CN115664276A - SPWM-based BLDC driving method and system - Google Patents
SPWM-based BLDC driving method and system Download PDFInfo
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- CN115664276A CN115664276A CN202211267179.8A CN202211267179A CN115664276A CN 115664276 A CN115664276 A CN 115664276A CN 202211267179 A CN202211267179 A CN 202211267179A CN 115664276 A CN115664276 A CN 115664276A
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Abstract
The invention discloses a BLDC driving method and a system based on SPWM, wherein the method comprises the following steps: starting a motor, detecting the current of a driver and the rotating speed of the motor in real time, and judging whether the rotating speed of the motor reaches a preset driving threshold value; if the rotating speed of the motor reaches a preset driving threshold value, carrying out six-step reversing operation; if the rotating speed of the motor does not reach a preset driving threshold value, adjusting an acceleration curve and a sine voltage according to the current of the driver so that the rotating speed of the motor reaches the preset threshold value, and then performing six-step reversing operation; the acceleration curve is an acceleration curve when the speed of the motor changes in a sine curve, and the sine voltage is a sine voltage acting on three voltage lines of the motor. The invention can realize the driving of the BLDC in complex application occasions and improve the starting efficiency of the motor.
Description
Technical Field
The invention relates to the field of motor control, in particular to a BLDC driving method and system based on SPWM.
Background
SPWM is Sinusoidal pulse width modulation, and the SPWM (sinussoidal PWM) method is a relatively mature and widely used PWM method. The BLDC is a brushless direct current motor, and the key technology for driving the BLDC is to detect the position of a motor rotor and complete the commutation of the motor rotor at an accurate position so as to achieve the optimal control effect.
The existing motor position estimation method basically adopts a back electromotive force method, namely, a back electromotive force zero crossing point signal of a suspension phase is detected to calculate the position of a motor rotor. When the motor is started, the signal of the counter electromotive force is basically zero, so that the motor needs to reach a certain rotating speed to detect an accurate counter electromotive force zero crossing point signal. Therefore, it is difficult to start the BLDC by rotating the motor to a sufficient speed when the back electromotive force signal is very small.
The traditional starting method is a three-section type driving method, namely, pre-positioning, open-loop accelerated dragging according to a preset acceleration signal and cut-in closed-loop. In the occasion of using the fixed motor and the fixed load, the method has high practicability, the starting time sequence is relatively stable, and the method is suitable for the driving occasion of the large BLDC with low starting requirement; however, in an application occasion requiring frequent starting and stopping, if rapid driving is to be realized, the traditional three-stage driving method has the possibility of starting failure, and in an application occasion with variable load size or inertia, the traditional driving method cannot complete the starting work.
Disclosure of Invention
The invention provides a BLDC driving method and system based on SPWM, which can realize the driving of the BLDC in complex application occasions and improve the starting efficiency of a motor.
In order to solve the above technical problem, an embodiment of the present invention provides a BLDC driving method based on SPWM, including:
starting a motor, detecting the current of a driver and the rotating speed of the motor in real time, and judging whether the rotating speed of the motor reaches a preset driving threshold value or not;
if the rotating speed of the motor reaches a preset driving threshold value, carrying out six-step reversing operation;
if the rotating speed of the motor does not reach a preset driving threshold value, adjusting an acceleration curve and a sine voltage according to the current of the driver so that the rotating speed of the motor reaches the preset threshold value, and then performing six-step reversing operation; the acceleration curve is an acceleration curve when the speed of the motor changes in a sine curve, and the sine voltage is a sine voltage acting on three voltage lines of the motor.
The method provided by the invention adopts a self-adaptive variable acceleration curve and variable voltage mode to drive in the starting process of the motor, realizes the dynamic adjustment of SPWM three-phase sine wave frequency and sine voltage, is suitable for the scene of variable load size or inertia, realizes the driving of BLDC in a complex application occasion, and improves the starting efficiency of the motor.
Further, the adjusting the acceleration curve and the sinusoidal voltage according to the driver current specifically includes:
detecting driver current in real time;
if the current of the driver is higher than a preset threshold value, compressing the acceleration curve and reducing the sinusoidal voltage;
if the current of the driver is smaller than a preset threshold value, the motor is out of step, the acceleration curve is stretched, and the sinusoidal voltage is increased.
The method provided by the invention detects the current of the driver in real time, dynamically adjusts the acceleration curve according to the current, further realizes the dynamic adjustment of sinusoidal voltage, and can realize BLDC driving under the scene of variable load size or inertia.
Further, after the acceleration curve and the sinusoidal voltage are adjusted, a corresponding speed curve is generated according to the acceleration curve, a corresponding motor three-phase angle increment is calculated according to the corresponding speed curve, and the motor rotating speed is controlled according to the corresponding motor three-phase angle increment.
Further, before starting the motor, a sine table required by BLDC operation needs to be acquired, and the maximum value and the minimum value of the sine voltage amplitude are set according to the sine table required by BLDC operation.
The invention also provides a BLDC driving system based on the SPWM, which comprises a judging module, an adjusting module and a six-step reversing module;
the judging module is used for detecting the current of the driver and the rotating speed of the motor in real time and judging whether the rotating speed of the motor reaches a preset driving threshold value or not;
the adjusting module is used for adjusting an acceleration curve and a sinusoidal voltage according to the driver current so as to enable the motor rotating speed to reach a preset threshold value;
and the six-step reversing module is used for performing six-step reversing operation.
Further, the adjusting the acceleration curve and the sinusoidal voltage according to the driver current specifically includes:
detecting driver current in real time;
if the current of the driver is higher than a preset threshold value, compressing the acceleration curve and reducing the sinusoidal voltage;
and if the current of the driver is smaller than a preset threshold value, the motor is out of step, the acceleration curve is stretched, and the sinusoidal voltage is increased.
The system further comprises a control module, wherein the control module is used for generating a corresponding speed curve according to the acceleration curve after the acceleration curve and the sinusoidal voltage are adjusted, calculating a corresponding motor three-phase angle increment according to the corresponding speed curve, and controlling the rotating speed of the motor according to the corresponding motor three-phase angle increment.
Further, before the system operates, a sine table required by BLDC operation needs to be acquired, and the maximum value and the minimum value of the sine voltage amplitude are set according to the sine table required by BLDC operation.
The system provided by the invention adopts a self-adaptive variable acceleration curve and variable voltage mode to drive in the starting process of the motor, realizes the dynamic regulation of SPWM three-phase sine wave frequency and sine voltage, is suitable for the scene of variable load size or inertia, realizes the driving of BLDC in a complex application occasion, and improves the starting efficiency of the motor.
The present invention also provides a terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the SPWM-based BLDC driving method as claimed when executing the computer program.
The present invention also provides a computer readable storage medium including a stored computer program, wherein the computer program when executed controls an apparatus in which the computer readable storage medium is located to perform the SPWM-based BLDC driving method as claimed in claim.
Drawings
FIG. 1: the invention provides a flow diagram of a BLDC driving method based on SPWM according to an embodiment of the invention;
FIG. 2: a flowchart of a specific example of the SPWM-based BLDC driving method according to an embodiment of the present invention is shown;
FIG. 3: an exemplary structural diagram of the BLDC driving system based on SPWM according to the second embodiment of the present invention is provided.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, a schematic flow chart of a BLDC driving method based on SPWM according to an embodiment of the present invention mainly includes steps 101 to 102, and the specific method of each step is as follows:
step 101: starting a motor, detecting the current of a driver and the rotating speed of the motor in real time, and judging whether the rotating speed of the motor reaches a preset driving threshold value.
It should be noted that how to make the motor reach a sufficient speed is a difficulty in driving the BLDC, and when the rotating speed of the motor does not reach a preset driving threshold, the BLDC cannot complete driving.
In the present embodiment, the carrier frequency of the three-phase sine wave does not change during system driving, and is set between 16Khz and 20 Khz.
Step 102: if the rotating speed of the motor reaches a preset driving threshold value, carrying out six-step reversing operation; and if the rotating speed of the motor does not reach a preset driving threshold value, adjusting an acceleration curve and sinusoidal voltage according to the current of the driver so as to enable the rotating speed of the motor to reach the preset threshold value, and then performing six-step reversing operation.
The acceleration curve is an acceleration curve when the speed of the motor changes in a sine curve, and the sine voltage is a sine voltage acting on three voltage lines of the motor.
Further, the adjusting the acceleration curve and the sinusoidal voltage according to the driver current specifically includes:
detecting driver current in real time;
if the current of the driver is higher than a preset threshold value, compressing the acceleration curve and reducing the sinusoidal voltage;
and if the current of the driver is smaller than a preset threshold value, the motor is out of step, the acceleration curve is stretched, and the sinusoidal voltage is increased.
In this embodiment, compressing the acceleration curve specifically includes: compressing the acceleration curve in the x direction in an XY coordinate system; the stretching the acceleration curve specifically comprises: and stretching the acceleration curve in the x direction in an XY coordinate system. The XY coordinate system is a plane rectangular coordinate system established by taking the horizontal coordinate as time and the vertical coordinate as acceleration.
In the present embodiment, the threshold value preset for the motor driver current is generally set within 8 times of the rated current.
In this embodiment, a corresponding speed curve may be generated according to the acceleration curve, a corresponding voltage amplitude curve may be generated according to the corresponding speed curve, and generation of the corresponding voltage amplitude curve according to the corresponding speed curve is prior art and is not described herein again.
It should be noted that compressing the acceleration curve increases the rate of change of the acceleration per unit time, stretching the acceleration curve decreases the rate of change of the acceleration per unit time, and the corresponding velocity curve is obtained by integrating the acceleration curve, so that when the acceleration curve changes, the corresponding velocity curve also changes accordingly.
It should be noted that, when the corresponding speed curve changes, the corresponding voltage amplitude curve also changes correspondingly.
The method provided by the invention detects the current of the driver in real time, dynamically adjusts the speed acceleration curve according to the current, further realizes the dynamic adjustment of sinusoidal voltage, and can realize BLDC driving under the scene of variable load or inertia.
Further, after the acceleration curve and the sinusoidal voltage are adjusted, a corresponding speed curve is generated according to the acceleration curve, a corresponding motor three-phase angle increment is calculated according to the corresponding speed curve, and the motor rotating speed is controlled according to the corresponding motor three-phase angle increment.
The three-phase angle increment of the motor can be obtained by the operation of the corresponding speed curve according to an integral formula, and the specific calculation method is the prior art and is not described herein again.
In this embodiment, in the BLDC driving process, the acceleration curve is adjusted according to the magnitude of the driver current, the speed curve is adjusted according to the acceleration curve, and the sinusoidal voltage and the three-phase angle increment of the motor are adjusted according to the corresponding speed curve, thereby realizing the adjustment of the motor rotation speed.
Further, before starting the motor, a sine table required by BLDC operation needs to be acquired, and the maximum value and the minimum value of the sine voltage amplitude are set according to the sine table required by BLDC operation.
Setting the maximum value and the minimum value of the sinusoidal voltage amplitude according to the sinusoidal table required by the BLDC operation is the prior art, and is not described herein.
It should be noted that, during the adjustment of the sinusoidal voltage, the amplitude of the sinusoidal voltage cannot exceed the maximum value and the minimum value of the preset sinusoidal voltage amplitude.
In the embodiment, the magnitude of the sinusoidal voltage amplitude is generally set to be 0.05-0.95 times of the motor bus voltage value; the sinusoidal voltage amplitude will typically be set within 0.5 times the motor bus voltage value when the load is small, and between 0.8 and 0.9 times the motor bus voltage value when the load is large.
In this embodiment, a specific example of the SPWM-based BLDC driving method is provided, and is a flowchart of the specific example of the SPWM-based BLDC driving method provided in the embodiment of the present invention, in this example, 128 subdivision is adopted, an S-shaped acceleration curve is adopted as an acceleration curve, and before starting the motor, a PWM module and an ADC module of the motor need to be configured, where the PWM module is used for driving an external device of the motor, and the ADC module is used for detecting a driver current in real time:
starting a motor, detecting the current of a driver and the rotating speed of the motor in real time, wherein the rotating speed of the motor does not reach a preset driving threshold value;
if the current of the driver is higher than a preset threshold value, compressing the acceleration curve, improving the change rate of the acceleration in unit time, and reducing sinusoidal voltage;
generating a corresponding speed curve according to the acceleration curve, calculating a corresponding motor three-phase angle increment according to the corresponding speed curve, controlling the motor rotating speed according to the corresponding motor three-phase angle increment until the motor rotating speed reaches a preset driving threshold value, and then performing six-step reversing operation;
and after the six-step reversing operation is completed, the motor completes driving.
It should be noted that, in order to prevent the rotor from being locked by the stator, the three-phase brushless motor has a three-phase stator, and two phases of the three-phase brushless motor must be sequentially energized at the same time in a specific manner to generate a rotating magnetic field, and the specific energizing sequence is generally divided into 6 steps according to the spatial position of the rotor, so that the three-phase brushless motor is called "six-step commutation"; the specific process of the six-step reversing operation is the prior art, and is not described herein again.
The method provided by the invention adopts a self-adaptive variable acceleration curve and variable voltage mode to drive in the starting process of the motor, realizes the dynamic adjustment of SPWM three-phase sine wave frequency and sine voltage, is suitable for the scene of variable load size or inertia, realizes the driving of BLDC in a complex application occasion, and improves the starting efficiency of the motor.
Example two
Referring to fig. 3, a schematic structural diagram of a BLDC driving system based on SPWM according to a second embodiment of the present invention is shown, where the system includes a determining module 201, an adjusting module 202, and a six-step commutating module 203;
the judging module 201 is configured to detect a driver current and a motor rotation speed in real time, and judge whether the motor rotation speed reaches a preset driving threshold;
the adjusting module 202 is configured to adjust an acceleration curve and a sinusoidal voltage according to the driver current, so that the motor rotation speed reaches a preset threshold;
the six-step reversing module 203 is used for performing six-step reversing operation.
Further, the adjusting the acceleration curve and the sinusoidal voltage according to the driver current specifically includes:
detecting driver current in real time;
if the current of the driver is higher than a preset threshold value, compressing the acceleration curve and reducing the sinusoidal voltage;
and if the current of the driver is smaller than a preset threshold value, the motor is out of step, the acceleration curve is stretched, and the sinusoidal voltage is increased.
The system further comprises a control module, wherein the control module is used for generating a corresponding speed curve according to the acceleration curve after the acceleration curve and the sinusoidal voltage are adjusted, calculating a corresponding motor three-phase angle increment according to the corresponding speed curve, and controlling the rotating speed of the motor according to the corresponding motor three-phase angle increment.
Further, before the system operates, a sine table required by BLDC operation needs to be obtained, and the maximum value and the minimum value of the sine voltage amplitude are set according to the sine table required by BLDC operation.
The more detailed working principle and steps of this embodiment can be seen in, but not limited to, the related descriptions of the first embodiment.
The system provided by the invention adopts a self-adaptive variable acceleration curve and variable voltage mode to drive in the starting process of the motor, realizes the dynamic regulation of SPWM three-phase sine wave frequency and sine voltage, is suitable for the scene of variable load size or inertia, realizes the driving of BLDC in a complex application occasion, and improves the starting efficiency of the motor.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.
Claims (10)
1. A SPWM-based BLDC driving method, comprising:
starting a motor, detecting the current of a driver and the rotating speed of the motor in real time, and judging whether the rotating speed of the motor reaches a preset driving threshold value;
if the rotating speed of the motor reaches a preset driving threshold value, carrying out six-step reversing operation;
if the rotating speed of the motor does not reach a preset driving threshold value, adjusting an acceleration curve and a sine voltage according to the current of the driver so that the rotating speed of the motor reaches the preset threshold value, and then performing six-step reversing operation; the acceleration curve is an acceleration curve when the speed of the motor changes in a sine curve, and the sine voltage is a sine voltage acting on three voltage lines of the motor.
2. The SPWM-based BLDC driving method of claim 1, wherein the acceleration profile and sinusoidal voltage are adjusted according to the driver current by:
detecting driver current in real time;
if the current of the driver is higher than a preset threshold value, compressing the acceleration curve and reducing the sinusoidal voltage;
and if the current of the driver is smaller than a preset threshold value, the motor is out of step, the acceleration curve is stretched, and the sinusoidal voltage is increased.
3. The SPWM-based BLDC driving method of claim 2, wherein after the acceleration profile and the sinusoidal voltage are adjusted, a corresponding speed profile is generated according to the acceleration profile, a corresponding motor three-phase angle increment is calculated according to the corresponding speed profile, and a motor rotation speed is controlled according to the corresponding motor three-phase angle increment.
4. The SPWM-based BLDC driving method of claim 3, further comprising acquiring a sine table required for BLDC operation before starting the motor, and setting maximum and minimum values of the sine voltage amplitude according to the sine table required for BLDC operation.
5. A BLDC driving system based on SPWM is characterized by comprising a judging module, an adjusting module and a six-step reversing module;
the judging module is used for detecting the current of the driver and the rotating speed of the motor in real time and judging whether the rotating speed of the motor reaches a preset driving threshold value or not;
the adjusting module is used for adjusting an acceleration curve and a sinusoidal voltage according to the driver current so as to enable the rotating speed of the motor to reach a preset threshold value;
and the six-step reversing module is used for performing six-step reversing operation.
6. The SPWM-based BLDC drive system of claim 5, wherein the acceleration profile and sinusoidal voltage are adjusted based on the driver current by:
detecting driver current in real time;
if the current of the driver is higher than a preset threshold value, compressing the acceleration curve and reducing the sinusoidal voltage;
and if the current of the driver is smaller than a preset threshold value, the motor is out of step, the acceleration curve is stretched, and the sinusoidal voltage is increased.
7. The SPWM-based BLDC drive system of claim 6, further comprising a control module configured to generate a corresponding velocity profile from the acceleration profile after adjusting the acceleration profile and the sinusoidal voltage, calculate a corresponding motor three-phase angle increment from the corresponding velocity profile, and control a motor speed from the corresponding motor three-phase angle increment.
8. The SPWM-based BLDC drive system of claim 7, further comprising a sine table for BLDC operation prior to system operation, wherein the maximum and minimum values of the sinusoidal voltage amplitude are set according to the sine table for BLDC operation.
9. An end device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor when executing the computer program implementing the SPWM-based BLDC driving method of any of claims 1 to 4.
10. A computer readable storage medium, comprising a stored computer program, wherein the computer program when executed controls an apparatus in which the computer readable storage medium is located to perform the SPWM-based BLDC driving method of any of claims 1 to 4.
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| CN202211267179.8A CN115664276A (en) | 2022-10-17 | 2022-10-17 | SPWM-based BLDC driving method and system |
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| CN202211267179.8A CN115664276A (en) | 2022-10-17 | 2022-10-17 | SPWM-based BLDC driving method and system |
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| US6339303B1 (en) * | 2000-03-31 | 2002-01-15 | International Business Machines Corporation | System, method, and program product for controlling communication of disk drive motor |
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