CN114499292B - Adaptive control method based on advance angle calculation of inductive brushless motor - Google Patents
Adaptive control method based on advance angle calculation of inductive brushless motor Download PDFInfo
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- CN114499292B CN114499292B CN202210400943.8A CN202210400943A CN114499292B CN 114499292 B CN114499292 B CN 114499292B CN 202210400943 A CN202210400943 A CN 202210400943A CN 114499292 B CN114499292 B CN 114499292B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/15—Controlling commutation time
- H02P6/153—Controlling commutation time wherein the commutation is advanced from position signals phase in function of the speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—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
- 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
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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Abstract
The invention discloses an adaptive control method for calculating an advance angle based on a sensed brushless motor, which is characterized in that when the motor works at a set rotating speed and power, an automatic operation software module with an advance angle calculation formula in a motor controller is started, the advance angle is finely adjusted, and relevant data is recorded; after the motor runs for a period of time and the fine adjustment range of the advance angle reaches the set range, comparing the motor running efficiency data in all the fine adjustment processes to obtain the advance angle corresponding to the highest running efficiency to correct the advance angle calculation formula, and storing the relevant parameters of the corrected advance angle calculation formula in a readable and erasable memory for calling in the later running of the motor. The method saves a large amount of resources and time, and the obtained advance angle calculation formula can be determined as the optimal advance angle formula of the motor under the condition, so that the motor efficiency is improved, and the product competitiveness is increased.
Description
Technical Field
The invention relates to an adaptive control method based on advance angle calculation of a inductive brushless motor.
Background
The brushless direct current motor BLDC motor is widely applied to various electrical equipment due to energy conservation, environmental protection and high controllability, and the brushless direct current motor has 2 control modes at present, one is an inductive brushless motor (adopting a scalar control technology) with a Hall element for detecting the position of a rotor; the other method is to detect the phase current of the coil winding to obtain the position of the rotor, namely, the brushless motor without position sensing is a brushless motor without position sensing, usually, a vector control technology is adopted to carry out coordinate transformation on the phase current of the motor to carry out vector control, so as to obtain currents Id and Iq on a rotor coordinate system, and weak magnetic speed regulation is realized by adjusting the value of Id.
The invention is designed aiming at the control of the inductive brushless motor, and a calculation function F (I, n) of an advance angle alpha is disclosed in an invention patent with the patent number of CN201410033713.8 and the name of a control method for expanding the rotating speed range of an ECM motor, wherein the calculation function F (I, n) of the advance angle alpha is alpha = K1 multiplied by I + K2+ n multiplied by K3, K1, K2 and K3 are coefficients, I is a direct current bus current value measured by the motor in real time, and n is the real-time rotating speed of the motor. The invention mainly solves the technical problems that the traditional vector flux weakening control is not needed, the calculation and control are simplified by utilizing the control of the advance angle, and the operation requirement of a microprocessor is reduced, thereby reducing the cost of products. The algorithm for calculating the advance angle α is written in the software program of the microprocessor, and the software program is fixed in the ROM memory and is not changeable, so that a software engineer is required to spend one day or more to test the efficiency of different advance angles, and then the results are integrated into a formula and written into the algorithm, as shown in fig. 1. At present, for a new series of lead angle formulas of the inductive direct current brushless motor, a software designer needs to spend at least half a day for testing and integrating, and after the process is simplified, the obtained lead angle formula cannot be guaranteed to be an optimal solution.
The prior scheme has the following problems:
(1) a large amount of time is consumed, and a rare resource (a dynamometer) is required to be occupied for completing the test;
(2) the simplified mode cannot ensure that the obtained formula is the optimal advance angle formula, because different environments applied by clients can cause the difference of the advance angle calculation formula;
(3) the calculation function F of the advance angle alpha is complex, and the calculation is complex due to the fact that the calculation function F contains two variable bus current values I and the rotating speed n.
Disclosure of Invention
The invention aims to provide an adaptive control method based on advance angle calculation of a sensed brushless motor, which can solve the technical problems that a great amount of manual test time and integration time are consumed in an advance angle calculation formula of the sensed brushless motor, dynamometer resources are occupied, and the obtained formula cannot be guaranteed to be the optimal advance angle formula in the prior art.
The purpose of the invention is realized by the following technical scheme.
When the motor works at a set rotating speed and power, an automatic operation software module with an advance angle calculation formula in the motor controller is started, the advance angle is finely adjusted, and relevant data are recorded;
after the motor runs for a period of time and the fine adjustment range of the advance angle reaches the set range, comparing the motor running efficiency data in all the fine adjustment processes to obtain the advance angle corresponding to the highest running efficiency to correct the advance angle calculation formula, and storing the relevant parameters of the corrected advance angle calculation formula in a readable and erasable memory for calling in the later running of the motor.
The above-described set range is a range between the maximum advance angle Amax and the minimum advance angle Amin of the motor.
The efficiency data is the duty ratio of the PWM signal output by the microprocessor in the motor controller to the inverter circuit, and the minimum duty ratio is regarded as the highest operation efficiency.
The above advance angle calculation formula is set as a first order linear function: α = K × Idc + C, where α is the advance angle, Idc is the bus current, K and C are constants; the relevant parameters of the corrected advance angle calculation formula refer to corrected parameters K and C.
When the motor leaves a factory, the initial parameters of the advance angle calculation formula are stored in a readable erasable memory, when the motor does not work at a set rotating speed and power, the motor is started and initial parameters K0 and C0 are called when the motor runs, and the calculation of the advance angle is calculated by using alpha = K0 × Idc + C0 and the motor is run; and when the advance angle corresponding to the highest operation efficiency is obtained, correcting the advance angle calculation formula, and replacing the related parameters K and C of the corrected advance angle calculation formula with the initial parameters K0 and C0 to store in a readable and erasable memory.
The initial parameters K0 and C0 were obtained by: continuously changing the advance angle alpha when the motor is in no-load, then comparing the duty ratios of PWM control corresponding to all the advance angles, finding the advance angle alpha 1 and bus current Idc1 corresponding to the minimum duty ratio V _ D, and obtaining a point (Idc 1, alpha 1); when the motor is in a rated load, the advance angle alpha is continuously changed, then the duty ratios of PWM control corresponding to all the advance angles are compared, the advance angle alpha 2 and the bus current Idc2 corresponding to the minimum duty ratio V _ D are found, another point (Idc 2, alpha 2) is obtained, and the initial parameters K0 and C0 can be solved by substituting the two points (Idc 1, alpha 1), (Idc 2, alpha 2) into an equation alpha = K0 × Idc + C0.
When the corrected relevant parameters K and C of the advance angle calculation formula are replaced and replaced with the initial parameters K0 and C0, the initial parameters K0 and C0 are stored in a readable and erasable memory, and a corrected mark is set, and even if the motor works at the same set rotating speed and the same set power, the automatic operation software module is not started.
The automatic operation software module is executed according to the following steps:
step 1: the motor normally operates;
and 2, step: judging whether the motor is at the set rotating speed and power, if so, entering the step 3, and if not, returning to the step 1;
and step 3: judging whether the motor is operated according to the optimal advance angle formula, if so, returning to the step 1, and if not, entering the step 4;
and 4, step 4: taking the current running advance angle of the motor as an initial advance angle alpha 0, taking the initial advance angle alpha 0 as a starting point, taking delta alpha as a step pitch to gradually increase the advance angle, and recording efficiency data and bus current Idc corresponding to different advance angles until the advance angle is larger than the maximum advance angle; then, taking the initial advance angle alpha 0 as a starting point and the delta alpha as a step pitch to gradually reduce the advance angle, and recording efficiency data and bus current Idc corresponding to different advance angles until the advance angle is smaller than the minimum advance angle;
step 5, comparing and arranging the recorded efficiency data corresponding to all the advance angles, and selecting the most appropriate advance angle alpha 3 and bus current Idc 3;
and 6: and correcting the advance angle calculation formula by selecting the most appropriate advance angle and the bus current Idc, and storing the relevant parameters of the corrected advance angle calculation formula in a readable and erasable memory.
And 7: and ending the power failure.
The linear equation α = K × Idc + C is solved by using a point (Idc 3, α 3) composed of the advance angle α 3 and the bus current Idc3 and a point (Idc 1, α 1) set during idling, and the corrected parameters K and C are obtained.
The readable and erasable memory is a nonvolatile memory.
Compared with the prior art, the invention has the following effects:
(1) a large amount of resources and time are saved, and the advance angle formula does not need to be debugged, namely, the resources are not needed to be used for debugging, and the time is not needed to be spent for debugging.
(2) The automatic operation software module is used for carrying out multiple operations on the motor, and the obtained advance angle calculation formula can be determined as the optimal advance angle formula of the motor under the conditions, so that the motor efficiency is improved, and the product competitiveness is increased.
(3) All the advance angle formulas meeting the requirements under the condition can be automatically calculated at the same time, so that the algorithm can select the optimal advance angle calculation formula suitable for the model or the client.
(4) The operation formula of the advance angle is simplified, and the operation resource of the motor microprocessor is saved, so that the cost can be reduced by using a cheaper microprocessor MCU.
(5) Other advantages of the present invention are described in detail in the examples section.
Drawings
Fig. 1 is a flowchart for obtaining an advance angle calculation formula of a brushless induction motor in the prior art;
FIG. 2 is a perspective view of an inductive brushless motor provided by the present invention;
FIG. 3 is a structural cross-sectional view of a brushless motor according to the present invention;
fig. 4 is a perspective view of a controller of a brushless motor according to the present invention;
FIG. 5 is a block circuit diagram of a motor controller for the brushless motor of the present invention;
FIG. 6 is a corresponding circuit diagram of FIG. 5;
FIG. 7 is a diagram of the relationship between the microprocessor and the memories of the motor controller of the brushless motor of the present invention;
fig. 8 is a flow chart of the automatic operation software module of the inductive brushless motor of the present invention.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments and accompanying drawings.
The first embodiment is as follows:
as shown in fig. 2, fig. 3 and fig. 4, the brushless motor provided in this embodiment is composed of a motor unit 1 and a motor controller 2, where the motor unit 1 includes a stator assembly 12, a rotor assembly 13 and a casing assembly 11, the stator assembly 13 is mounted on the casing assembly 11, the motor unit 1 is mounted with a hall sensor 14 for detecting a rotor position, the rotor assembly 13 is sleeved on an inner side of the stator assembly 12, the motor controller 2 includes a control box 22 and a control circuit board 21 mounted in the control box 22, the control circuit board 21 generally includes a power circuit, a microprocessor MCU, a bus current detection circuit, an inverter circuit and a hall sensor 14, the power circuit supplies power to each circuit, the hall sensor 14 detects a rotor position signal and inputs the rotor position signal to the microprocessor MCU, the bus current detection circuit inputs a detected bus current to the microprocessor MCU, the microprocessor MCU controls an inverter circuit that controls the power on and off of the coil windings of each phase of the stator assembly 12.
As shown in fig. 4, 5, and 6, assuming that the sensed brushless motor is a 3-phase brushless dc permanent magnet synchronous motor, the rotor position measuring circuit 14 generally employs 3 hall sensors, the 3 hall sensors respectively detect a rotor position of a 360-degree electrical angle period, assuming that the ECM motor is a 3-phase brushless dc permanent magnet synchronous motor, the 3 hall sensors respectively detect a rotor position of a 360-degree electrical angle period, and the energization of each phase coil winding of the stator assembly 12 is changed once every 120-degree electrical angle is rotated, thereby forming a 3-phase 6-step control mode. After an alternating current INPUT (AC INPUT) passes through a full-wave rectifying circuit composed of diodes D7, D8, D9 and D10, a direct current bus voltage Vbus is output at one end of a capacitor C1, the direct current bus voltage Vbus is related to an INPUT alternating current voltage, after the voltage of the alternating current INPUT (AC INPUT) is determined, the bus voltage Vbus is constant, a line voltage P of a 3-phase winding is a PWM chopping output voltage, P = Vbus V _ D, V _ D is the duty ratio of a PWM signal INPUT to an inverter circuit by a microprocessor, the line voltage P can be changed to change a direct current bus current I, the direct current bus current I is detected through a resistor R1, the inverter circuit is composed of electronic switching tubes Q1, Q2, Q3, Q4, Q5 and Q6, and control ends of the electronic switching tubes Q1, Q2, Q573Q 3, Q4, Q5 and Q6 are respectively output by PWM signals (P9 and P68656) and P2 and P8269556 output by the microprocessor, P4, P5 and P6), the inverter circuit is also connected with a resistor R1 for detecting the bus current I, and the bus current detection circuit converts the bus current I detected by the resistor R1 and transmits the bus current I to the microprocessor.
The control operation of the motor generally needs an advance angle to ensure that the motor has better performance, the three-phase motor is provided with a three-phase winding a, a three-phase winding b and a three-phase winding c, and the PWM signal chopped wave voltages output to the windings of all the phases by the inverter circuit are respectively as follows:
Ua=Vbus×sin(θ+α)×V_D;
Ub=Vbus×sin(θ+α+120)×V_D;
Uc=Vbus×sin(θ+α+240)×V_D;
vbus is a direct-current bus voltage, the direct-current bus voltage is basically unchanged, a real-time angle θ = ω × t of the rotor, ω is an angular speed, and can be converted through a motor speed n, t is time, α is an advance angle, V _ D is a duty ratio of a PWM signal, a rotor position signal of the hall sensor is read, and the motor speed n can be known by updating a rotor angle. The control of the duty ratio and the advance angle of the PWM signal becomes a key factor, how to calculate and obtain the optimal advance angle of the motor is called as a key ring for improving the performance of the motor, and an advance angle calculation formula is as follows: α = K1 × Idc + K2+ n × K3, since the rotation speed n becomes a constant value, the advance angle can be calculated by the linear equation α = K × Idc + C.
The working principle of the invention is as follows: the motor works at the set rotating speed and power, namely the advance angle is required to be optimal at a certain point, so that the calculation formula of the advance angle can be simplified, a first-order function is adopted for operation, and a linear equation of alpha = K multiplied by Idc + C can be used for operation.
As shown in fig. 7, in the technical solution of the present invention, a microprocessor is connected to a memory ROM and a cache memory RAM, the microprocessor is further connected to a memory capable of being read and written, a control software program for motor operation is fixed in the memory ROM, an algorithm for advance angle calculation is written in a motor controller in a software manner to form an automatic operation software module, the automatic operation software module is also fixed in the memory ROM, and an advance angle calculation formula is set according to a first-order linear function: α = K × Idc + C, where α is the advance angle, Idc is the bus current, and K and C are constants; the relevant parameters of the corrected advance angle calculation formula refer to corrected parameters K and C, and the relevant parameters K and C of the advance angle calculation formula are stored in a readable and erasable memory so as to be called in the later operation of the motor.
When the motor leaves a factory, initial parameters of the advance angle calculation formula are stored in a readable and erasable memory, when the motor does not work at a set rotating speed and power, the motor is started and calls the initial parameters K0 and C0 when running, the advance angle calculation utilizes alpha = K0 × Idc + C0 to calculate and run the motor, when the advance angle corresponding to the highest running efficiency is obtained, the advance angle calculation formula is corrected, and related parameters K and C of the corrected advance angle calculation formula are replaced to replace the initial parameters K0 and C0 and stored in the readable and erasable memory.
The initial parameters K0 and C0 were obtained by: continuously changing the advance angle alpha when the motor is in idle load, then comparing the duty ratios of PWM control corresponding to all the advance angles, finding the advance angle alpha 1 and bus current Idc1 corresponding to the minimum duty ratio V _ D, and obtaining a point (Idc 1, alpha 1); when the motor is in rated load, the advance angle alpha is continuously changed, then the duty ratios of PWM control corresponding to all the advance angles are compared, the advance angle alpha 2 and bus current Idc2 corresponding to the minimum duty ratio V _ D are found, another point (Idc 2, alpha 2) is obtained, and the two points (Idc 1, alpha 1), (Idc 2, alpha 2) are substituted into an equation alpha = K0 × Idc + C0, so that initial parameters K0 and C0 can be solved. When the motor is unloaded, the unloaded speed and the running power can be set, and the rated load of the motor is specified by clear rules, including the rated speed and the rated power. Since the state in which the motor is at the optimum advance angle at two points does not represent the state in which all points on a straight line of α = K × Idc + C are at the optimum advance angle, it is necessary to correct the advance angle calculation formula α = K0 × Idc + C0 according to a certain operating point of the motor in the operating environment, so that the optimum advance angle is obtained by adapting the advance angle calculation formula to the certain operating point in the operating environment.
Examples are: a3-phase inductive brushless motor, its no-load speed (600 rpm and no-load running power 30 watts, its rated speed under the rated load 1050 rpm and rated power 800 watts, get two points (Idc 1, α 1), (Idc 2, α 2) separately with the above data, substitute two points (Idc 1, α 1), (Idc 2, α 2) into equation α = K0 × Idc + C0 can solve to the initial parameter K0 and C0, the customer installs the motor in a fan apparatus, the operating point requirement of the fan apparatus is that the speed is at 900 rpm/share, the power is 720 watts, when writing the algorithm of advance angle calculation into the motor controller form automatic operation software module through the software mode, set the motor to operate at 900 rpm and 720 watts, namely when the motor is operating at the set speed and power, the automatic operation software module with angle calculation formula of advance angle in the motor controller starts, fine adjustment is carried out on the advance angle and relevant data are recorded; after the motor runs for a period of time, the fine adjustment range of the advance angle reaches a set range, motor running efficiency data in all fine adjustment processes are compared, the advance angle corresponding to the highest running efficiency is obtained, the advance angle calculation formula is corrected, and relevant parameters of the corrected advance angle calculation formula are stored in a readable and erasable memory so as to be called in the later running of the motor.
As shown in fig. 8, the automatic operation software module is specifically executed according to the following steps:
step 1: starting to electrify, and normally operating the motor;
step 2: judging whether the motor is at the set rotating speed and power, if so, entering the step 3, and if not, returning to the step 1;
and 3, step 3: judging whether the motor is operated according to the optimal advance angle formula, if so, returning to the step 1, otherwise, entering the step 4;
and 4, step 4: taking the current running advance angle of the motor as an initial advance angle alpha 0, taking the initial advance angle alpha 0 as a starting point, taking delta alpha as a step pitch to gradually increase the advance angle, and recording efficiency data and bus current Idc corresponding to different advance angles until the advance angle is larger than the maximum advance angle; then, taking the initial advance angle alpha 0 as a starting point and delta alpha as a step pitch to gradually reduce the advance angle, and recording efficiency data and bus current Idc corresponding to different advance angles until the advance angle is smaller than the minimum advance angle;
step 5, comparing and arranging the recorded efficiency data corresponding to all the advance angles, and selecting the most appropriate advance angle alpha 3 and bus current Idc 3;
step 6: and correcting the advance angle calculation formula by selecting the most appropriate advance angle and the bus current Idc, and storing the relevant parameters of the corrected advance angle calculation formula in a readable and erasable memory.
And 7: and ending the power failure.
Solving a linear equation alpha = K × Idc + C by using a point (Idc 3, alpha 3) composed of the advance angle alpha 3 and the bus current Idc3 and a point (Idc 1, alpha 1) set in no-load to obtain modified parameters K and C, storing the modified parameters K and C in a readable and erasable memory, and simultaneously writing mark data into the readable and erasable memory to represent that the current parameters K and C are parameters used by a calculation formula of the optimal advance angle under the environment of the set rotating speed and power so as to facilitate the judgment of the step 3. The readable and erasable memory is also called a nonvolatile memory, and the technology of the nonvolatile memory is the technology that data is not lost when the computer is shut down or the computer is shut down suddenly or accidentally.
The set range is a range between the maximum advance angle Amax and the minimum advance angle Amin of the motor.
The efficiency data is the duty ratio of the PWM signal output by the microprocessor in the motor controller to the inverter circuit, and the minimum duty ratio is regarded as the highest operation efficiency.
The above advance angle calculation formula is set as a first order linear function: α = K × Idc + C, where α is the advance angle, Idc is the bus current, K and C are constants; the relevant parameters of the corrected advance angle calculation formula refer to corrected parameters K and C, namely, the corrected parameters K and C are used for replacing initial parameters K0 and C0, and the most appropriate advance angle alpha 3 and bus current Idc3 are selected by comparing and arranging the sizes of efficiency data (namely duty ratios) corresponding to all advance angles recorded in the table 1; the lowest duty cycle is considered to be the most efficient operation.
Compared with the prior art, the invention has the following effects:
1. a large amount of resources and time are saved, and the advance angle formula does not need to be debugged, namely, the resources are not needed to be used for debugging, and the time is not needed to be spent for debugging.
2. The automatic operation software module is used for carrying out multiple operations on the motor, and the obtained advance angle formula can be determined as the optimal advance angle formula of the motor under the conditions, so that the motor efficiency is improved, and the product competitiveness is improved.
3. All the advance angle formulas meeting the requirements under the condition can be automatically calculated at the same time, and the optimal advance angle calculation formula suitable for the model or the customer can be selected by the algorithm.
4. The operation formula of the advance angle is simplified, and the operation resource of the motor microprocessor is saved, so that the cost can be reduced by using a cheaper microprocessor MCU.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited thereto, and other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention are all equivalent substitutions and are intended to be included within the scope of the present invention.
Claims (9)
1. The self-adaptive control method based on the advance angle calculation of the inductive brushless motor is characterized by comprising the following steps of:
when the motor works at a set rotating speed and power, an automatic operation software module with an advance angle calculation formula in the motor controller is started, the advance angle is finely adjusted, and relevant data are recorded;
after the motor runs for a period of time and the fine adjustment range of the advance angle reaches a set range, comparing the motor running efficiency data in all fine adjustment processes to obtain the advance angle corresponding to the highest running efficiency to correct the advance angle calculation formula, and storing relevant parameters of the corrected advance angle calculation formula in a readable and erasable memory to be called in the later running of the motor;
the advance angle calculation formula is set according to a first-order linear function: α = K × Idc + C, where α is the advance angle, Idc is the bus current, and K and C are constants; the relevant parameters of the corrected advance angle calculation formula refer to corrected parameters K and C;
the step of finely adjusting the advance angle and recording related data means that the microprocessor outputs the duty ratio of a PWM signal and the bus current to the inverter circuit.
2. An adaptive control method based on inductive brushless motor advance angle calculation according to claim 1, characterized in that: the set range is a range between the maximum advance angle Amax and the minimum advance angle Amin of the motor.
3. An adaptive control method based on inductive brushless motor advance angle calculation according to claim 2, characterized in that: the efficiency data is the duty ratio of a PWM signal output by a microprocessor in the motor controller to an inverter circuit, and the minimum duty ratio is regarded as the highest operation efficiency.
4. An adaptive control method based on inductive brushless motor advance angle calculation according to claim 1 or 2 or 3, characterized by: when the motor leaves a factory, initial parameters of an advance angle calculation formula are stored in a readable erasable memory, when the motor does not work at a set rotating speed and power, the motor is started and initial parameters K0 and C0 are called when the motor runs, and the calculation of the advance angle is calculated by using alpha = K0 × Idc + C0 and the motor is run; and when the advance angle corresponding to the highest operation efficiency is obtained, correcting the advance angle calculation formula, and replacing the related parameters K and C of the corrected advance angle calculation formula with the initial parameters K0 and C0 to store in a readable and erasable memory.
5. An adaptive control method based on inductive brushless motor advance angle calculation according to claim 4, characterized in that: the initial parameters K0 and C0 were obtained by: continuously changing the advance angle alpha when the motor is in idle load, then comparing the duty ratios of PWM control corresponding to all the advance angles, finding the advance angle alpha 1 and bus current Idc1 corresponding to the minimum duty ratio V _ D, and obtaining a point (Idc 1, alpha 1); when the motor is in a rated load, the advance angle alpha is continuously changed, then the duty ratios of PWM control corresponding to all the advance angles are compared, the advance angle alpha 2 and the bus current Idc2 corresponding to the minimum duty ratio V _ D are found, another point (Idc 2, alpha 2) is obtained, and the initial parameters K0 and C0 can be solved by substituting the two points (Idc 1, alpha 1), (Idc 2, alpha 2) into an equation alpha = K0 × Idc + C0.
6. An adaptive control method based on inductive brushless motor advance angle calculation according to claim 5, characterized in that: when the related parameters K and C of the corrected advance angle calculation formula are replaced and replaced with the initial parameters K0 and C0 and stored in the erasable memory, and the corrected marks are set, the automatic operation software module is not started again even if the motor works at the same set rotating speed and the same set power again.
7. An adaptive control method based on inductive brushless motor advance angle calculation according to claim 4, characterized in that: the automatic operation software module is executed according to the following steps:
step 1: the motor normally runs; and 2, step: judging whether the motor is at the set rotating speed and power, if so, entering the step 3, and if not, returning to the step 1; and 3, step 3: judging whether the motor is operated according to the optimal advance angle formula, if so, returning to the step 1, and if not, entering the step 4; and 4, step 4: taking the current running advance angle of the motor as an initial advance angle alpha 0, taking the initial advance angle alpha 0 as a starting point, taking delta alpha as a step pitch to gradually increase the advance angle, and recording efficiency data and bus current Idc corresponding to different advance angles until the advance angle is larger than the maximum advance angle; then, taking the initial advance angle alpha 0 as a starting point and the delta alpha as a step pitch to gradually reduce the advance angle, and recording efficiency data and bus current Idc corresponding to different advance angles until the advance angle is smaller than the minimum advance angle; step 5, comparing and arranging the recorded efficiency data corresponding to all the advance angles, and selecting the most appropriate advance angle alpha 3 and bus current Idc 3; and 6: and correcting the advance angle calculation formula by using the selected most appropriate advance angle alpha 3 and the bus current Idc3, and storing relevant parameters of the corrected advance angle calculation formula in a readable and erasable memory.
8. An adaptive control method based on inductive brushless motor advance angle calculation according to claim 7, characterized in that: a linear equation alpha = K multiplied by Idc + C is solved by a point (Idc 3, alpha 3) formed by the advance angle alpha 3 and the bus current Idc3 and a point (Idc 1, alpha 1) set in no-load, and parameters K and C after correction are obtained.
9. An adaptive control method based on inductive brushless motor advance angle calculation according to claim 8, characterized by: the readable and erasable memory is a nonvolatile memory.
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| CN202210400943.8A CN114499292B (en) | 2022-04-18 | 2022-04-18 | Adaptive control method based on advance angle calculation of inductive brushless motor |
| PCT/CN2022/119512 WO2023201979A1 (en) | 2022-04-18 | 2022-09-19 | Adaptive control method based on angle-of-advance calculation for inductive brushless electric motor |
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| CN202210400943.8A CN114499292B (en) | 2022-04-18 | 2022-04-18 | Adaptive control method based on advance angle calculation of inductive brushless motor |
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| CN202210400943.8A Active CN114499292B (en) | 2022-04-18 | 2022-04-18 | Adaptive control method based on advance angle calculation of inductive brushless motor |
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| CN114499292B (en) * | 2022-04-18 | 2022-07-15 | 中山大洋电机股份有限公司 | Adaptive control method based on advance angle calculation of inductive brushless motor |
| CN117013916B (en) * | 2023-09-25 | 2024-01-16 | 深圳市精锐昌科技有限公司 | Self-adaptive control method, system and storage medium for motor |
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| JP5604991B2 (en) * | 2010-06-01 | 2014-10-15 | パナソニック株式会社 | MOTOR DRIVE DEVICE AND ELECTRIC DEVICE USING THE SAME |
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| CN106788072B (en) * | 2017-03-27 | 2019-04-16 | 安徽江淮汽车集团股份有限公司 | Permanent-magnetic synchronous motor rotor initial angle modification method and update the system |
| CN113131808B (en) * | 2019-12-31 | 2023-03-17 | 广东美的白色家电技术创新中心有限公司 | Brushless DC motor control method, electronic device, and medium |
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| CN114499292B (en) * | 2022-04-18 | 2022-07-15 | 中山大洋电机股份有限公司 | Adaptive control method based on advance angle calculation of inductive brushless motor |
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