WO2017020375A1 - 一种无刷电机无位置传感器控制方法及装置 - Google Patents

一种无刷电机无位置传感器控制方法及装置 Download PDF

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Publication number
WO2017020375A1
WO2017020375A1 PCT/CN2015/088145 CN2015088145W WO2017020375A1 WO 2017020375 A1 WO2017020375 A1 WO 2017020375A1 CN 2015088145 W CN2015088145 W CN 2015088145W WO 2017020375 A1 WO2017020375 A1 WO 2017020375A1
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Prior art keywords
electromotive force
driving voltage
zero
phase
back electromotive
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PCT/CN2015/088145
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English (en)
French (fr)
Inventor
林建辉
张卫新
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英特格灵芯片(天津)有限公司
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Priority claimed from CN201510478863.4A external-priority patent/CN105099295B/zh
Priority claimed from CN201520588367.XU external-priority patent/CN205123636U/zh
Application filed by 英特格灵芯片(天津)有限公司 filed Critical 英特格灵芯片(天津)有限公司
Priority to US14/911,568 priority Critical patent/US9923507B2/en
Publication of WO2017020375A1 publication Critical patent/WO2017020375A1/zh

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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
    • H02P31/00—Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00
    • 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

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  • the invention relates to the field of motor control, and in particular to a brushless motor position sensorless control method and device.
  • Brushless motor replaces mechanical commutation by electronic commutation, overcomes a series of problems caused by brush friction of traditional DC motor, and has the advantages of good speed regulation performance, small size and high efficiency, so it is widely used in national economic production. In all areas and in people's daily lives.
  • Brushless motors typically use one or more position sensors to detect the position of the rotor of the motor, thereby applying a drive voltage to each phase coil of the motor to propel the motor to rotate.
  • Problems such as installation space, installation errors, and high temperature failures caused by position sensors limit the application of position sensor solutions in areas such as range hoods and increase system cost.
  • phase current, voltage and other parameter detection and position sensorless algorithms such as sliding mode and state observer, motor control without position sensor can be realized.
  • phase current, voltage and other parameter detection and position sensorless algorithms such as sliding mode and state observer, motor control without position sensor can be realized.
  • such algorithms have high requirements on the hardware and software of the control device and are sensitive to motor parameters. And generally the cost is higher.
  • the object of the present invention is to solve the above-mentioned deficiencies of the prior art and to provide a method and apparatus for implementing sinusoidal wave control without position sensor by back electromotive force detection.
  • the present invention provides a brushless motor position sensorless control method, the method comprising:
  • the pulse width modulation signal it is determined that the brushless motor is supplied with the second driving voltage, and the second driving voltage is used to drive the brushless motor.
  • the detection time includes: a blanking time and a back electromotive force detection time;
  • the blanking time is a time required for the phase current of the first phase coil to fall to zero after the first driving voltage is turned off;
  • the back electromotive force detection time is the time required to detect the counter electromotive force of the first phase coil after the phase current drop of the first phase coil is zero.
  • determining the reference phase and period of the second driving voltage according to the counter electromotive force comprises:
  • the zero-crossing moment of the counter electromotive force is taken as the reference phase of the second driving voltage, and the period of the second driving voltage is kept unchanged;
  • the time at which the counter electromotive force zero-crossing has occurred is taken as the reference phase, and the period of the second driving voltage is decreased;
  • the detection time is extended until the back electromotive force zero-crossing is detected, the zero-crossing time is taken as the reference phase, and the period of the second driving voltage is increased.
  • determining the pulse width modulation signal according to the reference phase and the period comprises:
  • the phase of the first pulse width modulation signal is adjusted to output a second pulse width modulation signal.
  • the counter electromotive force zero crossing comprises a zero crossing of the back electromotive force from positive to negative and/or a zero crossing that is positive from negative.
  • the present invention provides a position sensorless control device for a brushless motor, the device include:
  • a detecting unit configured to turn off a first driving voltage of the first phase coil, and detect a back electromotive force of the first phase coil during the detecting time;
  • a determining unit configured to determine a reference phase and a period of the second driving voltage according to the counter electromotive force
  • control unit configured to determine a pulse width modulation signal according to a reference phase and a period
  • the driving unit is configured to determine, according to the pulse width modulation signal, a second driving voltage for the brushless motor, and the second driving voltage is used to drive the brushless motor.
  • the detection time includes: a blanking time and a back electromotive force detection time;
  • the blanking time is a time required for the phase current of the first phase coil to fall to zero after the first driving voltage is turned off;
  • the back electromotive force detection time is the time required to detect the counter electromotive force of the first phase coil after the phase current drop of the first phase coil is zero.
  • the determining unit is configured to determine a reference phase and a period of the second driving voltage according to the counter electromotive force, including:
  • the zero-crossing moment of the counter electromotive force is taken as the reference phase of the second driving voltage, and the period of the second driving voltage is kept unchanged;
  • the time at which the counter electromotive force zero-crossing has occurred is taken as the reference phase, and the period of the second driving voltage is decreased;
  • the detection time is extended until the back electromotive force zero-crossing is detected, the zero-crossing time is taken as the reference phase, and the period of the second driving voltage is increased.
  • control unit comprises:
  • a duty control unit for generating a control signal for a duty cycle of the pulse width modulated signal
  • a modulation function generating circuit for generating a sine wave modulation function by a sine wave modulation algorithm and a control signal of a duty ratio
  • a triangular carrier generating circuit for generating a triangular carrier of a fixed frequency
  • Pulse width modulated signal generating unit for producing a sine wave modulation function using a triangular carrier Generating a first pulse width modulation signal, a reference phase of the second driving voltage as an initial phase of the first pulse width modulation signal, and a period of the second driving voltage as a period of the first pulse width modulation signal;
  • the phase adjustment unit is configured to adjust a phase of the first pulse width modulation signal and output a second pulse width modulation signal.
  • the counter electromotive force zero crossing comprises a zero crossing of the back electromotive force from positive to negative and/or a zero crossing that is positive from negative.
  • the present invention determines the reference phase and period of the driving voltage applied to each phase coil of the motor by the back electromotive force detection, and determines the sine wave control of the position sensorless.
  • the invention effectively reduces the cost, reduces the implementation difficulty and improves the performance and reliability of the system.
  • FIG. 1 is a flowchart of a method for controlling a position sensorless sensor of a brushless motor according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a back electromotive force, a phase current, and a phase thereof of a brushless motor position sensorless control method according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a back electromotive force, a phase current, and a phase thereof of another brushless motor position sensorless control method according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of relationship between detection time and zero-crossing point of a brushless motor according to an embodiment of the present invention
  • FIG. 5 is a flowchart of a method for determining a pulse width modulated signal according to an embodiment of the present invention
  • FIG. 6 is a structural block diagram of a position sensorless control device for a brushless motor according to an embodiment of the present invention
  • FIG. 7 is a structural block diagram of a sine wave control unit of a brushless motor according to an embodiment of the present invention.
  • FIG. 1 is a flowchart of a method for controlling a position sensorless sensor of a brushless motor according to an embodiment of the present invention. As shown in FIG. 1 , the method includes:
  • Step 110 Turn off the first driving voltage of the first phase coil, and detect the back electromotive force of the first phase coil during the detecting time;
  • Step 120 Determine a reference phase and a period of the second driving voltage according to the counter electromotive force
  • Step 130 Determine a pulse width modulation signal according to a reference phase and a period
  • Step 140 Determine, according to the pulse width modulation signal, a second driving voltage for the brushless motor, and the second driving voltage is used to drive the brushless motor.
  • the detection time includes: a blanking time and a back electromotive force detection time;
  • the blanking time is a time required for the phase current of the first phase coil to fall to zero after the first driving voltage is turned off;
  • the back electromotive force detection time is the time required to detect the counter electromotive force of the first phase coil after the phase current drop of the first phase coil is zero.
  • the blanking time is controlled by the motor parameters and the phase current values of the first phase coil.
  • determining a reference phase and a period of the second driving voltage according to the counter electromotive force includes:
  • the zero-crossing moment of the counter electromotive force is taken as the reference phase of the second driving voltage, and the period of the second driving voltage is kept unchanged;
  • the time at which the counter electromotive force zero-crossing has occurred is taken as the reference phase, and the period of the second driving voltage is decreased;
  • the detection time is extended until the back electromotive force zero-crossing is detected, the zero-crossing time is taken as the reference phase, and the period of the second driving voltage is increased.
  • the zero-crossing of the back electromotive force includes a zero-crossing of the positive electromotive force and a positive or negative zero.
  • the detection time Ts is set when the current changes from positive to negative and from positive to negative, that is, Two back electromotive force detection times; three phase currents together, a total of six back electromotive force detection times in the 360 ° electrical angle period, the interval between any two detection times Ts is about 60 ° electrical angle period.
  • the phase current of one phase of the three phases is gradually reduced to zero due to the driving voltage being turned off, that is, it does not provide the output torque, so the torque Tq provided by the three-phase coil may fluctuate somewhat.
  • the back electromotive force detection is performed only for the U-phase coil.
  • only one detection time Ts can be set on the phase current from positive to negative or negative to positive, that is, only one reference phase can be obtained by the back electromotive force zero-crossing detection in the 360° electrical angle period. And according to the detection result, adjust the 360° electrical angle period of the next application of the driving voltage to each phase coil of the motor.
  • the back electromotive force zero-crossing can be detected, indicating that the period used for the last applied driving voltage is appropriate, so the zero-crossing moment of the counter electromotive force is used as the reference phase, and the next time is maintained.
  • the period during which the driving voltage is applied to each phase coil is unchanged;
  • step 130 determines pulse width modulation according to the reference phase and the period.
  • Signals including:
  • Step 131 Generate a control signal of a pulse width modulation signal duty ratio
  • the ruled sampling rule is used to sample and compare the triangular carrier and the modulation function to obtain a corresponding pulse width modulated signal.
  • Step 132 Generate a sine wave modulation function according to a sine wave modulation algorithm and a control signal of a duty ratio;
  • Step 133 Generate a triangular carrier of a fixed frequency
  • Step 134 Generate a first pulse width modulation signal by using a triangular carrier modulation sine wave modulation function, where a reference phase of the second driving voltage is used as an initial phase of the first pulse width modulation signal, and a period of the second driving voltage is used as a first pulse width modulation signal.
  • the duty ratio control unit 531 determines the duty ratio of the pulse width modulation signal by controlling the amplitude of the modulation function.
  • Step 135 Adjust a phase of the first pulse width modulation signal, and output a second pulse width modulation signal.
  • the phase current of the coil lags behind the applied driving voltage, so when the driving voltage is applied, it is usually advanced by a certain angle lead angle based on the reference phase to improve the output torque and efficiency.
  • the back electromotive force detection is used to determine the reference phase and period of the driving voltage applied to each phase coil of the motor according to the result of the back electromotive force detection, thereby implementing sinusoidal wave control without the position sensor.
  • the invention effectively reduces the cost, reduces the implementation difficulty and improves the performance and reliability of the system.
  • FIG. 6 is a structural block diagram of a position sensorless control device for a brushless motor according to an embodiment of the present invention. As shown in FIG. 5, the device includes:
  • a detecting unit 510 configured to turn off a first driving voltage of the first phase coil, and detect a back electromotive force of the first phase coil during the detecting time;
  • a determining unit 520 configured to determine a reference phase and a period of the second driving voltage according to the counter electromotive force
  • the control unit 530 is configured to determine a pulse width modulation signal according to the reference phase and the period;
  • the driving unit 540 is configured to determine, according to the pulse width modulation signal, a second driving voltage for the brushless motor, and the second driving voltage is used to drive the brushless motor.
  • the detection time includes: a blanking time and a back electromotive force detection time;
  • the blanking time is a time required for the phase current of the first phase coil to fall to zero after the first driving voltage is turned off;
  • the back electromotive force detection time is the time required to detect the counter electromotive force of the first phase coil after the phase current drop of the first phase coil is zero.
  • the blanking time is controlled by the motor parameters and the phase current values of the first phase coil.
  • the determining unit 520 is configured to determine a reference phase and a period of the second driving voltage according to the counter electromotive force, including:
  • the zero-crossing moment of the counter electromotive force is taken as the reference phase of the second driving voltage, and the period of the second driving voltage is kept unchanged;
  • the time at which the counter electromotive force zero-crossing has occurred is taken as the reference phase, and the period of the second driving voltage is decreased;
  • the detection time is extended until the back electromotive force zero-crossing is detected, the zero-crossing time is taken as the reference phase, and the period of the second driving voltage is increased.
  • the counter electromotive force zero crossing includes a zero-crossing of the back electromotive force from positive to negative and/or zero-crossing from negative to positive.
  • the detection time Ts is set when the current changes from positive to negative and from positive to negative, that is, Two back electromotive force detection times; three phase currents together, a total of six back electromotive force detection times in the 360 ° electrical angle period, the interval between any two detection times Ts is about 60 ° electrical angle period.
  • the phase current of one phase of the three phases is gradually reduced to zero due to the driving voltage being turned off, that is, it does not provide the output torque, so the torque Tq provided by the three-phase coil may fluctuate somewhat.
  • the back electromotive force detection can actually only be a needle.
  • the back electromotive force detection is performed only for the U-phase coil.
  • only one detection time Ts can be set on the phase current from positive to negative or negative to positive, that is, only one reference phase can be obtained by the back electromotive force zero-crossing detection in the 360° electrical angle period. And according to the detection result, adjust the 360° electrical angle period of the next application of the driving voltage to each phase coil of the motor.
  • the back electromotive force zero-crossing can be detected, indicating that the period used for the last applied driving voltage is appropriate, so the zero-crossing moment of the counter electromotive force is used as the reference phase, and the next time is maintained.
  • the period during which the driving voltage is applied to each phase coil is unchanged;
  • control unit 530 includes:
  • a duty ratio control unit 531 configured to generate a control signal of a pulse width modulation signal duty ratio
  • the duty ratio control unit 531 determines the duty ratio of the pulse width modulation signal by controlling the amplitude of the modulation function.
  • a modulation function generating circuit 532 for generating a sine wave modulation function by a sine wave modulation algorithm and a control signal of a duty ratio
  • a triangular carrier generating circuit 533 for generating a fixed frequency triangular carrier
  • the pulse width modulation signal generating unit 534 is configured to generate a first pulse width modulation signal by using a triangular carrier modulation sine wave modulation function, wherein a reference phase of the second driving voltage is used as an initial phase of the first pulse width modulation signal, and a period of the second driving voltage a period as a first pulse width modulated signal;
  • the ruled sampling rule is used to sample and compare the triangular carrier and the modulation function to obtain a corresponding pulse width modulated signal.
  • the phase adjustment unit 535 is configured to adjust a phase of the first pulse width modulation signal and output a second pulse width modulation signal.
  • the phase current of the coil lags behind the applied driving voltage, so when the driving voltage is applied, it is usually advanced by a certain angle lead angle based on the reference phase to improve the output torque and efficiency.
  • the back electromotive force detection is used to determine the reference phase and period of the driving voltage applied to each phase coil of the motor according to the result of the back electromotive force detection, thereby implementing sinusoidal wave control without the position sensor.
  • the invention effectively reduces the cost, reduces the implementation difficulty and improves the performance and reliability of the system.
  • the steps of a method or algorithm described in connection with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both.
  • the software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or technical field. Any other form of storage medium known.

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Abstract

一种无刷电机无位置传感器控制方法及装置，该方法包括：关闭第一相线圈的第一驱动电压，在检测时间内，检测第一相线圈的反电动势（S110）；根据该反电动势，确定第二驱动电压的参考相位及周期（S120）；根据该参考相位及周期，确定脉冲宽度调制信号（S130）；根据该脉冲宽度调制信号，确定为无刷电机提供第二驱动电压，该第二驱动电压用于驱动无刷电机。该方法和装置可以降低成本、减小实现难度和提高系统的性能及可靠性。

Description

一种无刷电机无位置传感器控制方法及装置 技术领域
本发明涉及电机控制领域，尤其涉及一种无刷电机无位置传感器控制方法及装置。
背景技术
无刷电动机利用电子换向替代了机械换向，克服了传统直流电机由于电刷摩擦而产生的一系列问题，并且具有调速性能好、体积小、效率高等优点，因而广泛应用于国民经济生产的各个领域以及人们的日常生活中。
无刷电机通常使用一个或多个位置传感器来检测电机转子的位置，据此向电机各相线圈施加驱动电压，推动电机旋转起来。位置传感器带来的安装空间、安装误差、高温失效等问题限制了有位置传感器方案在诸如抽油烟机等领域的应用，并且增加了系统成本。通过相电流、电压等参数检测及滑模、状态观测器等无位置传感器算法，可以实现无位置传感器的电机控制，不过这类算法对控制装置的软硬件要求很高，对电机参数较为敏感，且一般成本较高。
发明内容
本发明的目的是为了解决现有技术存在的上述不足，提供一种通过反电动势检测实现无位置传感器的正弦波控制的方法及装置。
为实现上述目的，第一方面，本发明提供了一种无刷电机无位置传感器控制方法，该方法包括：
关闭第一相线圈的第一驱动电压，在检测时间内，检测第一相线圈的反电动势；
根据反电动势，确定第二驱动电压的参考相位及周期；
根据参考相位及周期，确定脉冲宽度调制信号；
根据脉冲宽度调制信号，确定为无刷电机提供第二驱动电压，第二驱动电压用于驱动无刷电机。
优选地，检测时间包括：消隐时间和反电动势检测时间；
消隐时间为第一驱动电压关闭后第一相线圈的相电流降为零所需的时间；
反电动势检测时间为第一相线圈的相电流降为零后检测第一相线圈的反电动势所需的时间。
优选地，根据反电动势，确定第二驱动电压的参考相位及周期，包括：
当反电动势过零发生在反电动势检测时间内，则以反电动势的过零时刻作为第二驱动电压的参考相位，并且保持第二驱动电压的周期不变；或，
当反电动势过零发生在反电动势检测之前，则以发现反电动势过零已发生的时刻作为参考相位，并减小第二驱动电压的周期；或，
当反电动势检测时间之前和反电动势检测时间内均未发生反电动势过零，则延长检测时间直至检测到反电动势过零，以过零时刻作为参考相位，并增大第二驱动电压的周期。
优选地，根据参考相位及周期，确定脉冲宽度调制信号，包括：
产生脉冲宽度调制信号占空比的控制信号；
根据正弦波调制算法及占空比的控制信号产生正弦波调制函数；
产生固定频率的三角载波；
利用三角载波调制正弦波调制函数产生第一脉冲宽度调制信号，第二驱动电压的参考相位作为第一脉冲宽度调制信号的初始相位，第二驱动电压的周期作为第一脉冲宽度调制信号的周期；
调整第一脉冲宽度调制信号的相位，输出第二脉冲宽度调制信号。
优选地，反电动势过零包括反电动势由正变负的过零和/或由负变正的过零。
第二方面，本发明提供了一种无刷电机无位置传感器控制装置，该装置 包括：
检测单元，用于关闭第一相线圈的第一驱动电压，在检测时间内，检测第一相线圈的反电动势；
确定单元，用于根据反电动势，确定第二驱动电压的参考相位及周期；
控制单元，用于根据参考相位及周期，确定脉冲宽度调制信号；
驱动单元，用于根据脉冲宽度调制信号，确定为无刷电机提供第二驱动电压，第二驱动电压用于驱动无刷电机。
优选地，检测时间包括：消隐时间和反电动势检测时间；
消隐时间为第一驱动电压关闭后第一相线圈的相电流降为零所需的时间；
反电动势检测时间为第一相线圈的相电流降为零后检测第一相线圈的反电动势所需的时间。
优选地，确定单元，用于根据反电动势，确定第二驱动电压的参考相位及周期，包括：
当反电动势过零发生在反电动势检测时间内，则以反电动势的过零时刻作为第二驱动电压的参考相位，并且保持第二驱动电压的周期不变；或，
当反电动势过零发生在反电动势检测之前，则以发现反电动势过零已发生的时刻作为参考相位，并减小第二驱动电压的周期；或，
当反电动势检测时间之前和反电动势检测时间内均未发生反电动势过零，则延长检测时间直至检测到反电动势过零，以过零时刻作为参考相位，并增大第二驱动电压的周期。
优选地，控制单元包括：
占空比控制单元，用于产生脉冲宽度调制信号占空比的控制信号；
调制函数产生电路，用于通过正弦波调制算法及占空比的控制信号产生正弦波调制函数；
三角载波产生电路，用于产生固定频率的三角载波；
脉冲宽度调制信号生成单元，用于利用三角载波调制正弦波调制函数产 生第一脉冲宽度调制信号，第二驱动电压的参考相位作为第一脉冲宽度调制信号的初始相位，第二驱动电压的周期作为第一脉冲宽度调制信号的周期；
相位调整单元，用于调整第一脉冲宽度调制信号的相位，输出第二脉冲宽度调制信号。
优选地，反电动势过零包括反电动势由正变负的过零和/或由负变正的过零。
本发明通过反电动势检测，根据反电动势检测的结果确定下一次向电机各相线圈施加驱动电压的参考相位及周期，从而实现无位置传感器的正弦波控制。本发明有效的降低了成本、减小了实现难度和提高了系统的性能及可靠性。
附图说明
图1为本发明实施例提供的一种无刷电机无位置传感器控制方法流程图；
图2为本发明实施例提供的一种无刷电机无位置传感器控制方法的反电动势、相电流及其相位的示意图；
图3为本发明实施例提供的另一种无刷电机无位置传感器控制方法的反电动势、相电流及其相位的示意图；
图4为本发明实施例提供的一种无刷电机反电动势检测时间及过零点的关系示意图；
图5为本发明实施例提供的一种确定脉冲宽度调制信号方法流程图；
图6为本发明实施例提供的一种无刷电机无位置传感器控制装置的结构性框图；
图7为本发明实施例提供的一种无刷电机正弦波控制单元的结构性框图。
具体实施方式
为使本发明实施例的技术方案以及优点表达的更清楚，下面通过附图和 实施例，对本发明的技术方案做进一步的详细描述。
图1为本发明实施例提供的一种无刷电机无位置传感器控制方法流程图，如图1所示，该方法包括：
步骤110、关闭第一相线圈的第一驱动电压，在检测时间内，检测第一相线圈的反电动势；
进一步地，第一相线圈的相电流降为零时，开始检测第一相线圈的反电动势。
步骤120、根据反电动势，确定第二驱动电压的参考相位及周期；
步骤130、根据参考相位及周期，确定脉冲宽度调制信号；
步骤140、根据脉冲宽度调制信号，确定为无刷电机提供第二驱动电压，第二驱动电压用于驱动无刷电机。
具体地，检测时间包括：消隐时间和反电动势检测时间；
消隐时间为第一驱动电压关闭后第一相线圈的相电流降为零所需的时间；
反电动势检测时间为第一相线圈的相电流降为零后检测第一相线圈的反电动势所需的时间。
需要说明的是，消隐时间由电机参数和第一相线圈的相电流值所控制。
具体地，步骤120、根据反电动势，确定第二驱动电压的参考相位及周期包括：
当反电动势过零发生在反电动势检测时间内，则以反电动势的过零时刻作为第二驱动电压的参考相位，并且保持第二驱动电压的周期不变；或，
当反电动势过零发生在反电动势检测之前，则以发现反电动势过零已发生的时刻作为参考相位，并减小第二驱动电压的周期；或，
当反电动势检测时间之前和反电动势检测时间内均未发生反电动势过零，则延长检测时间直至检测到反电动势过零，以过零时刻作为参考相位，并增大第二驱动电压的周期。
具体地，反电动势过零包括反电动势由正变负的过零和/或由负变正的过 零。
需要说明的是，以三相无刷电机为例，如图2所示，任一相电流的一个周期内，在电流由正变负和由负变正时都设置了检测时间Ts，即有2个反电动势检测时间；三相相电流合一起，360°电角周期内一共有6个反电动势检测时间，任何两个检测时间Ts的间隔约为60°电角周期。在检测时间Ts内，三相中有一相的相电流是因驱动电压关闭而逐渐降低为零，即其不提供输出扭矩，因此三相线圈所提供的扭矩Tq会有一些波动。当检测时间Ts所占时间比例较小时，由检测时间Ts引起的扭矩波动实际上很小。并且，360°电角周期内无需用全部的6个反电动势过零点，这样反电动势检测实际上可以只针对某一相线圈来进行。如图3所示，反电动势检测只针对U相线圈进行。更进一步地，可以在图3的基础上只在相电流由正变负或由负变正上设置一个检测时间Ts，即在360°电角周期内只通过反电动势过零检测获取一个参考相位，并根据检测结果调整下一次向电机各相线圈施加驱动电压的360°电角周期。
在360°电角周期内，不论设置1个或6个或其他数目的反电动势检测时间，设定的检测时间Ts与对应的反电动势过零的关系有图4所示的三种情况。
(a)设定的检测时间Ts内，刚好能够检测到反电动势过零，说明上次施加驱动电压所采用的周期是合适的，因此以反电动势的过零时刻作为参考相位，并保持下一次向各相线圈施加驱动电压的周期不变；
(b)在反电动势检测时间开始后，发现反电动势过零在检测开始前已经发生时，以该时刻作为所述参考相位，并减小下一次向各相线圈施加驱动电压的周期；
(c)反电动势过零在检测开始前未发生且在反电动势检测时间内始终没有检测到，延长所述反电动势检测时间直至检测到反电动势过零，以反电动势的过零时刻作为所述参考相位，并增大下一次向各相线圈施加驱动电压的周期。
具体地，如图5所示，步骤130、根据参考相位及周期，确定脉冲宽度调 制信号，包括：
步骤131、产生脉冲宽度调制信号占空比的控制信号；
可选地，在本发明实施例中，采用规则采样法则，对三角载波和调制函数进行采样与比较，从而获取对应的脉冲宽度调制信号。
步骤132、根据正弦波调制算法及占空比的控制信号产生正弦波调制函数；
步骤133、产生固定频率的三角载波；
步骤134、利用三角载波调制正弦波调制函数产生第一脉冲宽度调制信号，第二驱动电压的参考相位作为第一脉冲宽度调制信号的初始相位，第二驱动电压的周期作为第一脉冲宽度调制信号的周期；
可选地，在本发明实施例中。占空比控制单元531通过控制调制函数的幅度来决定脉冲宽度调制信号的占空比。
步骤135、调整第一脉冲宽度调制信号的相位，输出第二脉冲宽度调制信号。
可选地，由于电机线圈的电感属性，线圈的相电流会滞后于所施加的驱动电压，因此施加驱动电压时通常将其在参考相位的基础上提前一定角度超前角，以提高输出扭矩和效率。
本发明实施例通过反电动势检测，根据反电动势检测的结果确定下一次向电机各相线圈施加驱动电压的参考相位及周期，从而实现无位置传感器的正弦波控制。本发明有效的降低了成本、减小了实现难度和提高了系统的性能及可靠性。
第二方面，图6为本发明实施例提供的一种无刷电机无位置传感器控制装置的结构性框图，如图5所示，该装置包括：
检测单元510，用于关闭第一相线圈的第一驱动电压，在检测时间内，检测第一相线圈的反电动势；
确定单元520，用于根据反电动势，确定第二驱动电压的参考相位及周期；
控制单元530，用于根据参考相位及周期，确定脉冲宽度调制信号；
驱动单元540，用于根据脉冲宽度调制信号，确定为无刷电机提供第二驱动电压，第二驱动电压用于驱动无刷电机。
具体地，检测时间包括：消隐时间和反电动势检测时间；
消隐时间为第一驱动电压关闭后第一相线圈的相电流降为零所需的时间；
反电动势检测时间为第一相线圈的相电流降为零后检测第一相线圈的反电动势所需的时间。
需要说明的是，消隐时间由电机参数和第一相线圈的相电流值所控制。
具体地，确定单元520，用于根据反电动势，确定第二驱动电压的参考相位及周期，包括：
当反电动势过零发生在反电动势检测时间内，则以反电动势的过零时刻作为第二驱动电压的参考相位，并且保持第二驱动电压的周期不变；或，
当反电动势过零发生在反电动势检测之前，则以发现反电动势过零已发生的时刻作为参考相位，并减小第二驱动电压的周期；或，
当反电动势检测时间之前和反电动势检测时间内均未发生反电动势过零，则延长检测时间直至检测到反电动势过零，以过零时刻作为参考相位，并增大第二驱动电压的周期。
具体地，反电动势过零包括反电动势由正变负的过零和/或由负变正的过零。
需要说明的是，以三相无刷电机为例，如图2所示，任一相电流的一个周期内，在电流由正变负和由负变正时都设置了检测时间Ts，即有2个反电动势检测时间；三相相电流合一起，360°电角周期内一共有6个反电动势检测时间，任何两个检测时间Ts的间隔约为60°电角周期。在检测时间Ts内，三相中有一相的相电流是因驱动电压关闭而逐渐降低为零，即其不提供输出扭矩，因此三相线圈所提供的扭矩Tq会有一些波动。当检测时间Ts所占时间比例较小时，由检测时间Ts引起的扭矩波动实际上很小。并且，360°电角周期内无需用全部的6个反电动势过零点，这样反电动势检测实际上可以只针 对某一相线圈来进行。如图3所示，反电动势检测只针对U相线圈进行。更进一步地，可以在图3的基础上只在相电流由正变负或由负变正上设置一个检测时间Ts，即在360°电角周期内只通过反电动势过零检测获取一个参考相位，并根据检测结果调整下一次向电机各相线圈施加驱动电压的360°电角周期。
在360°电角周期内，不论设置1个或6个或其他数目的反电动势检测时间，设定的检测时间Ts与对应的反电动势过零的关系有图4所示的三种情况。
(a)设定的检测时间Ts内，刚好能够检测到反电动势过零，说明上次施加驱动电压所采用的周期是合适的，因此以反电动势的过零时刻作为参考相位，并保持下一次向各相线圈施加驱动电压的周期不变；
(b)在反电动势检测时间开始后，发现反电动势过零在检测开始前已经发生时，以该时刻作为所述参考相位，并减小下一次向各相线圈施加驱动电压的周期；
(c)反电动势过零在检测开始前未发生且在反电动势检测时间内始终没有检测到，延长所述反电动势检测时间直至检测到反电动势过零，以反电动势的过零时刻作为所述参考相位，并增大下一次向各相线圈施加驱动电压的周期。
具体地，如图7所示，控制单元530包括：
占空比控制单元531，用于产生脉冲宽度调制信号占空比的控制信号；
可选地，在本发明实施例中。占空比控制单元531通过控制调制函数的幅度来决定脉冲宽度调制信号的占空比。
调制函数产生电路532，用于通过正弦波调制算法及占空比的控制信号产生正弦波调制函数；
三角载波产生电路533，用于产生固定频率的三角载波；
脉冲宽度调制信号生成单元534，用于利用三角载波调制正弦波调制函数产生第一脉冲宽度调制信号，第二驱动电压的参考相位作为第一脉冲宽度调制信号的初始相位，第二驱动电压的周期作为第一脉冲宽度调制信号的周期；
可选地，在本发明实施例中，采用规则采样法则，对三角载波和调制函数进行采样与比较，从而获取对应的脉冲宽度调制信号。
相位调整单元535，用于调整第一脉冲宽度调制信号的相位，输出第二脉冲宽度调制信号。
可选地，由于电机线圈的电感属性，线圈的相电流会滞后于所施加的驱动电压，因此施加驱动电压时通常将其在参考相位的基础上提前一定角度超前角，以提高输出扭矩和效率。
本发明实施例通过反电动势检测，根据反电动势检测的结果确定下一次向电机各相线圈施加驱动电压的参考相位及周期，从而实现无位置传感器的正弦波控制。本发明有效的降低了成本、减小了实现难度和提高了系统的性能及可靠性。
专业人员应该还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
结合本文中所公开的实施例描述的方法或算法的步骤可以用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做 的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种无刷电机无位置传感器控制方法，其特征在于，所述方法包括：
    关闭第一相线圈的第一驱动电压，在检测时间内，检测所述第一相线圈的反电动势；
    根据所述反电动势，确定第二驱动电压的参考相位及周期；
    根据所述参考相位及周期，确定脉冲宽度调制信号；
    根据所述脉冲宽度调制信号，确定为无刷电机提供第二驱动电压，所述第二驱动电压用于驱动无刷电机。
  2. 根据权利要求1所述的方法，其特征在于，所述检测时间包括：消隐时间和反电动势检测时间；
    所述消隐时间为所述第一驱动电压关闭后所述第一相线圈的相电流降为零所需的时间；
    反电动势检测时间为所述第一相线圈的相电流降为零后检测所述第一相线圈的反电动势所需的时间。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述反电动势，确定第二驱动电压的参考相位及周期，包括：
    当所述反电动势过零发生在所述反电动势检测时间内，则以反电动势的过零时刻作为第二驱动电压的参考相位，并且保持所述第二驱动电压的周期不变；或，
    当所述反电动势过零发生在所述反电动势检测之前，则以发现所述反电动势过零已发生的时刻作为参考相位，并减小所述第二驱动电压的周期；或，
    当在所述反电动势检测时间之前和所述反电动势检测时间内均未发生反电动势过零，则延长所述检测时间直至检测到反电动势过零，以所述过零时刻作为参考相位，并增大所述第二驱动电压的周期。
  4. 根据权利要求1所述的方法，其特征在于，所述根据所述参考相位及周期，确定脉冲宽度调制信号，包括：
    产生脉冲宽度调制信号占空比的控制信号；
    根据正弦波调制算法及所述占空比的控制信号产生正弦波调制函数；
    产生固定频率的三角载波；
    利用所述三角载波调制所述正弦波调制函数产生第一脉冲宽度调制信号，所述第二驱动电压的参考相位作为所述第一脉冲宽度调制信号的初始相位，所述第二驱动电压的周期作为所述第一脉冲宽度调制信号的周期；
    调整所述第一脉冲宽度调制信号的相位，输出第二脉冲宽度调制信号。
  5. 根据权利要求3所述的方法，其特征在于，所述反电动势过零包括反电动势由正变负的过零和/或由负变正的过零。
  6. 一种无刷电机无位置传感器控制装置，其特征在于，所述装置包括：
    检测单元，用于关闭第一相线圈的第一驱动电压，在检测时间内，检测所述第一相线圈的反电动势；
    确定单元，用于根据所述反电动势，确定第二驱动电压的参考相位及周期；
    控制单元，用于根据所述参考相位及周期，确定脉冲宽度调制信号；
    驱动单元，用于根据所述脉冲宽度调制信号，确定为无刷电机提供第二驱动电压，所述第二驱动电压用于驱动无刷电机。
  7. 根据权利要求6所述的装置，其特征在于，所述检测时间包括：消隐时间和反电动势检测时间；
    所述消隐时间为所述第一驱动电压关闭后所述第一相线圈的相电流降为零所需的时间；
    反电动势检测时间为所述第一相线圈的相电流降为零后检测所述第一相线圈的反电动势所需的时间。
  8. 根据权利要求6所述的装置，其特征在于，所述确定单元，用于根据所述反电动势，确定第二驱动电压的参考相位及周期，包括：
    当所述反电动势过零发生在所述反电动势检测时间内，则以反电动势的 过零时刻作为第二驱动电压的参考相位，并且保持所述第二驱动电压的周期不变；或，
    当所述反电动势过零发生在所述反电动势检测之前，则以发现所述反电动势过零已发生的时刻作为参考相位，并减小所述第二驱动电压的周期；或，
    当所述反电动势检测时间之前和所述反电动势检测时间内均未发生反电动势过零，则延长所述检测时间直至检测到反电动势过零，以所述过零时刻作为参考相位，并增大所述第二驱动电压的周期。
  9. 根据权利要求6所述的装置，其特征在于，所述控制单元包括：
    占空比控制单元，用于产生脉冲宽度调制信号占空比的控制信号；
    调制函数产生电路，用于通过正弦波调制算法及所述占空比的控制信号产生正弦波调制函数；
    三角载波产生电路，用于产生固定频率的三角载波；
    脉冲宽度调制信号生成单元，用于利用所述三角载波调制所述正弦波调制函数产生第一脉冲宽度调制信号，所述第二驱动电压的参考相位作为所述第一脉冲宽度调制信号的初始相位，所述第二驱动电压的周期作为所述第一脉冲宽度调制信号的周期；
    相位调整单元，用于调整所述第一脉冲宽度调制信号的相位，输出第二脉冲宽度调制信号。
  10. 根据权利要求8所述的装置，其特征在于，所述反电动势过零包括反电动势由正变负的过零和/或由负变正的过零。
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