CN115189597B - Method for detecting running state of brushless direct current motor - Google Patents

Method for detecting running state of brushless direct current motor Download PDF

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Publication number
CN115189597B
CN115189597B CN202111541241.3A CN202111541241A CN115189597B CN 115189597 B CN115189597 B CN 115189597B CN 202111541241 A CN202111541241 A CN 202111541241A CN 115189597 B CN115189597 B CN 115189597B
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motor
current
state
rotating speed
driving circuit
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CN115189597A (en
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张翔铭
韩智毅
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Guangdong Huaxin Weite Integrated Circuit Co ltd
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Guangdong Huaxin Weite Integrated Circuit Co ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/34—Arrangements for starting
    • 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
    • H02P6/20—Arrangements for starting
    • 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
    • H02P6/20—Arrangements for starting
    • H02P6/22—Arrangements for starting in a selected direction of rotation

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  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention relates to a method for detecting the running state of a brushless direct current motor. Before the motor is started, a zero vector driving signal is applied to a driving circuit of the motor, and phase induced current of the driving circuit is detected, so that the vector sum of one carrier period is zero, the distortion of the detected current is reduced, and the accuracy of the detected current is improved. Further, coordinate transformation is carried out according to the phase induced current to obtain a current component and current static coordinate system sector information, and then the initial running state of the motor can be obtained according to the change state of the current component and the current static coordinate system sector information, so that a complex hardware circuit structure is avoided, and the efficiency of obtaining the initial running state of the motor is improved.

Description

Method for detecting running state of brushless direct current motor
Technical Field
The invention relates to the technical field of motor control, in particular to a motor running state detection method of a brushless direct current motor.
Background
The permanent magnet brushless direct current motor has the advantages of high efficiency and energy saving, the starting can be divided into static starting, downwind starting and upwind starting, and different starting modes correspond to different processes, so that the initial running state of the motor needs to be detected and determined before starting.
In the prior art, a method for estimating the initial running state of the motor by acquiring the back electromotive force through a hardware circuit has a complex structure, so that the acquisition efficiency is low.
Disclosure of Invention
Therefore, it is necessary to provide a method for detecting an operating state of a brushless dc motor, which is directed to the problem of low efficiency in obtaining an initial operating state in the prior art.
An operation state detection method of a brushless direct current motor includes:
before the motor is started, applying a zero vector driving signal to a driving circuit of the motor, and detecting a phase induced current of the driving circuit;
obtaining a target phase induction current of the driving circuit according to the phase induction current and a prestored current offset of the driving circuit;
performing coordinate conversion on the target phase induced current to obtain a current component corresponding to the target phase induced current and current stationary coordinate system sector information;
and obtaining the initial running state of the motor according to the current component and the sector information of the current static coordinate system.
In the method of the above embodiment, before the motor is started, the zero vector driving signal is applied to the driving circuit of the motor, and the phase induced current of the driving circuit is detected, so that the vector sum of one carrier period is zero, the distortion of the detected current is reduced, and the accuracy of the detected current is improved. Further, coordinate transformation is carried out according to the phase induced current to obtain a current component and current static coordinate system sector information, and then the initial running state of the motor can be obtained according to the change state of the current component and the current static coordinate system sector information, so that a complex hardware circuit structure is avoided, and the efficiency of obtaining the initial running state of the motor is improved.
In one embodiment, the obtaining the initial operating state of the motor according to the current component and the current stationary coordinate system sector information includes:
determining a target current component according to the sector information of the current static coordinate system; the target current component is a current component corresponding to a predetermined current stationary coordinate system sector;
and determining the initial running state of the motor according to the sector information of the current static coordinate system and the target current component.
In one embodiment, the determining the initial operating state of the motor according to the sector information of the current stationary coordinate system and the target current component includes:
obtaining the quiescent state demarcation point current of the driving circuit;
if the sum of squares of the target current components is smaller than or equal to the square of the quiescent state demarcation point current, determining that the motor is in a quiescent state;
and if the sum of the squares of the target current components is larger than the square of the quiescent state demarcation point current, determining that the motor is in a non-quiescent state.
In one embodiment, the non-stationary state comprises a forward rotation state or a reverse rotation state, the method comprising:
and determining the forward rotation state, the reverse rotation state and the corresponding initial rotating speed of the motor according to the change characteristic of the target current component.
In one embodiment, the method further comprises:
and if the motor is in a static state or a forward rotation state, controlling the motor to enter a normal closed-loop control system for starting.
In one embodiment, the method further comprises:
if the motor is in a reverse rotation state and the initial rotating speed is less than or equal to a preset minimum rotating speed, determining the axial rotating speed of the motor according to the initial rotating speed, applying the minimum rotating speed to the motor, and controlling the motor to enter a normal closed-loop control system for starting;
and detecting the real-time rotating speed of the motor, and if the real-time rotating speed is greater than the preset minimum rotating speed, converting the axial rotating speed and controlling the motor to enter a normal closed-loop control system.
In one embodiment, the method further comprises:
and if the motor is in a reverse rotation state and the initial rotating speed is greater than the preset maximum rotating speed, controlling the motor to directionally brake until the motor stops rotating, and then starting the motor.
In one embodiment, before determining the initial operating state of the motor according to the current stationary coordinate system sector information and the target current component, the method further includes:
and performing first-order low-pass filtering processing on the target current component to obtain a processed target current component.
In one embodiment, before obtaining the target phase induced current of the driving circuit according to the phase induced current and a prestored current offset of the driving circuit, the method further includes:
and detecting the phase induction current of the driving electricity when the motor is in a static state to obtain the current offset.
In one embodiment, the applying a zero vector driving signal to a driving circuit of the motor before the motor is started, and detecting a phase induced current of the driving circuit includes:
applying a zero vector driving signal to a half-bridge driving circuit of the motor, and triggering a single-resistor sampling module to obtain the phase induced current;
the zero vector driving signal is an equal ratio zero vector signal, and offset processing is carried out through single-resistor sampling pulse width modulation.
The method of the embodiment can at least achieve the following technical effects:
1. the vector sum of the driving signals of a single carrier period applied to the driving circuit is zero, so that the continuity and accuracy of the obtained induced current are ensured, and the reliability of the initial running state is effectively improved.
2. The initial running state of the motor is determined by using the converted current component and the sector information of the current stationary coordinate system, so that the complexity of calculation is reduced, and the efficiency of obtaining the initial running state is improved.
3. The method comprises the steps of firstly judging the static state and the non-static state of the motor, further determining different expression forms of the non-static state of the motor according to the change characteristics of the target current component, and being beneficial to improving the accuracy of detecting the initial running state of the motor starting and the accuracy of selecting the motor starting mode.
Drawings
Fig. 1 is a topology diagram of a driving circuit of an operation state detection method of a brushless dc motor in one embodiment;
FIG. 2 is a schematic diagram of a vector control space vector diagram in one embodiment;
FIG. 3 is a diagram of an embodiment of applying a zero vector space waveform;
FIG. 4 is a flow chart of a method for detecting an operating condition of a brushless DC motor in accordance with one embodiment;
FIG. 5 is a schematic diagram of a normal control system for an exemplary brushless DC motor;
fig. 6 is a block flow diagram of a fast starting method of a brushless dc motor according to an embodiment.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
An operation state detection method of a brushless dc motor according to some embodiments of the present invention will be described below with reference to the accompanying drawings.
The starting states of the motor are different, and an initial running state is generally required to be obtained so as to start the motor in a proper mode, so that the starting success rate is improved, and the starting time is shortened. The method can be used in a sensorless motor, the induced current of the motor is obtained by a zero vector method, the initial running state of the motor is obtained by detection, and different starting schemes are determined according to different initial running states. The execution main body of the method provided by the invention can be a control system of the motor and the fan, the motor can also be in communication connection with the cloud server, and the control is carried out through the cloud server, and the specific execution main body is not limited.
In one embodiment, as shown in the topological diagram of the driving circuit shown in fig. 1, the driving circuit is a single resistor sampling circuit and comprises a sampling resistor R and an operational amplifier circuit.
In one embodiment, the signal applied to the drive circuit is a zero vector drive signal, as shown in FIG. 2, disclosing a vector control space vector diagram for the zero vector, and FIG. 3 discloses a zero vector space waveform applied to the motor drive circuit.
In one embodiment, as shown in fig. 4, an operation state detection method for a brushless dc motor is provided, which is exemplified by applying the method to a motor control system, and the method includes:
step S410, before the motor is started, a zero vector driving signal is applied to a driving circuit of the motor, and a phase induced current of the driving circuit is detected.
The vector sum of the zero vector driving signal in one carrier period is zero, so that the probability of current distortion can be reduced, and the induced current can be effectively detected.
As shown in fig. 3, the two zero vectors applied to the drive circuit by the motor control system are 1:1, the motor control system can preprocess the zero vector drive signal according to requirements, such as pulse width modulation and the like.
The phase induced current of the driving circuit refers to a bus induced current of the driving circuit obtained by sampling through a single resistor, and the phase induced current can be one or more continuous time sequence data.
Specifically, before the motor is started, the motor control system sends a zero vector driving signal to the driving circuit, and triggers the single resistor to sample to obtain a phase induced current.
In step S420, a target phase induced current of the driving circuit is obtained according to the phase induced current and a pre-stored current offset of the driving circuit.
Since there is a certain offset of the phase induced current obtained by the zero vector application method, the offset of the driving circuit of the motor needs to be determined. Current offset I of the drive circuit off It means that when the motor is in a static state, the phase of the driving circuit induces current. The current offset may be data detected in advance after the motor leaves a factory or is used last time, and may be detected and updated periodically according to requirements.
The target phase induced current refers to a current after offset adjustment, and the current offset I may be subtracted from the phase induced current detected in step S410 off Thus obtaining the product.
Step S430, performing coordinate transformation on the target phase induced current to obtain a current component corresponding to the target phase induced current and current stationary coordinate system sector information.
The coordinate conversion refers to converting the target phase induced current from a natural coordinate system to a static coordinate system, and the original target phase induced current obtains a current component and corresponding current static coordinate sector information.
Wherein the current component can be divided into two-dimensional coordinates I α And I β And respectively represent the horizontal and vertical coordinates of the target phase induced current in the stationary coordinate system, as shown in fig. 2, the motor control system may collect the phase induced current in a certain period, and obtain the change characteristic of the phase induced current, so as to obtain the change characteristic of the corresponding current component in the stationary coordinate system.
As shown in fig. 2, the current stationary coordinate is divided into six sectors, and each sector has a corresponding sector number, which can be used to determine the operating state of the motor. After the sector information of the current static coordinate system is determined, the parameters of the rotation state, the rotation speed and the like of the motor can be obtained by combining the change characteristics of the current component.
And step S440, obtaining the initial running state of the motor according to the current component and the sector information of the current static coordinate system.
Specifically, the motor control system can obtain the variation trend of the current component according to the current component, obtain information such as the rotation direction and the instantaneous rotation speed of the motor according to the sector information of the current stationary coordinate system corresponding to the current component, and further judge and obtain the initial running state of the motor. The initial running state of the motor can be rapidly acquired based on single resistance sampling, a complex hardware circuit structure is not needed, and the efficiency of acquiring the initial running state of the motor is improved.
According to the scheme of the embodiment, before the motor is started, the zero vector driving signal is applied to the driving circuit of the motor, and the phase induced current of the driving circuit is detected, so that the vector sum of one carrier period is zero, the distortion of the detected current is reduced, and the accuracy of the detected current is improved. Further, coordinate transformation is carried out according to the phase induced current to obtain a current component and current static coordinate system sector information, and then the initial running state of the motor can be obtained according to the changing state of the current component and the current static coordinate system sector information, so that a complex hardware circuit structure is avoided, and the efficiency of obtaining the initial running state of the motor is improved.
In one embodiment, the step of obtaining the initial operation state of the motor according to the current component and the current stationary coordinate system sector information in step S440 includes:
determining a target current component according to the sector information of the current static coordinate system; and determining the initial running state of the motor according to the sector information of the current static coordinate system and the target current component.
The target current component refers to a current component corresponding to a predetermined current stationary coordinate system sector.
In the related art, the program implementation of the single-resistor sampling scheme is relatively complex, and two times of sampling are required in one PWM period. And the sinusoidal modulation mode needs to be modified at certain specific time to reconstruct the three-phase current, so that the current ripple is easier to generate.
After the zero vector driving signal is applied, based on the fact that the zero vector in the single-resistor sampling phase current reconstruction technology belongs to a non-observation area and simultaneously exists in six sectors, the phase sequence of the reconstructed stator phase induced current waveform of the adjacent sectors is opposite, and the reconstructed stator phase induced current is selected and fixed in a certain sector and reconstructed according to the acquired bus induced current. That is, the motor control system adopts the target current component corresponding to the fixed sector as the basis for judging the initial running state of the motor. By improving the single-resistor sampling phase current reconstruction technology, the complex flow of multiple sampling and modulation modification and the possibility of current distortion are avoided, and the efficiency and the accuracy of judging the initial running state of the motor are improved.
In some embodiments, the motor control system may also obtain the target current component by switching after selecting the phase induced current falling into a certain sector according to the determined sector and performing offset adjustment when detecting the phase induced current of the driving circuit. It is also possible to select the image induced current at the time of the coordinate transformation, i.e. on the basis of the determined sector. The timing of the screening is not particularly limited.
In the method of the embodiment, the characteristics of zero vector waveform and the characteristic of reverse current waveform sequence of adjacent sectors in the current static coordinate system are fully utilized, and the current component corresponding to the sector in the predetermined current static coordinate system is collected as the basis of analysis, so that the efficiency and the accuracy of judging the initial running state of the motor are improved.
In one embodiment, determining the initial operation state of the motor according to the sector information of the current stationary coordinate system and the target current component comprises the following steps:
obtaining the quiescent state demarcation point current of the driving circuit; if the sum of squares of the target current components is less than or equal to the square of the current of the dividing point of the static state, determining that the motor is in the static state; and if the square sum of the target current components is larger than the square of the current at the dividing point of the static state, determining that the motor is in the non-static state.
The quiescent state demarcation point current refers to the current acquired in advance when the motor is in a quiescent state or in a non-quiescent critical state, and can be represented as I min . The motor control system can collect the target current component I α I β And comparing the current with the quiescent state demarcation point current to obtain the current running state of the motor.
When in use
Figure BDA0003414256860000091
And meanwhile, the induced current in the initial state of the motor is weak, and the motor is judged to be in a static state. When/is>
Figure BDA0003414256860000092
When the motor is in a non-static state. The motor control system can determine a suitable starting mode of the motor according to the initial state of the motor.
For example, when the motor is in a static state, the motor control system can control the motor to directly enter the normal closed-loop control system to start the motor. When the motor is in a non-stationary state, different rotation directions and rotation speeds may exist, and the motor control system needs to be started according to conditions. To reduce start-up time and to reduce start-up losses to the motor.
In some embodiments, the motor control system may perform first-order low-pass filtering on the target current component to obtain a processed target current component, and then perform determination on a static state or a non-static state of the motor, so as to improve accuracy of the determination.
The method of the above embodiment, using the phase current stationary coordinate current component I α 2+I β And 2, changing characteristics, namely determining that the motor is in a static or non-static state through the current of the dividing point of the static state, and then executing control operation according to the corresponding state, so that the accuracy of motor state identification is improved, and further the starting efficiency of the motor is improved.
In one embodiment, the non-stationary state includes a forward rotation state or a reverse rotation state. The motor control system can determine the forward rotation state, the reverse rotation state and the corresponding initial rotating speed of the motor according to the change characteristic of the target current component. The motor control system can judge the forward rotation state, the reverse rotation state and the initial rotation speed of the motor according to the change characteristics of the target current component, and further determine the corresponding motor starting mode by combining different states.
In some embodiments, the motor control system may perform first-order low-pass filtering on the target current component to obtain a processed target current component, and then perform determination on the motor running state, so as to capture a detailed change trend of the target current component, thereby improving accuracy of detecting the initial running state of the motor at low speed or weak back electromotive force.
According to the embodiment, on the basis of judging the static state and the non-static state of the motor, different expression forms of the non-static state of the motor are further determined according to the change characteristic of the target current component, and the accuracy of detecting the initial running state of the motor starting and the accuracy of selecting the motor starting mode are improved.
In one embodiment, if the motor is in a static state or a forward rotation state, the overall state and the motion inertia are the same as the rotation direction to be started, and the motor control system can control the motor to enter a normal closed-loop control system for starting. The normal closed-loop control system can be a corresponding preset starting mode of the motor, and an outer ring (a speed ring or a power ring), a current inner ring and a non-position observer of the control system are started when the motor is started. Partial parameter initialization is needed before a motor of a normal closed-loop control system is started, and the current I of a direct axis (d axis) and a quadrature axis (q axis) of the motor d And I q Need to satisfy certain conditions according to
Figure BDA0003414256860000101
Binding of I d Control method of =0, presetting q axis I q Initial value I' q ≤I max ，I max Refers to a preset maximum current of the motor. The instantaneous speed ω can be estimated in a short period by starting the operation of the sensorless rotor estimation algorithm, using the limiting conditions: when omega is less than omega min Time ω = ω min ，ω min The value in the reverse state is set according to the load characteristic test. The current inner ring quickly generates forward torque to quickly start the motor. The normal closed-loop control system starting mode has certain anti-wind-resistance starting capability, ensures normal starting when an error is detected in the running state, and reduces the complexity of control. After the running state is judged, the normal closed-loop control system is determined to be used for starting, and the normally closed-loop control system is adopted for starting aiming at the static motion state and the forward rotation state, so that the starting efficiency is further improved, and the motor can be smoothly and quickly started to reach the preset power or the target rotating speed.
In one embodiment, if the motor is in a reverse rotation state and the initial rotating speed is less than or equal to the preset minimum rotating speed, the axial rotating speed of the motor is determined according to the initial rotating speed, the minimum rotating speed is applied to the motor, and the motor is controlled to enter a normal closed-loop control system to be started.
When the motor control system determines that the motor is in a reverse rotation state, the reverse rotation speed omega of the motor can be obtained, and the motorThe control system can preset I according to the omega size q Initial value, omega in reverse state set according to load characteristic test min And switching the current inner ring of the normal control system to quickly generate forward torque to force the motor to quickly reduce the speed and smoothly rotate to the forward direction so as to quickly start the motor to increase the speed to the preset power or the target rotating speed. When the reverse rotation speed is high, the pumping phenomenon of the bus voltage can occur during starting, and the problem that the direct-current bus voltage cannot be obviously improved to exceed the direct-current bus voltage protection value when the motor rapidly generates reverse torque is solved by utilizing the bus voltage change to adjust the vector voltage value in real time.
In some embodiments, when the motor is started in the reverse rotation state, the motor control system may monitor the real-time rotation speed of the motor, and if the real-time rotation speed is greater than the preset minimum rotation speed, convert the axial rotation speed, and control the motor to enter the normal closed-loop control system.
In some embodiments, when I is preset q When the initial value is larger, the starting current is larger, and the starting current needs to be larger than omega min ”
Time-forced conversion I q The value avoids the over-adjustment of the motor speed; when ω > ω max When the motor is started, a closed-loop control system is not used, and a directional braking technology is adopted to force the motor to stop and start the motor.
According to the scheme of the embodiment, when the motor is started in the reverse rotation state, the starting related initial value is set by combining the initial rotating speed before starting, and the normal control system is quickly started to operate and increase the speed to the preset target power, so that the problems of long starting time and low starting speed of the motor in the reverse rotation state are solved, the starting efficiency of the motor is improved, and meanwhile, the problem that the direct-current bus voltage cannot be obviously improved to exceed the direct-current bus voltage protection value when the motor quickly generates reverse torque is solved by utilizing the bus voltage change and real-time adjustment vector voltage value.
In one embodiment, the phase induced current obtained by the zero vector applying method has a certain offset, and the motor control system can detect the phase induced current of the driving circuit when the motor is in a static state before obtaining the target phase induced current of the driving circuit according to the phase induced current and the prestored current offset of the driving circuitFlowing to obtain current offset I off . After the motor control system obtains the phase induction current I, the phase induction current I can be obtained according to I-I off The induced current is effectively and accurately detected.
In one embodiment, the motor control system can apply a zero vector drive signal to a half-bridge drive circuit of the motor to trigger the single-resistor sampling module to acquire a phase-induced current.
The zero vector driving signal is an equal ratio zero vector signal, and is subjected to offset processing through single-resistor sampling pulse width modulation, and the spatial waveform of the zero vector driving signal is shown in fig. 3.
In one embodiment, as shown in fig. 6, there is provided an operation state detection method of a brushless dc motor, including the steps of:
the motor control system applies an equal ratio zero vector method to the driving circuit, obtains the induced current of the motor through a single resistance sampling method, and converts the induced current to obtain a current stationary coordinate value;
converting the current stationary coordinate value into a stationary coordinate system current component through a low-pass filter;
and if the sum of squares of the current components of the static coordinate system is less than or equal to a preset value, judging that the initial running state of the motor is a static state, and starting the motor by the normal closed-loop control system.
If the sum of squares of the current components of the static coordinate system is larger than a preset value, judging that the motor is in a forward rotation state or a reverse rotation state according to the sector change of the current components of the static coordinate system and the change specification in a specific area.
If the motor is in a forward rotation state, the normal closed-loop control system starts the motor; if the motor is in a reverse rotation state, the preset value of the relevant parameter is modified, and a closed-loop control system is used for starting the motor.
According to the embodiment, the sum of the driving signal vectors of a single carrier period applied to the driving circuit is zero, so that the continuity and the accuracy of the obtained induced current are ensured, and the reliability of the initial operation state is effectively improved. The initial running state of the motor is determined by using the converted current component and the sector information of the current static coordinate system, so that the complexity of calculation is reduced, and the efficiency of obtaining the initial running state is improved. The method comprises the steps of firstly judging the static state and the non-static state of the motor, further determining different expression forms of the non-static state of the motor according to the change characteristic of the target current component, and facilitating improvement of the accuracy of detection of the initial running state of the motor start and the accuracy of selection of the motor start mode.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (8)

1. A method for detecting an operating state of a brushless DC motor, comprising:
before the motor is started, applying a zero vector driving signal to a driving circuit of the motor, and detecting a phase induced current of the driving circuit;
obtaining a target phase induction current of the driving circuit according to the phase induction current and a prestored current offset of the driving circuit;
performing coordinate conversion on the target phase induced current to obtain a current component corresponding to the target phase induced current and current stationary coordinate system sector information;
determining a target current component according to the sector information of the current static coordinate system; the target current component is a current component corresponding to a predetermined current stationary coordinate system sector;
obtaining the quiescent state demarcation point current of the driving circuit;
if the sum of squares of the target current components is smaller than or equal to the square of the quiescent state demarcation point current, determining that the motor is in a quiescent state; and if the sum of the squares of the target current components is larger than the square of the quiescent state demarcation point current, determining that the motor is in a non-quiescent state.
2. The operating state detection method of a brushless dc motor according to claim 1, wherein the non-stationary state includes a forward rotation state or a reverse rotation state, the method including:
and determining the forward rotation state, the reverse rotation state and the corresponding initial rotating speed of the motor according to the change characteristic of the target current component.
3. The operating state detecting method of a brushless dc motor according to claim 2, further comprising:
and if the motor is in a static state or a forward rotation state, controlling the motor to enter a normal closed-loop control system for starting.
4. The operating state detecting method of a brushless dc motor according to claim 2, further comprising:
if the motor is in a reverse rotation state and the initial rotating speed is less than or equal to a preset minimum rotating speed, determining the axial rotating speed of the motor according to the initial rotating speed, applying the minimum rotating speed to the motor, and controlling the motor to enter a normal closed-loop control system for starting;
and detecting the real-time rotating speed of the motor, and if the real-time rotating speed is greater than the preset minimum rotating speed, converting the axial rotating speed and controlling the motor to enter a normal closed-loop control system.
5. The operating state detecting method of a brushless dc motor according to claim 2, further comprising:
and if the motor is in a reverse rotation state and the initial rotating speed is greater than the preset maximum rotating speed, controlling the motor to directionally brake until the motor stops rotating, and then starting the motor.
6. The method according to any one of claims 1 to 5, wherein before the step of obtaining the quiescent state demarcation point current of the drive circuit, the method further comprises:
and performing first-order low-pass filtering processing on the target current component to obtain a processed target current component.
7. The method for detecting an operating state of a brushless dc motor according to any one of claims 1 to 5, wherein before obtaining a target phase induced current of the driving circuit based on the phase induced current and a prestored current offset of the driving circuit, the method further comprises:
and detecting the phase induced current of the driving circuit when the motor is in a static state to obtain the current offset.
8. The method for detecting an operating state of a brushless dc motor according to any one of claims 1 to 5, wherein the applying a zero vector drive signal to a drive circuit of the motor before starting the motor to detect a phase induced current of the drive circuit includes:
applying a zero vector driving signal to a half-bridge driving circuit of the motor, and triggering a single-resistor sampling module to acquire the phase induced current;
the zero vector driving signal is an equal ratio zero vector signal, and offset processing is carried out through single resistance sampling pulse width modulation.
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