CN103606328B

CN103606328B - Brshless DC motor hall signal and rotor-position relation self-learning method

Info

Publication number: CN103606328B
Application number: CN201310628167.8A
Authority: CN
Inventors: 李柏松; 陈伟; 严彩忠
Original assignee: Shanghai Step Electric Corp; Shanghai Sigriner Step Electric Co Ltd
Current assignee: Shanghai Step Electric Corp; Shanghai Sigriner Step Electric Co Ltd
Priority date: 2013-11-28
Filing date: 2013-11-28
Publication date: 2016-08-17
Anticipated expiration: 2033-11-28
Also published as: CN103606328A

Abstract

The invention discloses brshless DC motor hall signal and rotor-position relation self-learning method, this brshless DC motor includes three Hall elements, this brshless DC motor hall signal comprises the following steps with rotor-position relation self-learning method: step 1, with six mutually different "on" positions to stator winding electrifying, control three-phase current and maintain set-point, make rotor turn to six different positions respectively, and record the signal value of three Hall elements corresponding with each position；Step 2, the signal value of three Hall elements analyzing this record is the most normal, if normally, it is determined that hall signal and the relation of rotor-position.

Description

Brshless DC motor hall signal and rotor-position relation self-learning method

Technical field

The present invention relates to a kind of brshless DC motor hall signal and rotor-position relation self-learning method.

Background technology

Along with the development of Power Electronic Technique, brshless DC motor has obtained increasingly being widely applied.Brushless During direct current generator work, need to carry out switch operating state according to the difference of rotor-position.Hall element is commonly used Detecting the commutation position of brshless DC motor, for three-phase brushless dc motor, three Hall elements are just Six commutation positions can be detected.Conventional Hall element mounting means has 120 installations and 60 Installing two kinds, both of which can export six groups of different hall signals, the most corresponding six different Region, when brshless DC motor rotor forwards a certain region to, corresponding winding energising, motor just may be used With normal work, if hall signal and rotor-position (namely six different regions) relation mistake, electricity Machine just cannot normally work, and even motor or power device can be caused damage.Accordingly, it is determined that hall signal With rotor-position relation for brshless DC motor extremely important.

At present, there have been some documents to how determining brshless DC motor hall signal and rotor-position relation Studied, and proposed some detection methods, but in place of these methods the most all have some shortcomings, If desired for by external force, need to use oscilloscope display counter potential waveform or need to know in advance Hall element Mounting means etc..

Summary of the invention

The technical problem to be solved is to provide a kind of simple brshless DC motor Hall to believe Number with rotor-position relation self-learning method, it can determine the relation between hall signal and rotor-position.

The technical solution adopted in the present invention is: brshless DC motor hall signal and rotor-position relation self study Method, this brshless DC motor includes three Hall elements, this brshless DC motor hall signal and rotor-position Relation self-learning method comprises the following steps:

Step 1, with six mutually different "on" positions to stator winding electrifying, control three-phase current maintain to Definite value, makes rotor turn to six different positions respectively, and records three the Halls biographies corresponding with each position The signal value of sensor；

Step 2, the signal value of three Hall elements analyzing this record is the most normal, if normally, it is determined that suddenly That signal and the relation of rotor-position.

Rotor is forwarded to six diverse locations by passing to different electric currents to winding by the present invention, and notes down Corresponding hall signal, judges rotor-position and hall signal relation with this.The method is without knowing in advance Hall element is that 120 installations or 60 are installed, it is not necessary to make electric machine rotation by external force, it is not required that The instruments such as oscillograph, safe and reliable, simple, with low cost, and can realize well brushless directly Stream motor hall signal and the self study of rotor-position relation.

Accompanying drawing explanation

Fig. 1 is method flow schematic diagram according to an embodiment of the invention.

Fig. 2 is the main circuit schematic diagram of brushless dc machine actuating device.

Rotor stop position schematic diagram when Fig. 3 is the energising of brushless DC motor stator winding.

Fig. 4 and Fig. 5 is the output signal schematic diagram of the Hall element of two kinds of mounting means respectively.

Detailed description of the invention

Below in conjunction with the accompanying drawings the present invention is made and further illustrating.

Refer to Fig. 1.Brshless DC motor hall signal and rotor-position relation according to an embodiment of the invention Self-learning method comprises the following steps:

Below in conjunction with a specific embodiment, above-mentioned steps is described in detail.

Fig. 2 shows the main circuit of brushless dc machine actuating device.This driving means can be such as frequency conversion Device.In step 1, it is the driving means controlling brshless DC motor by the mode of three or three conductings, thus with Six mutually different "on" positions are to stator winding electrifying, and preferably brshless DC motor is in unloaded shape State." three or three conducting " refers to have three switching tubes open-minded in any time inverter circuit.Control three-phase current dimension Holding at set-point, wherein a phase current is maximum, and amplitude is I, is designated as imax, the amplitude of other biphase current In opposite direction with imax for I/2 and direction, at this time rotor will be parked in two commutation point (hall signals At saltus step) centre position, as it is shown on figure 3, ea in figure, eb, ec represent back-emf, and I～VI represents Six regions that rotor-position is divided into by hall signal.Each region electrical angle circumferentially is 60.Control Make certain phase current to maintain set-point and have multiple method, such as: if certain phase current is more than set-point, then control In this phase, brachium pontis switching tube turns off, and lower brachium pontis switching tube is open-minded, if certain phase current is less than set-point, then controls Make brachium pontis switching tube in this phase open-minded, lower brachium pontis switching tube turn off, so since, the electric current of this phase just may be used To maintain near set-point.Owing to each phase current is controlled, the problem that therefore can avoid over current of motor.

The A phase winding of stator leads to negative current, and B phase winding leads to positive current, and C phase winding leads to positive current, is designated as “A-B+C+”.It is energized by " A-B+C+ ", continues one second, be then energized by " A-B-C+ ", with Sample continues one second, and now A phase current is-I/2, and B phase current is-I/2, and C phase current is I, and rotor will Forward the centre position in region I, record three Hall element signals now to；Press the most successively " A+B-C+ ", " A+B-C-", " A+B+C-", " A-B+C-", " A-B+C+ " give stator Winding be energized, each state continue one second, rotor will stop at the most respectively region II, III, IV, V With VI centre position, and note down the hall signal corresponding with region II～VI.The "on" position of energising winding Table 1 is referred to the relation of rotor stop position.The choosing of size of current and each state duration herein There is no particular/special requirement, as long as ensureing that rotor can forward to specify position and keep stable.

Region	Energising winding
		Ⅰ	“A-B-C+”
Ⅱ	“A+B-C+”
		Ⅲ	“A+B-C-”
Ⅳ	“A+B+C-”
		Ⅴ	“A-B+C-”
Ⅵ	“A-B+C+”

Table 1

Two ways is installed in 120 installations and 60 that are provided with of Hall element, and 120 installations refer to three Hall element mutual deviation 120 electrical angle, and 60 installations refer to three Hall element mutual deviation 60 electrical angles, The output signal of two kinds of installation method correspondence Hall elements is the most as shown in Figure 4 and Figure 5.Ha、Hb、 Hc represents the output signal of three Hall elements, and in figure, the position of hall signal saltus step is exactly commutation point.Nothing Opinion is which kind of mounting means, and rotor-position has all been divided into six regions by hall signal, when rotor turns to each During a position in region, hall signal is the most different.In step 2, if the hall signal read has One road or a few road are always high level or low level, or the hall signal read at diverse location is identical, Just explanation Hall element damages or corresponding line does not connects, and should judge the signal of three Hall elements of record It is worth abnormal.If the hall signal read six positions is different from, then explanation Hall element energy Normal work, may thereby determine that the relation of hall signal and rotor-position.

In actual applications, brshless DC motor works, for a certain frequently with the mode of " conducting two-by-two " Individual specific region, the winding needing energising during normal work is certain.Such as the region I in Fig. 3, this Time read should be the hall signal that "on" position is corresponding when being " A-B-C+ " when self study, with Hall_“A-B-C+”Represent, when the mode using " conducting two-by-two " works, during positive torque to be produced, need A phase Being energized with B phase winding, wherein, A phase winding should lead to positive current, and B phase winding should lead to negative current, be designated as “A+B-”；Stator winding is then needed to be energized in the way of " B+A-" when producing negative torque, other district In territory, the situation of winding energising and the relation of hall signal are as shown in table 2, Hall in table_{“A×B×C×”}Represent certainly During study, "on" position is the hall signal read time " A × B × C × ".

Region	Produce positive torque	Produce negative torque	Corresponding hall signal
				Ⅰ	“A+B-”	“B+A-”	Hall_“A-B-C+”
Ⅱ	“A+C-”	“C+A-”	Hall_“A+B-C+”
				Ⅲ	“B+C-”	“C+B-”	Hall_“A+B-C-”
Ⅳ	“B+A-”	“A+B-”	Hall_“A+B+C-”
				Ⅴ	“C+A-”	“A+C-”	Hall_“A-B+C-”
Ⅵ	“C+B-”	“B+C-”	Hall_“A-B+C+”

Table 2

Claims

1. brshless DC motor hall signal and rotor-position relation self-learning method, this brshless DC motor includes Three Hall elements, it is characterised in that this brshless DC motor hall signal and rotor-position relation self study side Method comprises the following steps:

Step 1, controls the driving means of brshless DC motor by the mode of three or three conductings, mutually different with six "on" position, to stator winding electrifying, controls three-phase current and maintains set-point, make rotor turn to six respectively not Same position, and record the signal value of three Hall elements corresponding with each position；

2. brshless DC motor hall signal as claimed in claim 1 and rotor-position relation self-learning method, It is characterized in that, in step 1, brshless DC motor is in Light Condition.

3. brshless DC motor hall signal as claimed in claim 1 and rotor-position relation self-learning method, It is characterized in that, the driving means of brshless DC motor is frequency converter.