CN213367670U

CN213367670U - Motor driver and motor and system thereof

Info

Publication number: CN213367670U
Application number: CN202020989044.2U
Authority: CN
Inventors: 何伟斌; 何风云
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2021-06-04
Anticipated expiration: 2030-05-29

Abstract

The invention discloses a motor driver, a motor and a system thereof, which are characterized by comprising a counter electromotive force zero crossing point output circuit for filtering a rapid follow current signal or a counter electromotive force zero crossing point output circuit with an electronic switch or a rapid follow current output circuit, wherein the counter electromotive force zero crossing point output circuit is provided with a phase line high level circuit, the electronic switch is provided with a control end, the control end is electrically connected with the rapid follow current output circuit or the phase line high level circuit or a single chip microcomputer, the two zero crossing point output circuits are provided with Schmidt trigger circuits, the electronic switch is positioned between a phase line signal and the zero crossing point output circuit, the two zero crossing point output circuits are electrically connected with the single chip microcomputer, and the rapid follow current output circuit comprises a phase line level output circuit which is higher than a power supply level output circuit or a phase line level; the motor driver particularly relates to the advantages of noninductive closed-loop high-speed driving of a stepping motor, large output torque, low temperature rise, no motor resonance and the like.

Description

Motor driver and motor and system thereof

Technical Field

The invention relates to the field of motor drivers, relates to the field of sensorless driving of brushless motors, permanent magnet motors, stepping motors, low-speed synchronous motors and the like, and relates to the technical invention in the fields of automation equipment driven by motors or electric appliances, vehicles and the like.

Background

In the existing sensorless three-phase brushless motor driver, an electronic commutation working mode is usually adopted, commutation signals come from three-phase voltages and are subjected to delay integration, the three-phase integrated voltages are respectively connected together through resistors to form a common point, the voltage after each phase integration and the common point output commutation signals through a comparator, as phase voltages are voltages in a PWM mode, the voltages are formed by alternating high levels and low levels, after the integration, the levels obtained by the high level time integration are also increased along with the high levels and reduced along with the low levels, and in order to enable the integrated voltages to be more stable, only a time constant can be increased to increase the delay; the problem is solved by adding an integral time constant for solving the problem because the electromotive force generated by fast follow current during phase commutation needs a larger time constant, so that the commutation zero-crossing point of the motor is delayed, and the accurate time of the motor in the high-speed environment cannot be met.

In the field of the existing stepping motor drive, due to the time delay lag, the precise phase change of the stepping motor is also unprecedented, a time phase change mode is adopted, and fixed current drive is adopted, so that the temperature of the motor is increased, the low-frequency vibration of the motor is generated, the high-speed torque is smaller, the electric efficiency is low, and the like.

Disclosure of Invention

In view of the defects of the prior art, the technical problem to be solved by the invention is to disconnect the counter electromotive force zero crossing point output circuit or filter the influence of the fast follow current electromotive force on the zero crossing point during the fast follow current electromotive force period generated during phase commutation and the low level period of the phase voltage in the PWM mode.

The high-speed stable phase-changing circuit is suitable for motor drivers with high phase-changing requirements, such as a direct-current brushless motor, a stepping motor, a synchronous motor, a permanent magnet motor and the like.

Therefore, the invention adopts the following technical scheme to solve the technical problems: the motor driver, the motor and the system thereof comprise a power supply filter capacitor, a single chip microcomputer, a power tube driving circuit and a power bridge output circuit, wherein an output signal of the single chip microcomputer is electrically connected with the power tube driving circuit; the electronic switch is provided with a control end which is electrically connected with the rapid follow current output circuit or the phase line high level taking circuit or the single chip microcomputer; the back electromotive force zero-crossing point output circuit for filtering the rapid follow current signal or the back electromotive force zero-crossing point output circuit with the electronic switch is provided with a Schmitt trigger circuit; the electronic switch is positioned between a signal of the phase line and the back electromotive force zero-crossing point output circuit with the electronic switch, and the back electromotive force zero-crossing point output circuit with the electronic switch is electrically connected with the single chip microcomputer; the fast follow current output circuit comprises an output circuit with a phase line level higher than a power supply level or an output circuit with a phase line level lower than a power supply ground line level; the motor is characterized in that the motor stator and the rotor are provided with permanent magnets or short-circuit rings; the stepping motor is also provided with the motor driver with the technical characteristics, and is characterized in that the stepping motor is electrically connected with the motor driver; an automation device having the motor, characterized in that the motor is mounted on the automation device; the household appliance or the industrial appliance or the unmanned aerial vehicle is provided with the motor, and is characterized in that the motor is connected with the household appliance or the industrial appliance or the unmanned aerial vehicle; the vehicle with the motor is characterized by comprising a storage battery, wheels, a steering device, a brake device, a lighting device and a speed adjusting device, wherein the devices are directly or indirectly arranged on a frame.

The motor driver is suitable for driving two-phase, three-phase, four-phase and five-phase motors, can realize accurate phase change of the stepping motor, and realizes dynamic phase change of the stepping motor.

Drawings

The details of the present invention are further described below with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of the circuit of the present invention;

Detailed Description

The motor driver and a motor and a system thereof comprise a power supply filter capacitor E1, wherein a singlechip adopts stm32 series, a power tube driving circuit adopts an FD6288 chip, a power bridge output circuit, M1 and M2 are U-phase upper and lower half-bridge power field effect tubes, D15 is an M1 tube built-in diode, D16 is an M2 tube built-in diode, M3 and M4 are V-phase upper and lower half-bridge power field effect tubes, D17 is an M3 tube built-in diode, D18 is an M4 tube built-in diode, M5 and M6 are W-phase upper and lower half-bridge power field effect tubes, D19 is an M5 tube built-in diode, D20 is an M6 tube built-in diode, and upper and lower bridge arm power tubes are alternately conducted when each phase works during PWM; r21 is a phase current sampling resistor, the output signal of the single chip is electrically connected with the power tube driving circuit, the output signal of the single chip is connected with an FD6288 chip, the power tube driving circuit is electrically connected with the power bridge output circuit, the output signal of the FD6288 chip is connected with the grids of the power tubes corresponding to M1 to M6, the device is characterized by comprising a back electromotive force zero crossing point output circuit for filtering a fast follow current signal or a back electromotive force zero crossing point output circuit with an electronic switch or a fast follow current output circuit, IC1A, IC1B and IC1C are electronic switches, a CD4066 chip is adopted, pins 1 and 2 are switches, a pin 13 is a control end,

pins

11 and 10 are switches, a pin 12 is a control end, pins 4 and 3 are switches, a pin 5 is a control end, a phase line field effect tube can also be used as an electronic switch, a phase line signal is connected with an S pole, an S, D pole switch, a G pole is a control end, and the control end is connected, when the control end is at a high level, the switch is conducted. Capacitors C1, C2 and C3 are phase voltage integration filters, three-phase integrated voltages are respectively connected together through resistors R2, R11 and R12 to form a common point 0, IC2A, IC2B and IC2C are comparators, zero-crossing phase-change signals U _ OUT, V _ OUT and W _ OUT are output, and R7, R10 and R17 are comparator pull-up resistors; d1, D2, D3, R5, R22, R4, R6, C6 and IC2D form a fast follow current output circuit, fast follow current means that electric energy generated by winding follow current flows back to a power supply when the phases are switched, R4 and R6 divide voltage to enable the 10 th pin of IC2D to be 0.4V level, the 13 th pin output of IC2D is connected to a SW network, and when U, V, W has a level lower than the ground line, the SW is set to be low level by the circuit output; r18, N1, C4, D5, D6, D7 and D4 form another mode, namely a rapid follow current output circuit, when U, V, W is lower than the ground level, the triode N1 is conducted, and SW is set to be low level; d11, D8, D9, D10, C5, P1, R19, R20 and N2 form a fast follow current output circuit, and when U, V, W is higher than a level of + VM, the triode N2 is conducted, and SW is at a low level; the circuit comprises a phase line high-level circuit, wherein the phase line high-level circuit is composed of D14, D13, D12, R24 and R8, when a U, V, W signal is high, SW is set high through output of a resistor R24, or a circuit composed of R27, R26 and N3, an SW _ CPU is connected with an interface of a single chip microcomputer, and the single chip microcomputer sets SW high when a PWM signal is high and sets SW low when the PWM signal is low; the electronic switch is provided with a control end which is electrically connected with the rapid follow current output circuit or the phase line high-level circuit or the singlechip; the back electromotive force zero-crossing point output circuit for filtering the rapid follow current signal or the back electromotive force zero-crossing point output circuit with the electronic switch is provided with a Schmitt trigger circuit, and is connected with a point R9, a point R23 and a point R25 to be connected with a point 0 to output a phase change signal in a Schmitt trigger mode; the electronic switch is positioned between a phase line signal and a back electromotive force zero-crossing point output circuit with the electronic switch, R1 and R3 divide voltage into a U-phase line signal, R13 and R12 divide voltage into a V-phase line signal, R14 and R15 divide voltage into a W-phase line signal, the back electromotive force zero-crossing point output circuit with the electronic switch is electrically connected with the single chip microcomputer, and U _ OUT, V _ OUT and W _ OUT are respectively connected to an I/O port of the single chip microcomputer; the fast follow current output circuit comprises an output circuit with a phase line level higher than a power supply level or an output circuit with a phase line level lower than a power supply ground line level; the motor is characterized in that the motor stator and the rotor are provided with permanent magnets or short-circuit rings; the stepping motor is also provided with the motor driver with the technical characteristics, and is characterized in that the stepping motor is electrically connected with the motor driver; an automation device having the motor, characterized in that the motor is mounted on the automation device; the household appliance or the industrial appliance or the unmanned aerial vehicle is provided with the motor, and is characterized in that the motor is connected with the household appliance or the industrial appliance or the unmanned aerial vehicle; the vehicle with the motor is characterized by comprising a storage battery, wheels, a steering device, a brake device, a lighting device and a speed adjusting device, wherein the devices are directly or indirectly arranged on a frame.

The operation principle of the three-phase motor driving is described above, and those skilled in the art can drive two-phase, four-phase, and five-phase motors according to the same principle of the above embodiments.

Claims

1. A motor driver comprises a single chip microcomputer, a power tube driving circuit and a power bridge output circuit, wherein an output signal of the single chip microcomputer is electrically connected with the power tube driving circuit, the power tube driving circuit is electrically connected with the power bridge output circuit, and the motor driver is characterized by comprising a counter electromotive force zero crossing point output circuit for filtering a rapid follow current signal or a counter electromotive force zero crossing point output circuit with an electronic switch or a rapid follow current output circuit.

2. The motor driver as claimed in claim 1, wherein said electronic switch has a control terminal electrically connected to said fast follow current output circuit or said phase line high level circuit or said single chip microcomputer.

3. The motor driver according to claim 1, wherein the back-emf zero-crossing output circuit for filtering the fast-follow current signal or the back-emf zero-crossing output circuit for the on-off switch has a schmitt trigger circuit.

4. The motor driver as claimed in claim 1, wherein the electronic switch is located between a signal of the phase line and the back electromotive force zero-crossing output circuit with the electronic switch, and the back electromotive force zero-crossing output circuit with the electronic switch is electrically connected with the single chip microcomputer.

5. The motor driver of claim 1 wherein said fast freewheel output circuit comprises an output circuit with a phase level higher than a power supply level or an output circuit with a phase level lower than a power supply ground level.

6. An electric machine having a motor drive according to any one of claims 1-5, characterized by a stator and a rotor of said machine, said rotor being provided with or fitted with permanent magnets or short-circuiting rings.

7. System with a motor according to claim 6, characterized in that it is an automation device on which the motor is mounted.

8. System with an electric motor according to claim 6, characterized in that the system is a household appliance or an industrial appliance or a drone, to which the electric motor is connected.

9. A system having an electric machine as claimed in claim 6, characterized in that the system is a vehicle, a battery, a wheel, a steering device, a brake device, a light device, a speed regulating device, said devices being mounted directly or indirectly on the frame.