CN114465531B - Control method, system, storage medium and program product for direct current brushless motor - Google Patents
Control method, system, storage medium and program product for direct current brushless motor Download PDFInfo
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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
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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 direct current brushless motor control method, a system, a storage medium and a program product, and relates to the technical field of direct current brushless motor control. The method takes the speed change (beta) of the motor in the last zero-crossing period into account in the time needing delay, and obtains the delay time t with higher precision Delay time And the accuracy of the motor commutation time node calculated by a back electromotive force method is further improved. Due to inertia, the speed change state of the previous zero-crossing period can be applied to the current zero-crossing period to a certain extent, and the invention utilizes the angular acceleration data of the previous zero-crossing period instead of detecting the angular acceleration data of the current zero-crossing period in real time, so that the required data is acquired when the current zero-crossing period is entered, the requirement on the real-time data processing capacity of the control equipment is reduced, and the invention is suitable for more control equipment.
Description
Technical Field
The present invention relates to the field of dc brushless motor control technologies, and in particular, to a dc brushless motor control method, system, storage medium, and program product.
Background
The structure of the direct current brushless motor is a permanent magnet rotor + stator (with a coil). To operate properly and to maximize efficiency, the stator field must be controlled. In order to control the magnetic field of the stator, the electronic commutator must stably and accurately detect the position of the rotor. There are two main ways to detect the rotor position: 1. detecting by a sensor; 2. and detecting the back electromotive force.
When a plurality of hall sensors are installed according to an electrical angle of 60 degrees, in order to ensure the accuracy, it is required to ensure that mechanical angles between the hall sensors are equally spaced, and it is also required to ensure that the hall sensors are installed at a set position on the motor (that is, a mechanical position where a rotor is located when the motor needs to change phases), and the corresponding hall sensors are generally assembled by reserving corresponding installation grooves on the motor structure. Generally, it is easy to ensure that the mechanical angles between the hall sensors are equally spaced (according to the conversion formula of the mechanical angles and the electrical angles, when the mechanical angles are equally spaced, the electrical angles are equally spaced), but because of the problem of the mechanical precision of the processing equipment, the precision of the mounting groove cannot be ensured, and especially when the stator coils have an incomplete symmetry problem and cause that the phase change positions are not strictly equally spaced any more, the existing motor control method for detecting the rotor position by the sensors requires technicians to test the asymmetry condition of each motor and then machine the motor structure according to the test result to further adjust the positions of the mounting grooves, which causes that the mounting process of the hall sensors is very complicated.
The problem can be overcome by completely adopting a back electromotive force detection mode to realize the control of motor phase commutation. If people take a good breath, etc. put forward a scheme for controlling a brushless direct current motor without a position sensor based on a single chip microcomputer [1] The scheme discloses a starting method and an operation control method of a brushless direct current motor without a position sensor. For example, linmingyue et al propose a new method for accurately commutation of brushless DC motor based on direct back electromotive force method [2] In this scheme, a scheme for controlling the commutation time node by a back electromotive force method when there is an asymmetry problem with each stator coil is disclosed. In the above-disclosed scheme for controlling the commutation time node by the back electromotive force method, the principles are similar, the time passing through two adjacent back electromotive force zero-crossing points is taken as a zero-point period (that is, one zero-point period passes through two back electromotive force zero-crossing points), the time passing through one zero-point period is taken as a reference time, and when the current zero-point period reaches the back electromotive force zero-crossing point for the first time, half of the reference time is added (that is, after the back electromotive force zero-crossing point is considered, the time required for delaying by pi/6 is taken as half of the reference time) to obtain the time node of this commutation (that is, the rotor detected at this time is located at the commutation position).
However, in some specific application scenarios, the rotation speed of the motor changes constantly, which causes different time lengths corresponding to each zero-point period, so that it is difficult for the existing back electromotive force method to obtain an accurate motor commutation time node.
Reference documents:
[1] bearable, eminence, penverny, a position-sensorless brushless direct current motor control [ J ] based on a single-chip microcomputer, a motor and control application, 2014 (6).
[2] The brushless direct current motor accurate commutation method based on the direct back electromotive force method [ J ]. University of southeast university report: nature science edition 2010 (1): 6.
Disclosure of Invention
The present invention is directed to solve at least one of the technical problems of the prior art, and provides a method and a system for controlling a brushless dc motor, which take into account the influence of the speed variation on the commutation time node when calculating the commutation time node of the motor by using the back electromotive force method, so as to improve the accuracy of the commutation time node of the motor calculated by using the back electromotive force method.
In order to realize the purpose, the following technical scheme is provided:
in a first aspect, a method for controlling a dc brushless motor is provided, where the dc brushless motor is in a six-phase state with two phases conducting, and the method includes:
t corresponding to the node when the counter electromotive force zero crossing point is detected Crane Determining t corresponding to a phase change time node of the zero-crossing period according to formulas (1) and (2) Phase change Time:
t phase change ＝t Crane +t Delay pipe (1)
Defining a process from one back electromotive force zero-crossing point to the next adjacent back electromotive force zero-crossing point as a zero-crossing period; t is t Delay pipe Represents from t Crane Time begins to t Phase change The delay time experienced by a time of day, the value of which is meaningful only when it is real and not less than zero; a is a mechanical angle passed by the rotor in the current zero-crossing period; omega 0 Is rotor and t Get up Angular velocity corresponding to the moment; beta is the angular acceleration of the rotor in the first N zero-crossing periods adjacent to the current zero-crossing period, and N is a positive integer.
In a second aspect, a dc brushless motor control system is provided, which is applied to a dc brushless motor in a six-phase state with two phases conducting, and is characterized in that the system includes:
commutation moment determining module forT corresponding to a node at the time when the back electromotive force zero-crossing point is detected Crane Determining t corresponding to a phase change time node of the zero-crossing period according to formulas (1) and (2) Phase change Time:
t phase change ＝t Get up +t Delay time (1)
Defining a process from one back electromotive force zero-crossing point to the next adjacent back electromotive force zero-crossing point as a zero-crossing period; t is t Delay pipe Represents from t Get up Time begins to t Phase change The delay time of the time, the value of which is meaningful only when the delay time is real and not less than zero; a is a mechanical angle of the rotor in the zero-crossing period; omega 0 Is the rotor and t Crane Angular velocity corresponding to the moment; beta is the angular acceleration of the rotor in the first N zero-crossing periods adjacent to the current zero-crossing period, and N is a positive integer.
In a third aspect, embodiments of the present invention provide a computer program product, which includes computer programs/instructions, when executed by a processor, for implementing the steps of a dc brushless motor control method described in any one of the above.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform a dc brushless motor control method according to any one of the embodiments of the first aspect of the present invention.
Compared with the prior art, the invention provides a control method, a control system, a storage medium and a program product of a brushless direct current motor, wherein t is corresponding to a phase change time node of the current zero-crossing period Phase change The moment is only t corresponding to the zero-crossing period Get up The time is delayed by half of the last zero-crossing period, so that the accuracy of a motor commutation time node is not high under the condition that the speed of a motor rotor changes frequentlyTo a problem of (a). The invention provides a control method of a brushless direct current motor, which considers the speed change (beta) of the motor in the last zero crossing period into the time needing delay to obtain the delay time t with higher precision Delay pipe The accuracy of the motor commutation time node calculated by the back electromotive force method is further improved. Due to inertia, the speed change state of the previous zero-crossing period can be applied to the current zero-crossing period to a certain extent, and the invention utilizes the angular acceleration data of the previous zero-crossing period instead of detecting the angular acceleration data of the current zero-crossing period in real time, so that the required data is acquired when the current zero-crossing period is entered, the requirement on the real-time data processing capacity of the control equipment is reduced, and the invention is suitable for more control equipment.
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 invention is further described below with reference to the drawings and examples;
fig. 1 is a block diagram of a dc brushless motor control system according to an embodiment.
Fig. 2 is a schematic diagram of a control method of the dc brushless motor according to an embodiment.
Fig. 3 is a schematic diagram illustrating a control method of the dc brushless motor according to an embodiment.
Fig. 4 is a schematic diagram illustrating a control method of the dc brushless motor according to an embodiment.
Fig. 5 is a schematic diagram illustrating a control method of the dc brushless motor according to an embodiment.
Fig. 6 is a schematic diagram illustrating a control method of the dc brushless motor according to an embodiment.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
Fig. 1 is a block diagram of a dc brushless motor control system according to an embodiment. Referring to fig. 1, a dc brushless motor control method is applied to a dc brushless motor control system. The direct current brushless motor control system comprises a control unit, a driving unit, a detection unit and a power supply unit; the DC brushless motor control system is electrically connected with the DC brushless motor in a two-phase conduction three-phase six-state and is used for driving and controlling the motor to work. The control unit is composed of a control signal processor, a PID (proportion integration differentiation) and a current controller which are shown by a dotted line frame in figure 1 and is used for processing the acquired signals and sending signals for controlling the starting and running of the motor to the driving unit; the power supply unit comprises a direct current power supply and is used for supplying power to the driving unit and the control unit; the driving unit comprises an inversion module and an overcurrent protection module, wherein the inversion module is used for converting a direct current signal into a pulse signal for driving the motor to act; the detection unit comprises a counter electromotive force detection circuit and a sensor detection circuit, wherein the sensor detection circuit is used as an improvement of the invention and comprises a motor drive motor
The mechanical angle equal interval install 6 hall sensor, and it is equidistant to both require to guarantee the mechanical angle at a distance between every hall sensor to compare in prior art, still require to guarantee that each hall sensor installs the good position of settlement on the motor (the mechanical position that the rotor was located when the motor needs the commutation promptly), cause that the motor processing degree of difficulty is big, the complicated complex of assembling process. According to the scheme provided in the embodiment, the installation at equal mechanical angle intervals between the 6 Hall sensors is only required to be ensured, the condition that whether each stator coil is symmetrical or not is not required to be tested firstly when the Hall sensors are assembled, the processing difficulty of the motor is reduced, and the assembling process of the Hall sensors is simplified.
Hereinafter, the dc brushless motor control method provided by the embodiment of the present invention will be described and explained in detail by several specific embodiments.
In one embodiment, a dc brushless motor control method is provided, which is applied to a dc brushless motor in a two-phase conduction three-phase six-state. The method comprises the following steps:
t corresponding to node when back electromotive force zero crossing point is detected Crane Determining t corresponding to the phase change time node of the zero-crossing period according to the formulas (1) and (2) Phase change Time:
t phase change ＝t Get up +t Delay time (1)
Defining a process from one back electromotive force zero-crossing point to the next adjacent back electromotive force zero-crossing point as a zero-crossing period; t is t Delay time Represents from t Crane Time begins to t Phase change The delay time of the time, the value of which is meaningful only when the delay time is real and not less than zero; a is a mechanical angle passed by the rotor in the current zero-crossing period; omega 0 Is rotor and t Crane Angular velocity corresponding to the moment; beta is the angular acceleration of the rotor in the first N zero-crossing periods adjacent to the current zero-crossing period, and N is a positive integer.
It is understood that in the prior art, such as in document [1]]And document [2]]Shown as t corresponding to the phase change time node of the zero-crossing period Phase change The time is only t corresponding to the zero-crossing period Get up The time is delayed by half of the last zero-crossing period, so that the problem that the accuracy of a motor commutation time node is not high under the scene that the speed of a motor rotor changes frequently is caused. The reason is as shown in fig. 2, assuming that the equal interval between each two adjacent counter electromotive force zero-crossing points is 60 ° in electrical angle, and the rotor is at the O point position in fig. 2 at the current counter electromotive force zero-crossing point time, in an ideal case, it is considered that when the current counter electromotive force zero-crossing point time is delayed by half of the last zero-crossing period time, the rotor should reach the P2 position (α is 30 °), that is, reach the 30 ° phase angle position, and at this time, the phase-change table is looked up to control the motor to perform phase change, which is exactly the literature1, the method used. However, in a practical application scenario of the motor, it often occurs that when the current back electromotive force zero-crossing point is delayed by half of the previous zero-crossing period time, the rotor is at the position P1 or P3, and the reasons are many, and besides the reason that the stator winding is asymmetric as mentioned in document 2, the reason includes that the rotation speed of the motor is actively controlled by a user during the operation of the motor, and the rotation speed of the rotor is changed when an output shaft of the motor is subjected to an external force. For example, when a user actively adjusts the rotation speed, the rotation speed of the rotor in the current zero-crossing period and the rotation speed of the rotor in the previous zero-crossing period may be different, and in a system of rotational motion constituted by the rotors, when the angular acceleration is different, the rotation angles in the same time period are also different. Based on the above principle, in order to accurately delay the phase angle of 30 ° when there is a speed change, the present embodiment constructs equation (2) with respect to the relationship between the angular acceleration and the rotor rotation sweep angle, and can accurately calculate the time t required to delay the phase angle of 30 ° after reaching the counter electromotive force zero crossing point in the case of a change in the rotor speed Delay time . It can be known that, in the dc brushless motor in the two-phase conduction three-phase six-state, after reaching the back electromotive force zero crossing point, it is necessary to perform phase commutation at a phase angle of 30 °, and according to the conversion relationship between the mechanical angle and the electrical angle: the electrical angle = mechanical angle x pole pair number, the electrical angle and the mechanical angle are in direct proportion, and for a two-pole motor, the electrical angle and the mechanical angle occupied by the inner circle of the stator are equal to each other and are both 360 degrees. For ease of understanding, a two-pole machine is taken as an example, which requires the rotor to turn through a phase angle of 30 ° after reaching the back emf zero crossing, the electrical angle the rotor turns during each zero crossing period being the same, and the mechanical angle the rotor turns during each zero crossing period being the same. A delay of 30 ° phase angle (electrical angle) which is half of the electrical angle passed by one zero-crossing period is required in the back electromotive force method; similarly, at the commutation position, half of the mechanical angle of the rotor passing through a zero-crossing period is also calculated, that is, the time of half of the mechanical angle of the rotor reaching the zero-crossing period after reaching the back electromotive force zero-crossing point is actually calculated in formula (2), and the time is t Delay time The time t Delay time Is formed by angular acceleration beta and rotor rotationThe relationship of the sweep angle a is determined by equation (2). It can be understood that a is a mechanical angle that the rotor passes through in this zero-crossing period, and in this embodiment, the mechanical angles that the zero-crossing periods pass through are all the same.
The invention provides a control method of a brushless direct current motor, which takes the speed change (beta) of the motor in the last zero-crossing period into consideration of the time needing to be delayed and obtains the delay time t with higher precision Delay pipe And the accuracy of the motor commutation time node calculated by a back electromotive force method is further improved. Due to inertia, the speed change state of the previous zero-crossing period can be applied to the current zero-crossing period to a certain extent, and the invention utilizes the angular acceleration data of the previous zero-crossing period instead of detecting the angular acceleration data of the current zero-crossing period in real time, so that the required data is acquired when the current zero-crossing period is entered, the requirement on the real-time data processing capacity of the control equipment is reduced, and the invention is suitable for more control equipment.
In one embodiment, the motor outputs a pulse signal with the frequency f to control the rotating speed of the rotor by the inverter module; the method further comprises the following steps:
determining ω from equations (3) and (4) 0 And β:
β＝ω j-1 -ω j-2 (4)
wherein j is a positive integer and represents a zero-crossing period with the serial number j; f. of j Representing the frequency of the pulse signal output by the inverter module in the zero-crossing period with the sequence number j; p represents the number of pole pairs of the motor; omega j-1 Representing the angular velocity of the rotor during the zero-crossing period numbered j-1; omega j-2 Representing the angular velocity of the rotor during the zero-crossing period numbered j-2.
In this embodiment, the sequence number of the zero-crossing period is j, and t corresponding to the time node when the back electromotive force zero-crossing point is detected is t Get up Beginning of zero-crossing period with time sequence number jAt the beginning, at a time delay t Delay time After t Phase change And carrying out phase change at any moment. At the moment, the output frequency is f according to the inversion module j Pulse signal, and ω is calculated by the formula (3) 0 The angular velocity at the initial time in the zero-crossing period with the sequence number j-2 is taken as ω j-2 The angular velocity at the initial time in the zero-crossing period with the sequence number j-1 is taken as omega j-1 In the case of a two-pole motor,
substituting into formulas (1) and (2) to calculate corresponding t Phase change The time of day.
In the embodiment, the speed change condition of the rotor is calculated by using the frequency of the output signal of the inversion module for controlling the rotating speed of the motor, the frequency data can be obtained through the control unit, other sensors are not required to be additionally installed, namely, the original structure of the motor is not required to be changed, so that the method disclosed by the invention has strong applicability to motors with different structures and has good universality.
In one embodiment, the motor is provided with a motor according to
The mechanical angle of the sensor is provided with 6 Hall sensors at equal intervals; the method further comprises the following steps:
determining ω from equations (5) and (6) 0 And β:
wherein, i is a positive integer and represents a zero-crossing period with the serial number i; t is t i Denotes the moment at which the Hall sensor detects the trigger signal in the zero-crossing period with the sequence number i, t i-1 Denotes the moment at which the Hall sensor detects the trigger signal in the zero-crossing period with sequence number i-1, t i-2 Is shown in the sequence numberAnd at the moment when the Hall sensor detects the trigger signal in the zero-crossing period of i-2, the rotor triggers the corresponding Hall sensor in each zero-crossing period in sequence according to the sequence number from small to large.
It will be appreciated that 6 hall sensors are provided on the motor according to
The mechanical angles are installed at equal intervals, so that the condition that a plurality of Hall sensors are simultaneously triggered at each zero-crossing period exists simultaneously, and the invention determines whether the rotor rotates through the coding signal rule formed by numbering the Hall sensors and counting the Hall sensors with the numbers
Time node of the mechanical angle of (1). As shown in fig. 3, taking a two-pole motor as an example, numbering 6 hall sensors in a counterclockwise direction as W1, W2, W3, W4, W5, and W6, and when none of the 6 hall sensors is triggered, encoding a signal as 000000; if the hall sensors are unipolar hall sensors, as shown in fig. 3, at the current time t1, the rotor just rotates to the position where W2 and W5 are triggered, and then signals output by the 6 hall sensors are encoded to obtain an encoded signal 010010; as shown in fig. 4, at the current time t2, when the rotor just rotates to the positions where W3 and W6 are triggered, signals output by the 6 hall sensors are encoded to obtain an encoded signal 001001; it can be seen that when the coded signal is switched from 010010 to 001001, the rotor passes
The mechanical angle of (1) and (2) is considered to be the moment when the hall sensors detect the trigger signals in two adjacent zero-crossing periods, wherein the trigger signals are corresponding coding signals detected by 6 hall sensors. By analogy, all possible coded signals in the motor can be obtained, analysis is carried out according to the motor structure and the installation position of the Hall sensor, and the fact that the rotor passes through each phase can be obtained
Corresponding code signal (i.e. corresponding trigger signal) at the mechanical angle of (a) to count the number of times the rotor passes each time
The mechanical angle of (d) is a rotational speed.
As shown in fig. 5, the circle represents a time occupancy distribution diagram corresponding to six zero-crossing periods that are adjacent in sequence in one embodiment, an arc edge of each sector corresponds to a time length corresponding to one zero-crossing period, a black dot on an edge of each sector represents a time when the hall sensor detects a trigger signal in the zero-crossing period, a zero-crossing period with a serial number i-2, a zero-crossing period with a serial number i-1, a zero-crossing period with a serial number i, and a zero-crossing period with a serial number i +1 are shown in a clockwise direction, and two endpoints of the arc edge are back electromotive force zero-crossing points. It can be known that, although the hall sensors are installed at equal intervals in the present embodiment, the hall sensors do not need to be exactly aligned with the corresponding back emf zero-crossing points (i.e. the hall sensors are required to be triggered when the back emf zero-crossing points occur).
Therefore, in this embodiment, the sequence number of the current zero-crossing period is i +1, and t corresponding to the back electromotive force zero-crossing time node is detected Get up The time is the starting time of the zero-crossing period with the sequence number i +1 and needs to be delayed by t Delay time After t Phase change And carrying out phase change at any moment. At this time, according to equation (5), ω is calculated from the last zero-crossing period of the zero-crossing period with the serial number i +1 (i.e., the zero-crossing period with the serial number i) and the last zero-crossing period of the zero-crossing period with the serial number i (i.e., the zero-crossing period with the serial number i-1) 0 I.e. considering the rotor at t Crane The angular velocity corresponding to the time instant is the angular velocity of the last zero-crossing period. Then, in determining β according to equation (6), in a two-pole motor,
substituting into formulas (1) and (2) to calculate corresponding t Phase change The time of day. It should be noted that, in this embodiment, it is not necessary to ensure that each hall sensor is exactly aligned with the back-emf zero-crossing pointThe position and the installation are more convenient.
Compared with the prior art, the hall sensors are arranged on the motor, so that the mechanical angle of a distance between every two hall sensors is required to be equal, and the set position (namely the mechanical position of the rotor when the motor needs to be subjected to phase change) of each hall sensor on the motor is required to be ensured, so that the motor is high in processing difficulty and complicated in assembly process. According to the scheme provided by the embodiment, the 6 Hall sensors are installed at equal mechanical angle intervals, so that whether the stator coils are symmetrical or not is not required to be tested firstly when the Hall sensors are assembled, the processing difficulty of the motor is reduced, and the assembling process of the Hall sensors is simplified. Meanwhile, in the embodiment, the speed change of the motor in the first zero-crossing periods can be acquired in real time by using the Hall sensor, so that the speed change (beta) of the motor in the first zero-crossing periods is considered in the time needing to be delayed, the delay time with higher precision is acquired, and the accuracy of the phase change time node of the motor calculated by a back electromotive force method is improved. Compared with a method for determining the real-time rotating speed of the motor according to the frequency output by the inverter module, the method for measuring the rotating speed of the motor through the Hall sensor has higher precision when external disturbance exists in the running environment of the motor. If the speed of the motor rotor is inconsistent with the frequency output by the inverter module due to frequent change of the motor load, the method for detecting the rotating speed through the hall sensor provided by the embodiment can obtain the accurate rotating speed change condition, and has higher precision.
In one embodiment, the method further comprises:
keeping the rotor running in a constant-speed rotation state, and determining basic mechanical angles R corresponding to 6 zero-crossing periods which are adjacent in sequence according to a formula (7) k ；
Wherein k represents a zero-crossing period with the serial number k; t is k Representing the duration of the rotor in a zero-crossing period with the sequence number k;
determining a mechanical angle A corresponding to a zero-crossing period with the sequence number x according to a formula (8);
A＝R xmod6 (8)
wherein x is an integer greater than 5.
As shown in fig. 6, the circle represents a time occupancy distribution diagram corresponding to six zero-crossing periods that are sequentially adjacent in one embodiment, an arc edge of each sector corresponds to a time length corresponding to one zero-crossing period, a black dot on an edge of each sector represents a time when the hall sensor detects a trigger signal in the zero-crossing period, a zero-crossing period with a serial number i-2, a zero-crossing period with a serial number i-1, a zero-crossing period with a serial number i, and a zero-crossing period with a serial number i +1 are shown in a clockwise direction, two endpoints of the arc edge are back electromotive force zero-crossing points, and a length of the arc edge represents a duration of the zero-crossing period. In fig. 6, the electrical angle corresponding to the zero-crossing period with the serial number i is greater than 60 °, and the electrical angle corresponding to the zero-crossing period with the serial number i +1 is less than 60 °. As can be seen from the above equations (7) and (8), the zero-crossing period with the number i +6 is the same as the electrical angle corresponding to the zero-crossing period with the number i.
In this embodiment, it is considered that in the prior art, due to the asymmetry of the stator coil caused by the processing and assembly precision of the motor, the electrical angles corresponding to the zero-crossing periods are different, and therefore the t corresponding to the phase change time node corresponding to the current zero-crossing period is determined according to a half time of the previous zero-crossing period Phase change The moment has the problem of inaccuracy. In this embodiment, the basic mechanical angle corresponding to each zero-crossing period is accurately detected, and the basic mechanical angles R corresponding to 6 sequentially adjacent zero-crossing periods are found k I.e. two zero-crossing cycles separated by 360 mechanical degrees have the same mechanical angle a. Therefore, whether the motor is asymmetric or not can be detected through the embodiment, the mechanical angle A in the formula (2) can be ensured to be more accurate, and the delay time t with higher precision is obtained Delay pipe And the accuracy of the motor commutation time node calculated by a back electromotive force method is further improved.
In one embodiment, the method further comprises:
the motor is applied to the electric vehicle, an acceleration sensor or a level meter is arranged on the electric vehicle, when the number of times that the angle variation amplitude of the electric vehicle is larger than the threshold angle in a preset time period is detected to be less than a set number of times according to the acceleration sensor or the level meter, the electric vehicle is judged to run in a flat road condition, and omega is determined according to formulas (3) and (4) 0 And beta;
the motor is applied to the electric vehicle, an acceleration sensor or a level meter is arranged on the electric vehicle, when the times that the change amplitude of the angle is larger than the threshold angle within the preset time period detected by the acceleration sensor or the level meter is more than the set times, and the electric vehicle is judged to be running on the rugged road condition, omega is determined according to the formulas (5) and (6) 0 And beta.
Considering that when the electric vehicle runs on a flat road condition, because the influence of the external road action force on the motor rotor is small, omega is determined only according to the frequency of the output signal of the inversion module 0 And beta can obtain high enough precision, and at this moment, only need obtain frequency data from the contravariant module can, because the frequency of contravariant module output signal is set by controlgear, compare and obtain data through the sensor mode, control gear need not to interrupt in this embodiment can obtain above-mentioned frequency data fast, has faster computational rate. When the electric vehicle is in a rugged road condition, through the parameters set by test data (for example, the times that the angle variation amplitude is greater than the threshold value in unit time, for example, the angle variation is greater than 20 degrees in 20 seconds and the times reach 10 times), it can be known that the rotation of the electronic rotor is influenced by the external violent acting force of the motor, and at the moment, the omega is determined only by the frequency of the output signal of the inversion module 0 And β has not been able to achieve sufficient accuracy, it is necessary to switch to a more accurate way to obtain the corresponding ω 0 And beta. In conclusion, the embodiment provides a method for automatically switching to obtain ω according to the driving road condition of the electric vehicle 0 And the method of the beta mode can further improve the accuracy of the motor commutation time node calculated by the back electromotive force method.
In another aspect, in an embodiment, there is provided a dc brushless motor control system applied to a dc brushless motor in a two-phase conduction three-phase six-state, the system including:
a phase change time determining module for determining t corresponding to the time node when the counter electromotive force zero crossing point is detected Get up Determining t corresponding to the phase change time node of the zero-crossing period according to the formulas (1) and (2) Phase change Time:
t phase change ＝t Get up +t Delay time (1)
Defining a process from one back electromotive force zero-crossing point to the next adjacent back electromotive force zero-crossing point as a zero-crossing period; t is t Delay time Represents from t Get up Time begins to t Phase change The delay time experienced by a time of day, the value of which is meaningful only when it is real and not less than zero; a is a mechanical angle passed by the rotor in the current zero-crossing period; omega 0 Is rotor and t Get up Angular velocity corresponding to the moment; beta is the angular acceleration of the rotor in the first N zero-crossing periods adjacent to the current zero-crossing period, and N is a positive integer.
In one embodiment, the motor outputs a pulse signal with the frequency f to control the rotating speed of the rotor by the inverter module; the system further comprises:
a first speed change information determination module for determining ω according to equations (3) and (4) 0 And β:
β＝ω j-1 -ω j-2 (4)
wherein j is a positive integer and represents a zero-crossing period with the serial number j; f. of j Representing the frequency of the pulse signal output by the inverter module in the zero-crossing period with the sequence number j; p represents the number of pole pairs of the motor; omega j-1 Representing the angular velocity of the rotor during the zero-crossing period numbered j-1; omega j-2 Representing the angular velocity of the rotor during the zero-crossing period numbered j-2.
In one embodiment, the motor is provided with a motor according to
The mechanical angle of the sensor is provided with 6 Hall sensors at equal intervals; the system further comprises:
a second speed change information determination module for determining ω according to equations (5) and (6) 0 And β:
wherein i is a positive integer and represents a zero-crossing period with the serial number i; t is t i Denotes the moment at which the Hall sensor detects the trigger signal in the zero-crossing period with the sequence number i, t i-1 Denotes the moment at which the Hall sensor detects the trigger signal in the zero-crossing period with the sequence number i-1, t i-2 And the moment when the Hall sensor detects the trigger signal in the zero-crossing period with the serial number of i-2 is shown, and the rotor sequentially triggers the corresponding Hall sensors in each zero-crossing period according to the sequence from small to large of the serial numbers.
In one embodiment, the system further comprises:
the basic mechanical angle determining module is used for keeping the rotor to operate in a constant-speed rotation state and determining basic mechanical angles R corresponding to 6 sequentially adjacent zero-crossing periods according to a formula (7) k ；
Wherein k represents a zero-crossing period with the serial number k; t is k Indicating rotor numberDuration of zero-crossing period of k;
the mechanical angle determining module is used for determining a mechanical angle A corresponding to a zero-crossing period with the sequence number x according to a formula (8);
A＝R xmod6 (8)
wherein x is an integer greater than 5.
It should be noted that, since the system embodiment and the method embodiment of the present invention are based on the same inventive concept, they are not described herein again.
In one embodiment, a computer-readable storage medium is provided, which stores computer-executable instructions for causing a computer to perform the steps of a dc brushless motor control method described above. The steps of a dc brushless motor control method herein may be the steps of a dc brushless motor control method in each of the above embodiments.
In one embodiment, a computer program product is provided comprising computer programs/instructions which, when executed by a processor, implement the steps of a dc brushless motor control method as described in any one of the above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRA), rambus (Rambus) direct RAM (RDRA), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
Claims (9)
1. A control method of a brushless DC motor is applied to the brushless DC motor in a six-state of two-phase conduction and three-phase conduction, and is characterized by comprising the following steps:
t corresponding to node when back electromotive force zero crossing point is detected Crane Determining t corresponding to the phase change time node of the zero-crossing period according to the formulas (1) and (2) Phase change Time:
t phase change ＝t Get up +t Delay time (1)
Defining a process from one back electromotive force zero-crossing point to the next adjacent back electromotive force zero-crossing point as a zero-crossing period; t is t Delay time Denotes from t Get up Time begins to t Phase change The delay time of the time, the value of which is meaningful only when the delay time is real and not less than zero; a is a mechanical angle passed by the rotor in the current zero-crossing period; omega 0 Is rotor and t Get up Angular velocity corresponding to the moment; beta is the angular acceleration of the rotor in the first N zero-crossing periods adjacent to the current zero-crossing period, and N is a positive integer.
2. The method according to claim 1, wherein the inverter module outputs a pulse signal with a frequency of f to control the rotation speed of the rotor; the method further comprises the following steps:
determining ω from equations (3) and (4) 0 And β:
β＝ω j-1 -ω j-2 (4)
wherein j is a positive integer and represents a zero-crossing period with the serial number j; f. of j Indicating the frequency of the pulse signal output by the inversion module in the zero-crossing period with the sequence number j; p represents the number of pole pairs of the motor; omega j-1 Representing the angular velocity of the rotor during the zero-crossing period numbered j-1; omega j-2 Representing the angular velocity of the rotor during the zero-crossing period numbered j-2.
3. A method according to claim 1, wherein said motor is arranged in accordance with
The mechanical angle of the sensor is provided with 6 Hall sensors at equal intervals; the method further comprises the following steps:
determining ω from equations (5) and (6) 0 And β:
wherein i is a positive integer and represents a zero-crossing period with the serial number i; t is t i Denotes the moment at which the Hall sensor detects the trigger signal in the zero-crossing period with the sequence number i, t i-1 Denotes the moment at which the Hall sensor detects the trigger signal in the zero-crossing period with the sequence number i-1, t i-2 Representing a zero-crossing period at sequence number i-2When the middle Hall sensor detects the trigger signal, the rotor triggers the corresponding Hall sensors in each zero-crossing period in sequence according to the sequence of the sequence numbers from small to large.
4. The method of claim 1, further comprising:
keeping the rotor running in a constant-speed rotation state, and determining basic mechanical angles R corresponding to 6 zero-crossing periods which are adjacent in sequence according to a formula (7) k ；
Wherein k represents a zero-crossing period with the serial number k; t is k Representing the duration of the rotor in a zero-crossing period with the sequence number k;
determining a mechanical angle A corresponding to a zero-crossing period with the sequence number x according to a formula (8);
A＝R xmod6 (8)
wherein x is an integer greater than 5.
5. A DC brushless motor control system, which is applied to a DC brushless motor in a two-phase conduction three-phase six-state, and is characterized in that the system comprises:
a phase change time determining module for determining t corresponding to the node when the counter electromotive force zero crossing point is detected Get up Determining t corresponding to the phase change time node of the zero-crossing period according to the formulas (1) and (2) Phase change Time:
t phase change ＝t Crane +t Delay time (1)
Wherein the overshoot from one back EMF zero crossing to the next adjacent back EMF zero crossingThe process is defined as a zero-crossing period; t is t Delay time Denotes from t Crane Time of day start to t Phase change The delay time experienced by a time of day, the value of which is meaningful only when it is real and not less than zero; a is a mechanical angle of the rotor in the zero-crossing period; omega 0 Is rotor and t Crane Angular velocity corresponding to the moment; beta is the angular acceleration of the rotor in the first N zero-crossing periods adjacent to the current zero-crossing period, and N is a positive integer.
6. The DC brushless motor control system according to claim 5, wherein the motor outputs a pulse signal with a frequency f to control the rotation speed of the rotor; the system further comprises:
a first speed change information determination module for determining ω according to equations (3) and (4) 0 And β:
β＝ω j-1 -ω j-2 (4)
wherein j is a positive integer and represents a zero-crossing period with the serial number j; f. of j Indicating the frequency of the pulse signal output by the inversion module in the zero-crossing period with the sequence number j; p represents the number of pole pairs of the motor; omega j-1 Representing the angular velocity of the rotor during the zero-crossing period numbered j-1; omega j-2 Representing the angular velocity of the rotor during the zero-crossing period numbered j-2.
7. A brushless DC motor control system according to claim 5, characterized in that the motor is arranged according to
The mechanical angle of the sensor is provided with 6 Hall sensors at equal intervals; the system further comprises:
a second speed change information determination module for determining ω according to equations (5) and (6) 0 And β:
wherein i is a positive integer and represents a zero-crossing period with the serial number i; t is t i Denotes the moment at which the Hall sensor detects the trigger signal in the zero-crossing period with the sequence number i, t i-1 Denotes the moment at which the Hall sensor detects the trigger signal in the zero-crossing period with sequence number i-1, t i-2 And the moment when the Hall sensor detects the trigger signal in the zero-crossing period with the serial number of i-2 is shown, and the rotor sequentially triggers the corresponding Hall sensors in each zero-crossing period according to the sequence from small to large of the serial numbers.
8. A brushless DC motor control system according to claim 5, further comprising:
the basic mechanical angle determining module is used for keeping the rotor to operate in a constant-speed rotation state and determining basic mechanical angles R corresponding to 6 sequentially adjacent zero-crossing periods according to a formula (7) k ；
Wherein k represents a zero-crossing period with the serial number k; t is k Representing the duration of the rotor in a zero-crossing period with the sequence number k;
the mechanical angle determining module is used for determining a mechanical angle A corresponding to a zero-crossing period with the sequence number x according to a formula (8);
A＝R xmod6 (8)
wherein x is an integer greater than 5.
9. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform a dc brushless motor control method according to any one of claims 1 to 4.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5233275A (en) * | 1991-11-01 | 1993-08-03 | Micropolis Corporation | Simplified sensorless DC motor commutation control circuit using analog timing techniques |
| US5548197A (en) * | 1994-09-28 | 1996-08-20 | Allen-Bradley Company, Inc. | Method and apparatus for determining motor speed using zero crossing times |
| CN101938239A (en) * | 2009-06-30 | 2011-01-05 | 半导体元件工业有限责任公司 | Be used to start the method for sensorless DC motor |
| CN103502773A (en) * | 2011-05-17 | 2014-01-08 | 索尼公司 | Travel orientation calculation apparatus, travel orientation calculation method, travel orientation calculation program, and navigation apparatus |
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2022
- 2022-02-25 CN CN202210184389.4A patent/CN114465531B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5233275A (en) * | 1991-11-01 | 1993-08-03 | Micropolis Corporation | Simplified sensorless DC motor commutation control circuit using analog timing techniques |
| US5548197A (en) * | 1994-09-28 | 1996-08-20 | Allen-Bradley Company, Inc. | Method and apparatus for determining motor speed using zero crossing times |
| CN101938239A (en) * | 2009-06-30 | 2011-01-05 | 半导体元件工业有限责任公司 | Be used to start the method for sensorless DC motor |
| CN103502773A (en) * | 2011-05-17 | 2014-01-08 | 索尼公司 | Travel orientation calculation apparatus, travel orientation calculation method, travel orientation calculation program, and navigation apparatus |
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