CN117713629A - Brushless motor self-adaptive driving system and driving method - Google Patents

Abstract

The application provides a brushless motor self-adaptive driving system and a driving method. The brushless motor adaptive driving system includes; the motor parameter measurement module is used for measuring motor body parameters of the motor body in an initial state of the motor body; the motor parameter configuration and monitoring module is used for receiving the motor body parameters sent by the motor parameter measurement module, converting the motor body parameters into configuration parameters, sending the configuration parameters to the motor driving module, then receiving the performance parameters sent by the motor driving module, and adjusting the configuration parameters to meet the design requirements under the condition that the performance parameters do not meet the design requirements; and the motor driving module is used for collecting the performance parameters of the motor body and sending the performance parameters to the motor parameter configuration and monitoring module. According to the embodiment of the application, the times of adjusting the driver program for enabling the motor to normally operate can be reduced, so that the development period is shortened, the development efficiency of the brushless motor is improved, and the development quality is improved.

Description

Brushless motor self-adaptive driving system and driving method

Technical Field

The present disclosure relates to brushless motor technologies, and in particular, to a brushless motor adaptive driving system and a driving method.

Background

Currently, for development of brushless motor drivers, most of brushless motor driving development engineers with a certain experience measure motor body parameters by using professional equipment according to a pre-designed model machine of a brushless motor body, and then design a driver special for the brushless motor according to the motor body parameters.

However, in the development process of the brushless motor driver, a development engineer does not design the driver at a time, but needs to continuously adjust the driver program to make the motor body operate normally or even achieve the best operation performance. Such development cycles are longer, less efficient, and consume more effort from engineers. And the development period is long and the development quality is low due to the difference of the personal professional skill level of development engineers. In the patent publication CN1186379a, an induction motor is disclosed, but only the measurement of the motor body parameter is compensated for the control signal of the motor, and no mention is made of the adjustment of the motor parameter.

Disclosure of Invention

The present application has been made in view of at least one of the above-mentioned problems occurring in the prior art. According to an aspect of the present application, there is provided a brushless motor adaptive driving system, including a motor body, a motor parameter measurement module, a motor parameter configuration and monitoring module, and a motor driving module;

The motor parameter measurement module is used for measuring motor body parameters of the motor body in the initial state of the motor body;

the motor parameter configuration and monitoring module is used for receiving the motor body parameters sent by the motor parameter measurement module, converting the motor body parameters into configuration parameters, and sending the configuration parameters to the motor driving module so that the motor driving module drives the motor body to operate according to the configuration parameters; then, receiving performance parameters sent by the motor driving module under the running condition of the motor body, and adjusting the performance parameters to meet the design requirements under the condition that the performance parameters do not meet the design requirements;

the motor driving module is used for collecting the performance parameters of the motor body and sending the performance parameters to the motor parameter configuration and monitoring module;

the motor body parameters at least comprise line resistance, phase resistance, line inductance, phase inductance, average line resistance, average phase resistance, average line inductance and average inductance among all phases.

In some embodiments, the motor parameter measurement module includes a motor drag unit, a motor parameter measurement unit, a first display unit, and a first control unit; the first control unit is used for:

Controlling the motor dragging unit to drag a rotating shaft of the motor body to run at a preset fixed rotating speed;

controlling the motor parameter measuring unit to measure back electromotive force voltage peak value and back electromotive force frequency generated between phase lines when a rotating shaft of the motor body runs;

an average back emf voltage peak-to-peak value is calculated from the back emf voltage peak-to-peak value, and an average back emf frequency is calculated from the back emf frequency for determining a configuration parameter.

In some embodiments, the first control unit is further configured to:

calculating the pole pair number of the rotor of the motor body, the counter electromotive force constant, the torque constant and the rotating speed constant according to the peak value of the average counter electromotive force voltage and the average counter electromotive force frequency;

and sending the average line resistance, the average phase resistance, the average line inductance, the average phase inductance, the motor body rotor pole pair number, the back electromotive force constant, the torque constant and the rotating speed constant to a motor parameter configuration and monitoring module for determining configuration parameters.

In some embodiments, the first control unit of the motor parameter measurement module is further configured to:

Calculating the standard deviation of the phase resistance, the standard deviation of the line inductance and the standard deviation of the phase inductance;

respectively judging the standard deviation of the phase resistance, the standard deviation of the line inductance and the error value between the standard deviation of the phase inductance and a preset standard value;

when any error value is larger than a preset error value, all phase lines of the motor body are disconnected, and a prompt instruction for displaying data corresponding to the error value exceeding the preset error value is sent to the first display unit, so that whether the tested brushless motor is a qualified product or not is determined, and a user is prompted about devices of the tested brushless motor, wherein the devices of the tested brushless motor have problems.

In some embodiments, the motor parameter configuration and monitoring module includes a second control unit, a motor parameter monitoring unit, and a second display unit; the second control unit of the motor parameter configuration and monitoring module is configured to:

receiving the average line resistance, the average phase resistance, the average line inductance, the average phase inductance, the pole pair number of a motor body rotor, a counter electromotive force constant, a torque constant and a rotating speed constant which are sent by the motor parameter measurement module;

and sending instructions for displaying the average line resistance, the average phase resistance, the average line inductance, the average phase inductance, the pole pair number of the motor body rotor, the counter electromotive force constant, the torque constant and the rotating speed constant to the second display unit so that a user can intuitively see all body parameters of the tested brushless motor.

In some embodiments, the second control unit is further configured to:

converting the average line resistance, the average phase resistance, the average line inductance, the average phase inductance, the motor body rotor pole pair number, the back electromotive force constant, the torque constant and the rotation speed constant into configuration parameters for driving the motor body to operate;

transmitting the configuration parameters to the motor driving module so that the motor driving module drives the motor body to operate based on the configuration parameters;

wherein the configuration parameters include at least one of the following types: the motor body and hardware parameters, motor protection parameters, motor starting parameters, motor adjustment parameters and proportional, integral and differential closed-loop control parameters, so that the motor body operates based on configuration parameters to acquire performance parameters of the motor body in an operating state.

In some embodiments, the motor drive module includes a third control unit; the third control unit is used for:

collecting current and voltage parameters of the motor body;

converting the current and voltage parameters into at least one performance parameter of the motor body during operation;

and sending the performance parameters to the motor parameter configuration and monitoring module so that the performance parameters are displayed on the second display unit, and thus, a user can intuitively observe the performance parameters of the motor body.

In some embodiments, the motor parameter monitoring unit of the motor parameter configuration and monitoring module is configured to:

judging whether each performance parameter meets the design requirement;

when all the performance parameters meet the design requirements, sending an instruction for displaying the performance parameters meeting the design requirements to the second display unit;

when any performance parameter does not meet the design requirement, adjusting the configuration parameter which does not meet the design requirement, enabling the configuration parameter to meet the design requirement, then sending the configuration parameter which meets the design requirement to the motor driving module, and enabling the motor body to achieve the performance parameter which meets the design requirement through adjusting the configuration parameter.

Another aspect of the embodiments of the present application provides a brushless motor driving method, including:

the motor parameter measurement module is used for measuring motor body parameters of the motor body;

the motor parameter configuration and monitoring module is used for measuring and converting the motor body parameters into configuration parameters so that the motor body runs based on the configuration parameters;

the motor parameter configuration and monitoring module receives the performance parameters of the motor body sent by the motor driving module;

And the motor parameter configuration and monitoring module judges whether the performance parameters meet the design requirements, and sends the performance parameters meeting the design requirements to the motor driving module under the condition that the performance parameters do not meet the design requirements, so that the motor driving module operates based on the performance parameters meeting the design requirements.

In some embodiments, the method further comprises:

the motor parameter measurement module calculates a phase resistance standard deviation, a line inductance standard deviation and a phase inductance standard deviation;

the motor parameter measurement module is used for respectively judging the standard deviation of the phase resistance, the standard deviation of the line inductance and the error value between the standard deviation of the phase inductance and a preset standard value;

when any error value is larger than a preset error value, the motor parameter measurement module cuts off all phase lines of the motor body and sends a prompt instruction for displaying data corresponding to the error value exceeding the preset error value to the first display unit.

According to the brushless motor self-adaptive driving system, the motor parameter measuring module is used for measuring the motor body parameter of the motor body, the motor parameter configuration and monitoring module is used for converting the motor body parameter into the configuration parameter, so that the motor body operates according to the configuration parameter, then the motor parameter configuration and monitoring module is used for automatically judging whether the performance parameter of the motor body meets the design requirement or not, if the performance parameter does not meet the design requirement, the performance parameter is adjusted to meet the design requirement, and therefore the times of adjustment of a driver program for normal operation of the motor by engineers can be reduced, the development period is shortened, the development efficiency of the brushless motor is improved, and the development quality is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 shows a schematic block diagram of a brushless motor adaptive drive system according to an embodiment of the application;

fig. 2 shows a schematic flow chart of a brushless motor adaptive driving method according to an embodiment of the present application;

fig. 3 shows a schematic flow chart of a method of determining whether a brushless motor is acceptable according to an embodiment of the application.

Detailed Description

In order to better understand the technical solutions of the embodiments of the present application, the following descriptions will clearly and completely describe the technical solutions of the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Based on at least one technical problem described above, the present application provides a brushless motor adaptive driving system, which includes a motor body, a motor parameter measurement module, a motor parameter configuration and monitoring module, and a motor driving module; the motor parameter measurement module is used for measuring motor body parameters of the motor body in the initial state of the motor body; the motor parameter configuration and monitoring module is used for receiving the motor body parameters sent by the motor parameter measurement module, converting the motor body parameters into configuration parameters, and sending the configuration parameters to the motor driving module so that the motor driving module drives the motor body to operate according to the configuration parameters; then, receiving performance parameters sent by the motor driving module under the running condition of the motor body, and adjusting the performance parameters to meet the design requirements under the condition that the performance parameters do not meet the design requirements; the motor driving module is used for collecting the performance parameters of the motor body and sending the performance parameters to the motor parameter configuration and monitoring module; the motor body parameters at least comprise line resistance, phase resistance, line inductance, phase inductance, average line resistance, average phase resistance, average line inductance and average inductance among all phases. According to the brushless motor self-adaptive driving system, the motor parameter measuring module is used for measuring the motor body parameter of the motor body, the motor parameter configuration and monitoring module is used for converting the motor body parameter into the configuration parameter, so that the motor body operates according to the configuration parameter, then the motor parameter configuration and monitoring module is used for automatically judging whether the performance parameter of the motor body meets the design requirement or not, if the performance parameter does not meet the design requirement, the performance parameter is adjusted to meet the design requirement, and therefore the times of adjustment of a driver program for normal operation of the motor by engineers can be reduced, the development period is shortened, the development efficiency of the brushless motor is improved, and the development quality is improved.

Fig. 1 shows a schematic block diagram of a brushless motor adaptive drive system according to an embodiment of the application; as shown in fig. 1, a brushless motor adaptive driving system 100 according to an embodiment of the present application may include a motor body 10, a motor parameter measurement module 20, a motor parameter configuration and monitoring module 30, and a motor driving module 40:

the motor parameter measurement module 20 is configured to measure a motor parameter of the motor body in the initial state of the motor body.

The motor body parameters at least comprise line resistance, phase resistance, line inductance, phase inductance, average line resistance, average phase resistance, average line inductance and average inductance among all the phase lines.

The initial state of the motor body refers to a static state of the motor body before the motor body is not electrified, and a dynamic state of the motor body when the motor body is slightly operated under the condition of external force (for example, external force generated when the motor body is manually stirred).

The motor parameter configuration and monitoring module 30 is configured to receive the motor body parameter sent by the motor parameter measurement module, convert the motor body parameter into a configuration parameter, and send the configuration parameter to the motor driving module, so that the motor driving module drives the motor body to operate according to the configuration parameter; and then receiving the performance parameters sent by the motor driving module under the running condition of the motor body, and adjusting the performance parameters to meet the design requirements under the condition that the performance parameters do not meet the design requirements.

The motor driving module 40 is configured to collect the performance parameter of the motor body, and send the performance parameter to the motor parameter configuration and monitoring module.

In one embodiment of the present application, the motor parameter measurement module 20 includes a motor drag unit 201, a motor parameter measurement unit 202, a first display unit 203, and a first control unit 204. Wherein the motor drag unit 201 is connected with a rotation shaft of the motor body 10 of the brushless motor.

The following describes embodiments of the present application by taking a three-phase brushless motor (phase line number ABC) as an example.

All phase lines of the motor body 10 of the brushless motor to be tested are connected with the motor parameter measuring module 20. When the motor body 10 is in the initial state, the first control unit 204 controls the motor parameter measurement unit 202 to measure the line resistance RL between the phases of the motor to be measured _AB 、RL _AC And RL(s) _BC Phase resistance RP _AB 、RP _AC And RP (RP) _BC Line inductance LL _AB 、LL _AC And LL (all) _BC Phase inductance LP _AB 、LP _AC And LP _BC At the same time, the first control unit calculates the average line resistance RL _avg Average phase resistance RP _avg Average line inductance LL _avg Average line inductance LP _avg 。

It is noted that, the precondition for the brushless motor adjustment in the embodiment of the present application is: the brushless motor is a qualified product, and if the brushless motor is not a qualified product, the performance parameters of the motor body of the brushless motor do not need to be adjusted. Embodiments of the present application may be based on the line resistance RL _AB 、RL _AC And RL(s) _BC Phase resistance RP _AB 、RP _AC And RP (RP) _BC Line inductance LL _AB 、LL _AC And LL (all) _BC Phase inductance LP _AB 、LP _AC And LP _BC At the same time (th)A control unit for calculating the average line resistance RL _avg Average phase resistance RP _avg Average line inductance LL _avg Average inductance LP _avg To determine whether the brushless motor to be tested meets the design requirement (possibly an unacceptable product if the brushless motor does not meet the design requirement), and if the brushless motor is an acceptable product, continuing to adjust the performance parameters of the motor body. If not, the connection with the currently tested brushless motor can be disconnected, and then each datum of the next brushless motor is measured.

In one example, the standard deviation K of the line resistance can be based on _RL Standard deviation of phase resistance K _RP Standard deviation of line inductance K _LL Standard deviation of sum phase inductance K _LP And comparing the error values with the corresponding preset standard deviations to determine the corresponding error values. If the error is too large, the data unbalance of the three-phase winding of the tested brushless motor is indicated, the design requirement is exceeded, and the tested brushless motor is obviously an unqualified product. Only standard deviation of line resistance K _RL Standard deviation of phase resistance K _RP Standard deviation of line inductance K _LL Standard deviation of sum phase inductance K _LP And when the error between the measured brushless motor and the corresponding preset standard deviation is smaller than or equal to a preset error value, for example, smaller than or equal to 0.5, the measured brushless motor can be determined to be a qualified product. The formula for calculating the standard deviation of the line resistance is as follows:

S _RL ＝sqrt(((RL _AB -RL _avg ))∧2+(RL _AC -RL _avg )∧2+(RL _BC -RL _avg )∧2)/3)

Wherein RL is a _AB Representing the line resistance between the phase lines A, B, RL _avg Representing average line resistance, RL _AC Representing the line resistance between A, C, RL _BC Representing the line resistance between B, C.

Similarly, the standard deviation S of the phase resistance can be calculated _RP Standard deviation of line inductance S _LL Standard deviation of phase inductance S _LP 。

In another embodiment of the present application, the first control unit 204 may control to display the respective standard deviation values described above on the first display unit 203. For example, if the error values corresponding to the standard deviation values are all smaller than or equal to the preset error value (for example, 0.5), and the tested brushless motor meets the design requirement, the fonts can be displayed in green fonts; if the error value corresponding to the standard deviation value is larger than the preset error value (for example, 0.5), the group of data exceeding the preset error value (for example, 0.5) is displayed in red font, then the connection with the current brushless motor to be tested is disconnected, and the next brushless motor to be tested is waited for being connected.

After determining that the tested brushless motor meets the design requirement, the first control unit 204 may control the motor dragging unit 201 to preset the fixed rotation speed n _d Dragging the rotating shaft of the motor body 10 to operate. And controls the motor parameter measuring unit 202 to measure the peak value E of the back electromotive voltage generated between the phase lines when the rotating shaft of the motor body 10 is operated _AB 、E _AC And E is _BC And back electromotive force frequency F _AB 、F _AC And F _BC 。

In one example, the first control unit 204 is specifically configured to:

according to the average back electromotive force voltage peak value E _avg And average back EMF frequency F _avg Calculating the pole pair number P of the rotor of the motor body _L Back electromotive force constant K _E Torque constant K _T And a rotation speed constant K _n 。

Wherein, the pole pair number P of the rotor of the motor body _L The calculation formula of (2) is as follows:

P _L ＝F _avg /(n _d /60)

wherein n is _d Representing the preset fixed rotating speed of the motor body, F _avg Representing the average back emf frequency.

Wherein the back electromotive force constant K _E The calculation formula of (2) is as follows:

K _E ＝1000×E _avg ×P _L /(2×1.732×60×F _avg )

wherein E is _avg Represents the average back EMF voltage peak-to-peak value, P _L Representing the pole pair number of the motor body rotor.

Wherein the torque constantK _T The calculation formula of (2) is as follows:

K _T ＝9.5493×K _E

wherein K is _E Representing the back emf constant.

Wherein the rotation speed constant K _n The calculation formula of (2) is as follows:

K _n ＝RP _avg /(K _T ×K _E )

wherein K is _E Represents the back EMF constant, K _T Indicating torque constant, RP _avg Representing the average phase resistance.

Then, the first control unit 204 sets the average line resistance RL _avg The average phase resistance RP _avg The average line inductance LL _avg Said average phase inductance LP _avg The pole pair number P of the rotor of the motor body _L The back electromotive force constant K _E The torque constant K _T And the rotation speed constant K _n And sent to the motor parameter configuration and monitoring module 30 to enable the motor constant configuration and monitoring module 30 to calculate configuration parameters.

In one embodiment of the present application, the motor parameter measurement module 20 may further include a first communication unit 205. The motor parameter measurement module may measure the motor body parameter, i.e. the average line resistance RL, through the first communication unit 205 _avg Average phase resistance RP _avg Average line inductance LL _avg Average inductance LP _avg Pole pair number P of motor body rotor _L Back electromotive force constant K _E Torque constant K _T And a rotation speed constant K _n And sending the parameters to a motor parameter configuration and monitoring module.

Wherein the first communication unit 205 may receive and transmit data through a wired or wireless connection. For example, via bus transmission; for another example, the data is transmitted by bluetooth, local area network, or the like.

In one embodiment of the present application, the motor parameter configuration and monitoring module 30 includes a second control unit 301, a motor parameter monitoring unit 302, and a second display unit 303.

In one example, the second control unit 301 of the motor parameter configuration and monitoring module 30 is configured to:

receiving the average line resistance RL transmitted by the motor parameter measurement module 20 _avg The average phase resistance RP _avg The average line inductance LL _avg Said average phase inductance LP _avg Pole pair number P of motor body rotor _L Back electromotive force constant K _E Torque constant K _T And a rotation speed constant K _n ；

Transmitting the average line resistance, the average phase resistance, the average line inductance, and the average phase inductance LP to the second display unit 303 _avg Pole pair number P of motor body rotor _L Back electromotive force constant K _E Torque constant K _T And a rotation speed constant K _n Is a command of (a).

In one example, the second control unit 301 is further configured to:

the average line resistance RL is _avg The average phase resistance RP _avg The average line inductance LL _avg Said average phase inductance LP _avg Pole pair number P of motor body rotor _L Back electromotive force constant K _E Torque constant K _T And a rotation speed constant K _n Converting into configuration parameters for driving the motor body 10 to operate;

and sending the configuration parameters to the motor driving module so that the motor driving module drives the motor body to operate based on the configuration parameters.

Wherein the configuration parameters include at least one of the following types: the motor comprises a motor body, hardware parameters, motor protection parameters, motor starting parameters, motor adjusting parameters, proportional, integral and differential closed-loop control parameters.

In one embodiment of the present application, the motor parameter configuration and monitoring module 30 further includes a second communication unit 304, and the second control unit 301 sends the configuration parameters to the motor driving module through the second communication unit 304, and receives the performance parameters sent by the motor driving module 40 through the second communication unit 304. The second control unit 301 controls the display of the performance parameters on the second display unit 303 for a user to intuitively understand the performance of the motor body.

Wherein the second communication unit 304 may receive and transmit data through a wired or wireless connection. For example, via bus transmission; for another example, the data is transmitted by bluetooth, local area network, or the like.

In one embodiment of the present application, the motor parameter monitoring unit 302 is further configured to:

judging whether each performance parameter meets the design requirement;

when all the performance parameters meet the design requirements, sending an instruction for displaying the performance parameters meeting the design requirements to the second display unit;

when any performance parameter does not meet the design requirement, adjusting the configuration parameter which does not meet the design requirement, enabling the configuration parameter to meet the design requirement, and then sending the configuration parameter which meets the design requirement to the motor driving module.

In one embodiment of the present application, the second control unit 301 receives the performance parameters sent by the motor driving module 40, and sends the performance parameters to the motor parameter monitoring unit, so that the motor parameter monitoring unit 302 determines whether each performance parameter meets the design requirement. For example, whether each performance parameter meets the design requirement can be determined by determining whether the electrical angle phase and the three-phase current phase of the motor meet the design requirement, whether the peak-to-peak value of the three-phase current is stable, whether the peak-to-peak value error between the three phases is within the design requirement, whether the three-phase current peak value and the bus current peak value exceed the design requirement at the moment of starting the motor, and the like.

In one example, the motor parameter configuration and monitoring module 30 further includes a motor configuration parameter unit 305. When the motor parameter monitoring unit 302 determines that the performance parameter does not meet the design requirement, the motor configuration parameter unit 305 is required to adjust the configuration parameter corresponding to the performance parameter that does not meet the design requirement. For example: (1) When the electric angle phase of the motor body and the three-phase current phase do not meet the design requirement, the electric angle phase of the motor body and the three-phase current phase can be met by adjusting the proportional, integral and differential closed-loop control parameters; (2) When the three-phase current peak value at the moment of starting the motor body exceeds the design requirement, the three-phase current peak value at the moment of starting the motor body can be enabled to meet the design requirement by adjusting the motor starting parameters.

In one embodiment of the present application, the motor driving module 40 includes a third control unit 401. The motor driving module 40 is connected with all phase lines of the motor body 10 of the brushless motor, and the third control unit 401 of the motor driving module 40 controls the motor body 10 to operate through the motor driving unit 40 according to the motor parameter configuration and the configuration parameters sent by the monitoring module 30.

In one example, the third control unit 401 is configured to:

collecting current and voltage parameters of the motor body;

converting the current and voltage parameters into at least one performance parameter of the motor body during operation;

and sending the performance parameters to the motor parameter configuration and monitoring module so that the performance parameters are displayed on the second display unit.

Wherein the performance parameters include at least: rotational speed, power, torque, phase current, electrical angle values, etc.

In one embodiment of the present application, after the motor configuration parameter unit 305 completes the configuration parameter adjustment, the motor parameter configuration and monitoring module 30 sends the configuration parameter to the motor driving module 40 again, so that the motor driving module drives the motor body to operate according to the adjusted configuration parameter, then collects new performance parameters, sends the new performance parameters to the motor configuration parameter unit 305 again, and circulates in this way until the performance parameters meet the design requirements.

In one example, the motor driving module 40 further includes a motor driving unit 402 and a third communication unit 403. The third control unit 401 collects parameters such as current and voltage of the motor through the motor driving unit 402, and then the third control unit 401 converts the collected parameters such as current and voltage into corresponding performance parameters such as rotation speed, power, torque, phase current, electrical angle value and the like when the motor body operates. And then transmits the performance parameters to the motor parameter configuration and monitoring module 30 through the third communication unit 403.

Wherein the third communication unit 403 may communicate with the second communication unit 304 by a wired or wireless connection. For example, via bus transmission; for another example, the data is transmitted by bluetooth, local area network, or the like.

In addition, the motor driving module 40 further includes a motor parameter storage unit 404. After receiving the configuration parameters meeting the design requirements sent by the motor parameter configuration and monitoring module 30 through the third communication unit 403, the third control unit 401 stores the set of configuration parameters in the motor parameter storage unit 404; so far, the work of the whole brushless motor self-adaptive driving system is finished.

According to the brushless motor self-adaptive driving system, the motor parameter measuring module is used for measuring the motor body parameter of the motor body, the motor parameter configuration and monitoring module is used for converting the motor body parameter into the configuration parameter, so that the motor body operates according to the configuration parameter, then the motor parameter configuration and monitoring module is used for automatically judging whether the performance parameter of the motor body meets the design requirement or not, if the performance parameter does not meet the design requirement, the performance parameter is adjusted to meet the design requirement, and therefore the times of adjustment of a driver program for normal operation of the motor by engineers can be reduced, the development period is shortened, the development efficiency of the brushless motor is improved, and the development quality is improved.

As shown in fig. 2, a schematic flowchart of a brushless motor driving method according to another embodiment of the present application is shown. The brushless motor driving method 200 according to the embodiment of the present application may include the following steps S201, S202, S203, and S204;

in step S201, the motor parameter measurement module measures motor body parameters of the motor body.

In step S202, the motor parameter configuration and monitoring module receives the motor body parameter sent by the motor parameter measurement module, and converts the motor body parameter into a configuration parameter.

In step S203, the motor parameter configuration and monitoring module sends the configuration parameters to the motor driving module, so that the motor driving module drives the motor body to operate based on the configuration parameters.

In step S204, the motor parameter configuration and monitoring module receives the performance parameters of the motor body sent by the motor driving module, where the performance parameters are obtained by converting the current and current parameters collected by the motor driving module.

In step S205, the motor parameter configuration and monitoring module determines whether the performance parameter meets the design requirement, and if the performance parameter meets the design requirement, the process is ended; if the performance parameter does not meet the design requirement, step S206 is performed.

In step S206, the configuration parameters are adjusted to obtain new configuration parameters, and then the process returns to step S203.

Repeating the steps until the performance parameters meet the design requirements.

According to the embodiment of the application, the brushless motor body is connected with the motor parameter measurement module, so that the motor parameter measurement module measures relevant parameters of the motor body, and then the motor parameter measurement module sends motor body parameters to the motor parameter configuration and monitoring module. The motor parameter configuration and monitoring module receives the motor body parameters, converts the motor body parameters into configuration parameters required by driving the motor body, and then sends the configuration parameters to the motor driving module. The motor driving module controls the motor body to operate according to the received configuration parameters. The motor driving module feeds back the performance parameters of the motor during operation to the motor parameter configuration and monitoring module in real time, and the motor parameter configuration and monitoring module displays the performance parameters of the motor body during operation in real time and judges whether the performance of the motor body meets the design requirements. If the current configuration parameters are met, the motor driving module stores the current configuration parameters, if the current configuration parameters are not met, the motor parameter configuration and monitoring module continuously adjusts the corresponding configuration parameters and transmits the corresponding configuration parameters to the motor driving module, so that the motor driving module controls the motor body to operate according to the adjusted configuration parameters until the performance parameters of the motor body meet the requirements or exceed the adjustment times.

It should be noted that, before the configuration parameters of the motor body are adjusted to the brushless motor so that the performance parameters reach the preset values, it is necessary to determine that the brushless motor is a qualified product. Whether the brushless motor product is qualified or not can be judged by judging the standard deviation of the phase resistance, the standard deviation of the line inductance and the error value between the standard deviation of the phase inductance and a preset standard value. As shown in fig. 3, in one embodiment of the present application, the method 300 for determining whether the brushless motor is qualified further includes step S301, step S302, and step S303:

in step S301, when the motor body is in an initial state, the first control unit controls the motor parameter measurement unit to measure the line resistance, the phase resistance, the line inductance and the phase inductance between each phase line of the measured motor.

In step S302, an average line resistance, an average phase resistance, an average line inductance, and an average line inductance are calculated from the line resistance, the phase resistance, the line inductance, and the phase inductance.

In step S303, the phase resistance standard deviation, the line inductance standard deviation, and the phase inductance standard deviation are calculated from the average line resistance, the average phase resistance, the average line inductance, and the average line inductance.

In step S304, determining whether the phase resistance standard deviation, the line inductance standard deviation, and the error value between the phase inductance standard deviation and the respective preset standard values are less than or equal to the preset error values; when the error value is smaller than or equal to the preset error value, ending the flow; otherwise, step S305 is performed.

In step S305, when any one error value is greater than a preset error value, the motor parameter measurement module disconnects all phase lines of the motor body and sends a command for displaying a prompt exceeding the corresponding data of the preset error value to the first display unit.

According to the embodiment of the application, a set of visual intelligent control platform is built through quantifying motor body parameters, and a reference basis can be provided for development, verification and production. In the development stage, the specification selection of the components of the driver can be performed by using the motor parameter configuration and the motor operation performance parameters displayed on the monitoring module as references, and the performance adjustment of the motor body can be performed by using the motor parameter measurement module as references. During the verification stage, the performance consistency of the driver and the motor body can be directly checked through the self-adaptive system to be used as a reference basis for evaluating whether the configuration of the driver and the motor body is good. In the production stage, the self-adaptive system can also provide a reference basis for quality inspectors to judge whether the driver or the motor body is qualified.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present application thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as set forth in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations 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 several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another device, or some features may be omitted or not performed.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in order to streamline the application and aid in understanding one or more of the various inventive aspects, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the application. However, the method of this application should not be construed to reflect the following intent: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the present application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some of the modules according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application may also be embodied as device programs (e.g., computer programs and computer program products) for performing part or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

The foregoing is merely illustrative of specific embodiments of the present application and the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are intended to be covered by the scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. The brushless motor self-adaptive driving system is characterized by comprising a motor body, a motor parameter measuring module, a motor parameter configuration and monitoring module and a motor driving module;

the motor parameter measurement module is used for measuring motor body parameters of the motor body in the initial state of the motor body;

the motor parameter configuration and monitoring module is used for receiving the motor body parameters sent by the motor parameter measurement module, converting the motor body parameters into configuration parameters, and sending the configuration parameters to the motor driving module so that the motor driving module drives the motor body to operate according to the configuration parameters; then, receiving performance parameters sent by the motor driving module under the running condition of the motor body, and adjusting the configuration parameters to meet the design requirements under the condition that the performance parameters do not meet the design requirements;

the motor driving module is used for collecting the performance parameters of the motor body and sending the performance parameters to the motor parameter configuration and monitoring module;

the motor body parameters at least comprise line resistance, phase resistance, line inductance, phase inductance, average line resistance, average phase resistance, average line inductance and average inductance among all phases.

2. The system of claim 1, wherein the motor parameter measurement module comprises a motor drag unit, a motor parameter measurement unit, a first display unit, and a first control unit; the first control unit is used for:

controlling the motor dragging unit to drag a rotating shaft of the motor body to run at a preset fixed rotating speed;

controlling the motor parameter measuring unit to measure back electromotive force voltage peak value and back electromotive force frequency generated between phase lines when a rotating shaft of the motor body runs;

an average back emf voltage peak value is calculated from the back emf voltage peak value, and an average back emf frequency is calculated from the back emf frequency.

3. The system of claim 2, wherein the first control unit is further configured to:

calculating the pole pair number of the rotor of the motor body, the counter electromotive force constant, the torque constant and the rotating speed constant according to the peak value of the average counter electromotive force voltage and the average counter electromotive force frequency;

and sending the average line resistance, the average phase resistance, the average line inductance, the average phase inductance, the motor body rotor pole pair number, the back electromotive force constant, the torque constant and the rotating speed constant to a motor parameter configuration and monitoring module.

4. The system of claim 2, wherein the first control unit of the motor parameter measurement module is further configured to:

calculating the standard deviation of the phase resistance, the standard deviation of the line inductance and the standard deviation of the phase inductance;

respectively judging the standard deviation of the phase resistance, the standard deviation of the line inductance and the error value between the standard deviation of the phase inductance and a preset standard value;

when any error value is larger than a preset error value, all phase lines of the motor body are disconnected, and a prompt instruction for displaying data corresponding to the error value exceeding the preset error value is sent to the first display unit.

5. The system of claim 3, wherein the motor parameter configuration and monitoring module comprises a second control unit, a motor parameter monitoring unit, and a second display unit; the second control unit of the motor parameter configuration and monitoring module is configured to:

receiving the average line resistance, the average phase resistance, the average line inductance, the average phase inductance, the pole pair number of a motor body rotor, a counter electromotive force constant, a torque constant and a rotating speed constant which are sent by the motor parameter measurement module;

and sending instructions for displaying the average line resistance, the average phase resistance, the average line inductance, the average phase inductance, the pole pair number of the rotor of the motor body, the counter electromotive force constant, the torque constant and the rotating speed constant to the second display unit.

6. The system of claim 5, wherein the second control unit is further configured to:

converting the average line resistance, the average phase resistance, the average line inductance, the average phase inductance, the motor body rotor pole pair number, the back electromotive force constant, the torque constant and the rotation speed constant into configuration parameters for driving the motor body to operate;

transmitting the configuration parameters to the motor driving module so that the motor driving module drives the motor body to operate based on the configuration parameters;

wherein the configuration parameters include at least one of the following types: the motor comprises a motor body, hardware parameters, motor protection parameters, motor starting parameters, motor adjusting parameters, proportional, integral and differential closed-loop control parameters.

7. The system of claim 6, wherein the motor drive module comprises a third control unit; the third control unit is used for:

collecting current and voltage parameters of the motor body;

converting the current and voltage parameters into at least one performance parameter of the motor body during operation;

and sending the performance parameters to the motor parameter configuration and monitoring module so that the performance parameters are displayed on the second display unit.

8. The system of claim 7, wherein the motor parameter monitoring unit of the motor parameter configuration and monitoring module is configured to:

judging whether each performance parameter meets the design requirement;

when all the performance parameters meet the design requirements, sending an instruction for displaying the performance parameters meeting the design requirements to the second display unit;

when any performance parameter does not meet the design requirement, the performance parameter which does not meet the design requirement is adjusted to enable the configuration parameter to meet the design requirement, and then the configuration parameter which meets the design requirement is sent to the motor driving module.

9. A brushless motor driving method, characterized in that the method comprises:

the motor parameter measurement module is used for measuring motor body parameters of the motor body;

the motor parameter configuration and monitoring module is used for measuring and converting the motor body parameters into configuration parameters so that the motor body runs based on the configuration parameters;

the motor parameter configuration and monitoring module receives the performance parameters of the motor body sent by the motor driving module;

and the motor parameter configuration and monitoring module judges whether the performance parameters meet the design requirements, and sends the performance parameters meeting the design requirements to the motor driving module under the condition that the performance parameters do not meet the design requirements, so that the motor driving module operates based on the performance parameters meeting the design requirements.

10. The method according to claim 9, wherein the method further comprises:

the motor parameter measurement module calculates a phase resistance standard deviation, a line inductance standard deviation and a phase inductance standard deviation;

the motor parameter measurement module is used for respectively judging the standard deviation of the phase resistance, the standard deviation of the line inductance and the error value between the standard deviation of the phase inductance and a preset standard value;

when any error value is larger than a preset error value, the motor parameter measurement module cuts off all phase lines of the motor body and sends a prompt instruction for displaying data corresponding to the error value exceeding the preset error value to the first display unit.