotor can be adjusted according to the Hall angle adjustment interval through the control unit, the Hall angle adjustment interval is adjusted according to the terminal Hall state signal and the initial Hall state signal corresponding to the terminal position until the interval width of the Hall angle adjustment interval is smaller than or equal to the preset error allowable width, the Hall synchronous angle is obtained, an oscilloscope and an operation motor are not needed, the detection process is simple, the precision of the detection result is high, the problems that the operation of the detection process of the Hall synchronous angle is complex, and the accuracy of the detection result is low are solved.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to the embodiments, and those skilled in the art will appreciate that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. The Hall synchronous angle determining method is applied to a synchronous motor and is characterized by comprising the following steps of:
driving a motor rotor of the synchronous motor to rotate to an initial angular position; the initial angular position is used for representing the angular position corresponding to the highest point of the U opposite potential of the synchronous motor;
determining Hall state information of the synchronous motor; the Hall state information is used for representing the Hall state change sequence of the initial Hall state signal detected by the Hall sensor group; the hall state information of the synchronous motor is determined by the following steps: driving the motor rotor to rotate for one circle from the initial angular position, and recording the Hall state change sequence of a plurality of initial Hall state signals as the Hall state information;
the terminal position of the motor rotor is adjusted according to a Hall angle adjustment interval, and the Hall angle adjustment interval is adjusted according to a terminal Hall state signal corresponding to the terminal position and the Hall state information until the interval width of the Hall angle adjustment interval is smaller than or equal to a preset error allowable width; the initial interval of the Hall angle adjustment interval is used for representing the maximum range of Hall synchronous angle adjustment.
2. The hall synchronization angle determination method according to claim 1, wherein the adjusting the terminal position of the motor rotor according to the hall angle adjustment section includes the steps of:
calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval;
and adjusting the motor rotor to the terminal position corresponding to the adjustment average value.
3. The hall synchronization angle determining method according to claim 1, wherein the hall angle adjustment interval is adjusted according to the terminal hall state signal and the hall state information corresponding to the terminal position, and the method comprises the following steps:
if the interval width of the Hall angle adjustment interval is larger than the error allowable width, adjusting the Hall angle adjustment interval according to the terminal Hall state signal and the Hall state information corresponding to the terminal position;
if the interval width of the Hall angle adjustment interval is smaller than or equal to the error allowable width, calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval, and determining an angle corresponding to the adjustment average value as the Hall synchronous angle.
4. The hall synchronization angle determination method according to claim 3, wherein the hall state information includes a plurality of the initial hall state signals sequentially arranged according to the hall state change-order;
the Hall angle adjustment interval is adjusted according to the terminal Hall state signal and the Hall state information corresponding to the terminal position, and the method comprises the following steps:
if the terminal Hall state signal is equal to the initial Hall state signal in the Hall state information, calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval, and confirming the adjustment average value as a lower limit value of the Hall angle adjustment interval;
if the terminal Hall state signal is not equal to the initial Hall state signal in the Hall state information, calculating an adjustment average value of end point values at two ends of the Hall angle adjustment interval, and confirming the adjustment average value as an upper limit value of the Hall angle adjustment interval;
and adjusting the motor rotor to an angle position corresponding to an adjusted average value of end point values at two ends of the Hall angle adjustment interval after adjustment.
5. A hall synchronization angle determination system, comprising:
a synchronous motor;
the Hall sensors are arranged on the synchronous motor, and the number of the Hall sensors is consistent with the number of the voltage output ends of the synchronous motor;
the motor driving device is respectively connected with a motor rotor of the synchronous motor and the Hall sensor group, and is used for driving the synchronous motor to rotate and receiving Hall state signals detected by the Hall sensor group;
the control unit is used for adjusting the terminal position of the motor rotor according to the Hall angle adjustment interval, and adjusting the Hall angle adjustment interval according to a terminal Hall state signal and an initial Hall state signal corresponding to the terminal position until the interval width of the Hall angle adjustment interval is smaller than or equal to the preset error allowable width; the initial interval of the Hall angle adjustment interval is used for representing the maximum range of Hall synchronous angle adjustment; the initial Hall state signal is obtained by Hall state information, and the Hall state information characterizes a Hall state change sequence determined by the control unit according to the initial Hall state signal detected by the Hall sensor group; the hall state information is determined by the steps of: and driving the motor rotor to rotate for one circle from an initial angular position, and recording the Hall state change sequence of a plurality of initial Hall state signals as the Hall state information, wherein the initial angular position is used for representing the angular position corresponding to the highest point of the U opposite electric potential of the synchronous motor.
6. A computer storage medium storing computer-executable instructions for causing a computer to perform the hall synchronization angle determination method according to any one of claims 1 to 4.
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