CN116707372A - Method and device for calibrating mounting deviation of position sensor of direct-current brushless motor - Google Patents

Method and device for calibrating mounting deviation of position sensor of direct-current brushless motor Download PDF

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Publication number
CN116707372A
CN116707372A CN202310688825.6A CN202310688825A CN116707372A CN 116707372 A CN116707372 A CN 116707372A CN 202310688825 A CN202310688825 A CN 202310688825A CN 116707372 A CN116707372 A CN 116707372A
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Prior art keywords
electromotive force
brushless motor
direct current
motor
back electromotive
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CN202310688825.6A
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CN116707372B (en
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请求不公布姓名
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Shanghai Mindmotion Microelectronics Co ltd
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Shanghai Mindmotion Microelectronics 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

Abstract

The application belongs to the technical field of direct current brushless motor control, and provides a method and a device for calibrating the installation deviation of a position sensor of a direct current brushless motor, wherein the method comprises the following steps: closing the driving of a direct current brushless motor, and sampling back electromotive force original data of the direct current brushless motor when the direct current brushless motor slides; based on the back electromotive force original data of the direct current brushless motor, calculating a back electromotive force neutral point corresponding to the back electromotive force original data; after subtracting the counter potential neutral point from the counter potential original data, performing CLARK conversion and an angle phase-locked loop to obtain the real position of the rotor of the DC brushless motor; and carrying out difference value calculation on the real position of the rotor of the direct current brushless motor and the calculated position acquired by the position sensor to obtain the installation zero position of the position sensor, and storing the installation zero position of the position sensor into a storage medium of a system to realize the self calibration of the installation deviation.

Description

Method and device for calibrating mounting deviation of position sensor of direct-current brushless motor
Technical Field
The application relates to the technical field of direct current brushless motor control, in particular to a method and a device for calibrating installation deviation of a position sensor of a direct current brushless motor.
Background
In motor control, the acquisition of the position of the motor rotor is critical. The position sensor is a component for reliably and effectively acquiring the position of the motor rotor, and the accuracy and consistency of the installation position of the position sensor have great influence on the operation efficiency of the motor. In the actual installation process, the zero position deviation is difficult to control, and particularly, the motor with more pole pairs is difficult to control.
Disclosure of Invention
The application aims to provide a method and a device for calibrating installation deviation of a position sensor of a direct current brushless motor, which can solve the problems.
The technical scheme provided by the application is as follows:
in some embodiments, the present application provides a dc brushless motor position sensor mounting deviation calibration apparatus, comprising:
closing the driving of a direct current brushless motor, and sampling back electromotive force original data of the direct current brushless motor when the direct current brushless motor slides;
based on the back electromotive force original data of the direct current brushless motor, calculating a back electromotive force neutral point corresponding to the back electromotive force original data;
after subtracting the counter potential neutral point from the counter potential original data, performing CLARK conversion and an angle phase-locked loop to obtain the real position of the rotor of the DC brushless motor;
and carrying out difference value calculation on the real position of the rotor of the direct current brushless motor and the calculated position acquired by the position sensor to obtain the installation zero position of the position sensor, and storing the installation zero position of the position sensor into a storage medium of a system to realize the self calibration of the installation deviation.
In some embodiments, the calculating, based on the back electromotive force raw data of the dc brushless motor, a back electromotive force neutral point corresponding to the back electromotive force raw data includes:
and calculating the back electromotive force neutral point according to the back electromotive force original data of the direct current brushless motor:
the back electromotive force neutral point is:
wherein U is an 、U bn 、U cn The voltage between the voltage of the three phase lines a, b and c and the neutral point of the back electromotive force; u (U) a 、U b 、U c The voltages of the winding ends of the a, b and c three phases are respectively; u (U) n Is a back electromotive force neutral point; r is the resistance value of the three-phase winding; i a 、I b 、I c The current flowing through the a, b and c three-phase windings; l is the inductance value of the three-phase winding; dt is a differential representation of the variable; e (E) a 、E b 、E c Is a three-phase back electromotive force of a, b and c.
In some embodiments, the step of subtracting the back electromotive force neutral point from the back electromotive force raw data, performing a CLARK transformation, and performing an angle phase-locked loop to obtain a true position of a rotor of the dc brushless motor includes:
according to the back electromotive force center point, the three-phase line voltages of the direct current brushless motor are respectively as follows:
U Alpha ＝U an ；
U Beta ＝1/sqrt(3)(U an +2U bn )；
to U an 、U bn Performing CLARK transformation to obtain U Alpha ，U Beta The method comprises the steps of carrying out a first treatment on the surface of the To U Alpha ，U Beta Obtaining an angle phase-locked loop to obtain the real position of a rotor of the DC brushless motor;
wherein U is Alpha 、U Beta The three-phase counter electromotive forces a, b and c under the three-phase mutual difference 120-degree coordinate system are projected to the voltage values of the two-phase mutual difference 90-degree coordinate system after being subjected to CLARK conversion.
In some embodiments, before the sampling the raw back emf data of the dc brushless motor while the dc brushless motor is coasting, the method comprises:
and a voltage dividing circuit is built according to the maximum counter electromotive force of the direct current brushless motor, so that the counter electromotive force after voltage division is in the sampling voltage range of the ADC.
In some embodiments, before the sampling the raw data of the back electromotive force of the dc brushless motor when the dc brushless motor is coasting, the method further includes:
and accelerating the direct current brushless motor to a preset rotating speed in an open loop manner, and controlling the direct current brushless motor to be driven to be closed, so that the direct current brushless motor is in a sliding state.
In some embodiments, a brushless dc motor position sensor mounting deviation calibration apparatus includes:
the sampling module is used for closing the driving of the direct current brushless motor and sampling the original counter electromotive force data of the direct current brushless motor when the direct current brushless motor slides;
the calculation module is used for calculating a back electromotive force neutral point corresponding to back electromotive force original data based on the back electromotive force original data of the direct current brushless motor;
the acquisition module is used for performing CLARK conversion and an angle phase-locked loop after subtracting the counter potential neutral point from the counter potential original data to obtain the real position of the rotor of the direct current brushless motor;
the calibration module is used for calculating the difference value between the real position of the rotor of the direct current brushless motor and the calculated position acquired by the position sensor to obtain the installation zero position of the position sensor, and storing the installation zero position of the position sensor into a storage medium of the system to realize the self calibration of the installation deviation.
In some embodiments, the computing module comprises:
and calculating the back electromotive force neutral point according to the back electromotive force original data of the direct current brushless motor:
the back electromotive force neutral point is:
wherein U is an 、U bn 、U cn The voltage between the voltage of the three phase lines a, b and c and the neutral point of the back electromotive force; u (U) a 、U b 、U c The voltages of the winding ends of the a, b and c three phases are respectively; u (U) n Is a back electromotive force neutral point; r is the resistance value of the three-phase winding; i a 、I b 、I c The current flowing through the a, b and c three-phase windings; l is the inductance value of the three-phase winding; dt is a differential representation of the variable; e (E) a 、E b 、E c Is a three-phase back electromotive force of a, b and c.
In some embodiments, the obtaining module is configured to:
according to the back electromotive force center point, the three-phase line voltages of the direct current brushless motor are respectively as follows:
U Alpha ＝U an ；
U Beta ＝1/sqrt(3)(U an +2U bn )；
to U an 、U bn Performing CLARK transformation to obtain U Alpha ，U Beta The method comprises the steps of carrying out a first treatment on the surface of the To U Alpha ，U Beta Obtaining an angle phase-locked loop to obtain the real position of a rotor of the DC brushless motor;
wherein U is Alpha 、U Beta The three-phase counter electromotive forces a, b and c under the three-phase mutual difference 120-degree coordinate system are projected to the voltage values of the two-phase mutual difference 90-degree coordinate system after being subjected to CLARK conversion.
In some embodiments, further comprising: building a module for:
and a voltage dividing circuit is built according to the maximum counter electromotive force of the direct current brushless motor, so that the counter electromotive force after voltage division is in the sampling voltage range of the ADC.
In some embodiments, further comprising: an acceleration module for:
and accelerating the direct current brushless motor to a preset rotating speed in an open loop manner, and controlling the direct current brushless motor to be driven to be closed, so that the direct current brushless motor is in a sliding state.
The method and the device for calibrating the mounting deviation of the position sensor of the direct current brushless motor have the following advantages: according to the application, the real position of the motor rotor is obtained through the counter electromotive force circuit, and compared with the calculated position of the sensor, the zero position of the sensor can be more accurately calibrated.
Drawings
The above features, technical features, advantages and implementation manners of a method and apparatus for calibrating the installation deviation of a brushless dc motor position sensor will be further described with reference to the accompanying drawings in a clearly understood manner.
FIG. 1 is a schematic diagram of a first embodiment of a method for calibrating a DC brushless motor position sensor mounting deviation according to the present application;
FIG. 2 is a schematic view of sensor mounting misalignment angles for a rotor of a pair-pole motor;
FIG. 3 is a schematic diagram of the generation of back EMF by a coil cutting magnetic field;
FIG. 4 is a schematic diagram of the output of raw back EMF data in the present application;
FIG. 5 is a schematic diagram of a three-phase motor inverter circuit according to the present application;
FIG. 6 is a waveform diagram for 3 switches HALL;
FIG. 7 is a schematic diagram of a second embodiment of a DC brushless motor position sensor mounting deviation calibration apparatus according to the present application;
FIG. 8 is a schematic diagram of a first embodiment of a DC brushless motor position sensor mounting deviation calibration method according to the present application;
fig. 9 is a schematic diagram of an embodiment of an angle phase locked loop according to the present application.
Detailed Description
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For the sake of simplicity of the drawing, the parts relevant to the present application are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
In one embodiment, the application provides a method for calibrating the mounting deviation of a position sensor of a brushless DC motor, comprising the following steps:
s101, turning off the driving of the brushless dc motor, and sampling the original data of the back electromotive force of the brushless dc motor when the brushless dc motor slides.
Specifically, when the brushless dc motor slides, the brushless dc motor is driven by turning off the brushless dc motor after the brushless dc motor is accelerated to a certain rotational speed by ring opening, so that the brushless dc motor is in a sliding state. The certain rotating speed is that when the rotating speed is equal to or higher than the rotating speed, reverse potential energy generated by the direct current brushless motor can be collected by the MCU and the motor angle can be accurately calculated.
In this embodiment, since a current flows through the coil when the driving of the dc brushless motor is not turned off, the counter electromotive force sampling value is a value obtained by accumulating the current value and the counter electromotive force, and cannot be used to directly calculate the counter electromotive force neutral point and the counter electromotive force true value. Therefore, the driving mode of the direct current brushless motor is adopted in the embodiment, no current flows through the coils, the stator coils cut the rotor magnetic field to generate back electromotive force, and the real and accurate back electromotive force sampling value is obtained.
S102, based on the back electromotive force original data of the direct current brushless motor, calculating a back electromotive force neutral point corresponding to the back electromotive force original data.
In this embodiment, the back electromotive force raw data includes a voltage between the three-phase line voltage and the back electromotive force neutral point, a three-phase winding end voltage, a resistance value of the three-phase winding, a current flowing through the three-phase winding, an inductance value of the three-phase winding, and a three-phase back electromotive force.
S103, subtracting the counter potential neutral point from the counter potential original data, and then performing CLARK conversion and an angle phase-locked loop to obtain the real position of the rotor of the direct current brushless motor.
S104, carrying out difference value calculation on the real position of the rotor of the direct current brushless motor and the calculated position acquired by the position sensor to obtain the installation zero position of the position sensor, and storing the installation zero position of the position sensor into a storage medium of a system to realize the self calibration of the installation deviation.
In the embodiment, the application uses the counter electromotive force generated by the magnetic field of the stator coil cutting rotor to reversely calculate the motor rotor and calibrate the position calculated by the sensor so as to achieve the aim of calibrating the zero-position installation deviation of the sensor.
In one embodiment, the calculating, based on the original back electromotive force data of the dc brushless motor, a back electromotive force neutral point corresponding to the original back electromotive force data includes:
and calculating the back electromotive force neutral point according to the back electromotive force original data of the direct current brushless motor:
the back electromotive force neutral point is:
wherein U is an 、U bn 、U cn The voltage between the voltage of the three phase lines a, b and c and the neutral point of the back electromotive force; u (U) a 、U b 、U c The voltages of the winding ends of the a, b and c three phases are respectively; u (U) n Is a back electromotive force neutral point; r is the resistance value of the three-phase winding; i a 、I b 、I c The current flowing through the a, b and c three-phase windings; l is the inductance value of the three-phase winding; dt is a differential representation of the variable; e (E) a 、E b 、E c Is a three-phase back electromotive force of a, b and c.
In one embodiment, after subtracting the back electromotive force neutral point from the back electromotive force raw data, performing CLARK conversion and an angle phase-locked loop to obtain a real position of a rotor of the brushless dc motor, including:
according to the back electromotive force center point, the three-phase line voltages of the direct current brushless motor are respectively as follows:
U Alpha ＝U an ；
U Beta ＝1/sqrt(3)(U an +2U bn )；
to U an 、U bn Performing CLARK transformation to obtain U Alpha ，U Beta The method comprises the steps of carrying out a first treatment on the surface of the To U Alpha ，U Beta Obtaining an angle phase-locked loop to obtain the real position of a rotor of the DC brushless motor;
wherein U is Alpha 、U Beta The three-phase counter electromotive forces a, b and c under the three-phase mutual difference 120-degree coordinate system are projected to the voltage values of the two-phase mutual difference 90-degree coordinate system after being subjected to CLARK conversion.
In one embodiment, before the driving of the brushless dc motor is turned off and the brushless dc motor samples the raw data of the back electromotive force of the brushless dc motor while the brushless dc motor is coasting, the method includes:
and a voltage dividing circuit is built according to the maximum counter electromotive force of the direct current brushless motor, so that the counter electromotive force after voltage division is in the sampling voltage range of the ADC.
In one embodiment, before the driving of the brushless dc motor is turned off and the brushless dc motor samples the raw data of the counter electromotive force of the brushless dc motor during the sliding, the method further includes:
and accelerating the direct current brushless motor to a preset rotating speed in an open loop manner, and controlling the direct current brushless motor to be driven to be closed, so that the direct current brushless motor is in a sliding state.
In one embodiment, a brushless DC motor position sensor installation deviation calibration apparatus includes:
the sampling module is used for closing the driving of the direct current brushless motor and sampling the original counter electromotive force data of the direct current brushless motor when the direct current brushless motor slides;
the calculation module is used for calculating a back electromotive force neutral point corresponding to back electromotive force original data based on the back electromotive force original data of the direct current brushless motor;
the acquisition module is used for performing CLARK conversion and an angle phase-locked loop after subtracting the counter potential neutral point from the counter potential original data to obtain the real position of the rotor of the direct current brushless motor;
the calibration module is used for calculating the difference value between the real position of the rotor of the direct current brushless motor and the calculated position acquired by the position sensor to obtain the installation zero position of the position sensor, and storing the installation zero position of the position sensor into a storage medium of the system to realize the self calibration of the installation deviation.
In one embodiment, the computing module includes:
and calculating the back electromotive force neutral point according to the back electromotive force original data of the direct current brushless motor:
the back electromotive force neutral point is:
wherein U is an 、U bn 、U cn The voltage between the voltage of the three phase lines a, b and c and the neutral point of the back electromotive force; u (U) a 、U b 、U c The voltages of the winding ends of the a, b and c three phases are respectively; u (U) n Is a back electromotive force neutral point; r is the resistance value of the three-phase winding; i a 、I b 、I c Current flowing through the three-phase winding; l is the inductance value of the three-phase winding; dt is a differential representation of the variable; e (E) a 、E b 、E c Is a three-phase back electromotive force of a, b and c.
In one embodiment, the acquiring module is configured to:
according to the back electromotive force center point, the three-phase line voltages of the direct current brushless motor are respectively as follows:
U Alpha ＝U an ；
U Beta ＝1/sqrt(3)(U an +2U bn )；
to U an 、U bn Performing CLARK transformation to obtain U Alpha ，U Beta The method comprises the steps of carrying out a first treatment on the surface of the To U Alpha ，U Beta Obtaining an angle phase-locked loop to obtain the direct current brushlessThe true position of the rotor of the motor;
wherein U is Alpha 、U Beta The three-phase counter electromotive forces a, b and c under the three-phase mutual difference 120-degree coordinate system are projected to the voltage values of the two-phase mutual difference 90-degree coordinate system after being subjected to CLARK conversion.
In one embodiment, further comprising: building a module for:
and a voltage dividing circuit is built according to the maximum counter electromotive force of the direct current brushless motor, so that the counter electromotive force after voltage division is in the sampling voltage range of the ADC.
In one embodiment, further comprising: an acceleration module for:
and accelerating the direct current brushless motor to a preset rotating speed in an open loop manner, and controlling the direct current brushless motor to be driven to be closed, so that the direct current brushless motor is in a sliding state.
In one embodiment, the present application further provides a method for calibrating a mounting deviation of a position sensor of a brushless dc motor, including:
fig. 2 illustrates the deviation between the mounting of the position sensor and the position of the motor rotor, using the rotor of a pair of pole motors as an illustration, the angle θ between the two dotted lines 0 Deviations are installed for the sensor.
As shown in fig. 3, the motor rotor is a permanent magnet, the stator is wound with coils, and W, V, U is a three-phase coil. When the motor rotates, the stator coil cuts the rotor magnetic field, generating back electromotive force. The rotor permanent magnet is at different positions, and three-way coils induce different back electromotive forces. Fig. 3 is a schematic diagram of the generation of back emf by the coil cutting magnetic field. The counter electromotive force passes through the voltage dividing circuit to the MCU sampling range, the real position of the motor rotor is sampled by the ADC and calculated by software, and compared with the calculated angle of the sensor, the sensor installation zero point can be calibrated finally, and the effect of calibrating all batches is achieved. The conductor moving in the magnetic field induces an electromotive force E by cutting the magnetic lines, and the electromotive force E is schematically shown in fig. 3, and has the following size: e=vblsin θ.
Wherein: v is the speed of movement of the conductor (unit m/s), B is the magnetic induction (unit T), L is the length of the conductor (unit m), θ is: and the included angle between B and L.
The application aims to provide a calibration method for mounting deviation of a position sensor of a direct current brushless motor, which aims to solve the problem that the motor position sensor is not consistent in mounting, and the problem that software needs to be adjusted due to different mounting positions among different batches.
In order to achieve the above purpose, the application provides a method for obtaining the real position of a motor rotor through a back electromotive force circuit, comparing the real position with the calculated position of a sensor and calibrating the zero position of the sensor, which comprises the following steps:
step 1: and constructing a reasonable voltage dividing circuit according to the maximum counter electromotive force of the motor, so that the counter electromotive force after voltage division is in the sampling voltage range of the ADC. For example: the reference voltage of the ADC is VDDA, and the sampling range is 0 to VDDA.
The maximum back electromotive force of the motor is known after the motor is manufactured, and is generally directly given by a motor manufacturer. In addition, the user can also measure the maximum back emf value of the motor, for example: the motor to be tested is dragged by a accompanying motor to rotate at the maximum rotation speed, voltage differential probes are respectively added on any two phase lines of the motor, and the sine signal amplitude measured by the oscilloscope is the counter potential amplitude.
An exemplary back electromotive force sampling circuit diagram of three phases of a motor is shown in fig. 4, taking a U-phase as an example: the BEMF_U is connected with the motor U, and the MCU_U is connected with an ADC sampling pin of the MCU. The BEMF_U obtains the voltage MCU_U which can be acquired by the MCU through the partial pressure of R1 and R2, and has the following relation:
mcu_u=bemf_u (r2/(r1+r2)), where mcu_u cannot exceed the ADC sampling range of MCU, for example: the reference voltage of the ADC is VDDA, and the sampling range is 0 to VDDA.
Step 2: after the motor is accelerated to a certain rotating speed in an open loop mode, the signal control motor drive is closed to close the motor drive, so that the motor is in a sliding state.
The certain rotating speed is that the reverse potential energy generated by the motor can be collected by the MCU and the motor angle can be correctly calculated when the rotating speed is equal to or greater than the rotating speed.
Step 3: during taxiing by MThe ADC module of the CU samples the original counter electromotive force data of the motor, calculates a counter electromotive force neutral point, CLARK conversion and an angle phase-locked loop, and obtains the actual position theta of the motor rotor 1 。
Specifically, as shown in fig. 4, the back electromotive force sampling circuit of the three phases of the motor includes: MCU_U, MCU_V, MCU_W.
The three-phase motor inverter circuit is shown in fig. 5, wherein:
from the above, it can be obtained:
U n is a neutral point;
wherein U is an 、U bn 、U cn The voltage between the voltage of the three phase lines a, b and c and the neutral point of the back electromotive force; u (U) a 、U b 、U c The voltages of the winding ends of the a, b and c three phases are respectively; u (U) n Is a back electromotive force neutral point; r is the resistance value of the three-phase winding; i a 、I b 、I c The current flowing through the a, b and c three-phase windings; l is the inductance value of the three-phase winding; dt is a differential representation of the variable; e (E) a 、E b 、E c Is a three-phase back electromotive force of a, b and c.
Line voltage:
U Alpha ＝U an ；
U Beta ＝1/sqrt(3)(U an +2U bn )；
to U an 、U bn Performing CLARK transformation to obtain U Alpha ，U Beta The method comprises the steps of carrying out a first treatment on the surface of the Then pair U Alpha ，U Beta The real angle of the motor can be obtained by solving an angle phase-locked loop;
wherein U is Alpha 、U Beta The three-phase counter electromotive forces a, b and c under the three-phase mutual difference 120-degree coordinate system are projected to the voltage values of the two-phase mutual difference 90-degree coordinate system after being subjected to CLARK conversion.
Step 4: by solving for the true position theta of the motor rotor 1 Position θ calculated from sensor 2 Calculating the difference value to obtain the installation zero position theta of the sensor 0 。
The sensor in the present application includes, but is not limited to, a resolver, and may be a resolver, a switch HALL, a linear HALL, a magnetic encoder, a photoelectric encoder, or the like, which can detect a motor position, according to practical requirements, so the present application has wide applicability.
Taking the switch HALL position sensor as an example, a waveform diagram of 3 switches HALL is shown in fig. 6: a complete square wave corresponds to 360 degrees, namely, one circle of motor operation is electric, the MCU can acquire the time T of one circle of motor rotation, therefore, the angle increment of unit time is 360 degrees/T, and the position calculated by the sensor is obtained by integrating the increment.
Step 5: mounting the sensor at zero position theta 0 Storing the data into FLASH for use after the data is read after the next time of starting.
The application reversely calculates the counter electromotive force generated by the rotor magnetic field cut by the stator coil, and calibrates the calculated position of the motor rotor and the sensor so as to achieve the aim of calibrating the zero-position installation deviation of the sensor.
The present application will be further described with reference to examples and drawings for the purpose of facilitating understanding to those skilled in the art.
The system block diagram of the application is implemented and illustrated in fig. 7, and as shown in fig. 7 and 8, the MCU outputs PWM signals, drives the motor to operate through Gate Driver and MOSFET, and the operating position signals are captured and resolved by Capture ports. Meanwhile, signals of the back electromotive force circuit part are sampled and resolved through the ADC module, and the actual position of the motor rotor is obtained. And the MCU is internally programmed to compare the sensor position with the back electromotive force resolving position, and the difference value partial compensation is the sensor installation zero position.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the elements of the examples described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed system may be implemented in other manners. The above described embodiments are exemplary only, and exemplary, the division of the modules or units is merely a logical function division, and there may be additional divisions when actually implemented, exemplary, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.

Claims (10)

1. A method for calibrating a positional sensor installation deviation of a brushless dc motor, comprising:
closing the driving of a direct current brushless motor, and sampling back electromotive force original data of the direct current brushless motor when the direct current brushless motor slides;
based on the back electromotive force original data of the direct current brushless motor, calculating a back electromotive force neutral point corresponding to the back electromotive force original data;
after subtracting the counter potential neutral point from the counter potential original data, performing CLARK conversion and an angle phase-locked loop to obtain the real position of the rotor of the DC brushless motor;
and carrying out difference value calculation on the real position of the rotor of the direct current brushless motor and the calculated position acquired by the position sensor to obtain the installation zero position of the position sensor, and storing the installation zero position of the position sensor into a storage medium of a system to realize the self calibration of the installation deviation.
2. The method for calibrating a mounting deviation of a position sensor of a brushless dc motor according to claim 1, wherein the calculating a back emf neutral point corresponding to back emf raw data based on the back emf raw data of the brushless dc motor comprises:
and calculating the back electromotive force neutral point according to the back electromotive force original data of the direct current brushless motor:
the back electromotive force neutral point is:
wherein U is an 、U bn 、U cn The voltage between the voltage of the three phase lines a, b and c and the neutral point of the back electromotive force; u (U) a 、U b 、U c The voltages of the winding ends of the a, b and c three phases are respectively; u (U) n Is a back electromotive force neutral point; r is the resistance value of the three-phase winding; i a 、I b 、I c The current flowing through the a, b and c three-phase windings; l is the inductance value of the three-phase winding; dt is a differential representation of the variable; e (E) a 、E b 、E c A, b,And c three-phase back electromotive force.
3. The method for calibrating the installation deviation of the position sensor of the brushless dc motor according to claim 2, wherein the step of subtracting the neutral point of the counter potential from the raw data of the counter potential, performing a CLARK conversion and an angle phase-locked loop to obtain the true position of the rotor of the brushless dc motor comprises:
according to the back electromotive force center point, the three-phase line voltages of the direct current brushless motor are respectively as follows:
U Alpha ＝U an ；
U Beta ＝1/sqrt(3)(U an +2U bn )；
to U an 、U bn Performing CLARK transformation to obtain U Alpha ，U Beta The method comprises the steps of carrying out a first treatment on the surface of the To U Alpha ，U Beta Obtaining an angle phase-locked loop to obtain the real position of a rotor of the DC brushless motor;
wherein U is Alpha 、U Beta The three-phase counter electromotive forces a, b and c under the three-phase mutual difference 120-degree coordinate system are projected to the voltage values of the two-phase mutual difference 90-degree coordinate system after being subjected to CLARK conversion.
4. The method for calibrating a mounting deviation of a position sensor of a brushless dc motor according to claim 1, comprising, before the sampling of raw back electromotive force data of the brushless dc motor while the brushless dc motor is coasting:
and a voltage dividing circuit is built according to the maximum counter electromotive force of the direct current brushless motor, so that the counter electromotive force after voltage division is in the sampling voltage range of the ADC.
5. A method of calibrating a position sensor mounting deviation of a brushless dc motor according to any one of claims 1 to 4, further comprising, before the sampling of the raw back emf data of the brushless dc motor while the brushless dc motor is coasting:
and accelerating the direct current brushless motor to a preset rotating speed in an open loop manner, and controlling the direct current brushless motor to be driven to be closed, so that the direct current brushless motor is in a sliding state.
6. A dc brushless motor position sensor mounting deviation calibration device, comprising:
the sampling module is used for closing the driving of the direct current brushless motor and sampling the original counter electromotive force data of the direct current brushless motor when the direct current brushless motor slides;
the calculation module is used for calculating a back electromotive force neutral point corresponding to back electromotive force original data based on the back electromotive force original data of the direct current brushless motor;
the acquisition module is used for performing CLARK conversion and an angle phase-locked loop after subtracting the counter potential neutral point from the counter potential original data to obtain the real position of the rotor of the DC brushless motor;
the calibration module is used for calculating the difference value between the real position of the rotor of the direct current brushless motor and the calculated position acquired by the position sensor to obtain the installation zero position of the position sensor, and storing the installation zero position of the position sensor into a storage medium of the system to realize the self calibration of the installation deviation.
7. The device for calibrating a dc brushless motor position sensor mounting deviation according to claim 6, wherein the calculating module comprises:
and calculating the back electromotive force neutral point according to the back electromotive force original data of the direct current brushless motor:
the back electromotive force neutral point is:
wherein U is an 、U bn 、U cn The voltage between the voltage of the three phase lines a, b and c and the neutral point of the back electromotive force; u (U) a 、U b 、U c The voltages of the winding ends of the a, b and c three phases are respectively; u (U) n Is a back electromotive force neutral point; r is the resistance value of the three-phase winding; i a 、I b 、I c The current flowing through the a, b and c three-phase windings; l is the inductance value of the three-phase winding; dt is a differential representation of the variable; e (E) a 、E b 、E c Is a three-phase back electromotive force of a, b and c.
8. The device for calibrating installation deviation of a position sensor of a brushless dc motor as claimed in claim 7, wherein the obtaining module is configured to:
according to the back electromotive force center point, the three-phase line voltages of the direct current brushless motor are respectively as follows:
U Alpha ＝U an ；
U Beta ＝1/sqrt(3)(U an +2U bn )；
to U an 、U bn Performing CLARK transformation to obtain U Alpha ，U Beta The method comprises the steps of carrying out a first treatment on the surface of the To U Alpha ，U Beta Obtaining an angle phase-locked loop to obtain the real position of a rotor of the DC brushless motor;
wherein U is Alpha 、U Beta The three-phase counter electromotive forces a, b and c under the three-phase mutual difference 120-degree coordinate system are projected to the voltage values of the two-phase mutual difference 90-degree coordinate system after being subjected to CLARK conversion.
9. The dc brushless motor position sensor mounting deviation calibration apparatus as defined in claim 6, further comprising: building a module for:
and a voltage dividing circuit is built according to the maximum counter electromotive force of the direct current brushless motor, so that the counter electromotive force after voltage division is in the sampling voltage range of the ADC.
10. A dc brushless motor position sensor mounting deviation correcting apparatus according to any one of claims 6 to 9, further comprising: an acceleration module for:
and accelerating the direct current brushless motor to a preset rotating speed in an open loop manner, and controlling the direct current brushless motor to be driven to be closed, so that the direct current brushless motor is in a sliding state.
CN202310688825.6A 2023-06-12 2023-06-12 Method and device for calibrating mounting deviation of position sensor of direct-current brushless motor Active CN116707372B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1416623A1 (en) * 2002-10-31 2004-05-06 Siemens VDO Automotive Inc. Method and system for determining electronic commutation in brushless DC machines irrespective of the placement of rotor position sensors
CN107395072A (en) * 2017-08-31 2017-11-24 哈尔滨工程大学 A kind of method of position-sensor-free DC brushless motor phase compensation
CN113437909A (en) * 2021-05-19 2021-09-24 深圳市旭顺电子有限公司 Hall position correction method of brushless motor based on Hall sensor
CN113972862A (en) * 2021-11-01 2022-01-25 江苏科技大学 Compensation method for installation error of Hall sensor in permanent magnet synchronous motor under disorder

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1416623A1 (en) * 2002-10-31 2004-05-06 Siemens VDO Automotive Inc. Method and system for determining electronic commutation in brushless DC machines irrespective of the placement of rotor position sensors
CN107395072A (en) * 2017-08-31 2017-11-24 哈尔滨工程大学 A kind of method of position-sensor-free DC brushless motor phase compensation
CN113437909A (en) * 2021-05-19 2021-09-24 深圳市旭顺电子有限公司 Hall position correction method of brushless motor based on Hall sensor
CN113972862A (en) * 2021-11-01 2022-01-25 江苏科技大学 Compensation method for installation error of Hall sensor in permanent magnet synchronous motor under disorder

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