CN105974213B - A kind of detection method and device of brshless DC motor Hall phase sequence - Google Patents
A kind of detection method and device of brshless DC motor Hall phase sequence Download PDFInfo
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- CN105974213B CN105974213B CN201610296677.3A CN201610296677A CN105974213B CN 105974213 B CN105974213 B CN 105974213B CN 201610296677 A CN201610296677 A CN 201610296677A CN 105974213 B CN105974213 B CN 105974213B
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G01R29/18—Indicating phase sequence; Indicating synchronism
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Abstract
A kind of detection method of brshless DC motor Hall phase sequence, rotor space position angle of the given value and rotor magnetic pole d axis of setting three-phase windings electric current with respect to A phase winding α axis, the actual value for measuring three-phase windings electric current is poor with given value work after Clark transformation and Park transformation, its difference carries out PID adjustings, anti- Park transformation, it is exported after SVPWM impulse modulations, to control the turn-on time of corresponding metal-oxide-semiconductor in three-phase bridge type converter, make current actual value follow current given value after transformation, make rotor fixed position to A phase windings position, it is A phase hall signal lines that hall position sensor, which exports low level signal wire,；The given value and rotor magnetic pole d axis of setting three-phase windings electric current are with respect to another rotor space position angle of A phase winding α axis, in kind make the current actual value follow current given value after transformation, make rotor fixed position to B phase windings position, it is B phase hall signal lines that hall position sensor, which exports low level signal wire,；Remaining 1 signal line is C phase hall signal lines.
Description
Technical field
The invention belongs to brshless DC motor technical field, more particularly to a kind of detection brshless DC motor Hall sensor
The method and device of signal wire phase sequence.
Background technology
In recent years, brshless DC motor is with its original small, light-weight, efficient, big, good speed adjustment features of torque etc.
Advantage has been widely used in fields such as numerically-controlled machine tool, robot, electric vehicle, household electrical appliances, business automation equipments.It is brushless straight
Galvanic electricity machine controls inverter commutation with hall signal, and this requires hall signals to have correctly corresponding close with three-phase stator winding
System.Under normal circumstances H is indicated on hall signal lineA、HB、HC, put in machine winding corresponding with hall signal A, B, C with
Indicate correspondence.However frequently encounter in actual operation the label in hall signal line and three-phase stator winding lose or not
Bright situation needs the correspondence for detecting Hall element and three-phase windings.At this moment, the method generally used is to use prime mover band
Dynamic brushless electric motor rotor rotation, judges correspondence by the back-emf measured.This method takes more, it is also possible to deposit
The case where being unsatisfactory for experiment condition；Secondly, it finds in practice the case where clock synchronization motor may also not rotate phase sequence, and
Three-phase current is very big at this time, and Hall element is easy to burn.Therefore, a kind of detection brshless DC motor rationally, easy is designed suddenly
You have great importance at phase sequence method.
Invention content
The purpose of the present invention is to provide a kind of detection method and device of brshless DC motor Hall phase sequence, can be
It is unaware of brshless DC motor three-phase hall signal line output sequence, in the case that brshless DC motor can not operate normally, letter
Singly judge the phase sequence of three phase connection of Hall sensor.
In order to achieve the above objectives, solution of the invention is：
A kind of detection method of brshless DC motor Hall phase sequence, includes the following steps：
(1) three-phase stator winding for defining brshless DC motor is respectively A, B, C phase winding, respectively with three-phase bridge type inverse
3 output ends of device connect, and the given value of current value and rotor magnetic pole d axis of setting brshless DC motor three-phase windings are with respect to A phases
One rotor space position angle of winding α axis, measures the current actual value of three-phase windings, and by corresponding Clark transformation and
Park converts to obtain the current actual value after three-phase windings transformation, and the electric current after the given value of current value and the transformation is practical
It is poor that value is made, and obtained difference is adjusted by PID successively, anti-Park is converted, is exported after SVPWM impulse modulations, to control described three
The turn-on time of corresponding metal-oxide-semiconductor in phase bridge-type inverter so that the current actual value after the transformation follows the given value of current
Value, under the action of a magnetic force so that rotor fixed position is exported to the A phase windings by detecting each signal line of Hall sensor
Level height so that it is determined that corresponding A phase hall signal lines；
(2) reset brshless DC motor three-phase windings given value of current value and rotor magnetic pole d axis relative stator A phases around
Another rotor space position angle of group α axis, measures the current actual value of three-phase windings, and by corresponding Clark transformation and
Park converts to obtain the current actual value after the three-phase windings transformation, by the electric current after the given value of current value and the transformation
It is poor that actual value is made, and obtained difference is adjusted by PID successively, anti-Park is converted, is exported after SVPWM impulse modulations, to control
State the turn-on time of corresponding metal-oxide-semiconductor in three-phase bridge type converter so that the current actual value after the transformation follows the electric current
Given value, under the action of a magnetic force so that rotor fixed position is to the B phase windings, by detecting each signal line of Hall sensor
The level height of output is so that it is determined that corresponding B phase hall signal lines；
(3) after A phase hall signal lines and B phase hall signal lines being determined respectively by (1) and (2) step, remaining 1
Hall signal line is C phase hall signal lines.
Further, in the step (1), given component of the given value of current value on rotor magnetic pole d axis is 0,
Given component on rotor magnetic pole q axis is load current value, described turn of the rotor magnetic pole d axis relative stator A phase winding α axis
Subspace position angle is -90 °；Current actual value after the transformation include the practical component on the rotor magnetic pole d axis with
And the practical component on the rotor magnetic pole q axis.
Further, in the step (1), the electric current for measuring A, B, C phase winding respectively using current sensor is real
Actual value；Using subtracter respectively by the rotor magnetic pole d axis, q axis given value of current component and the practical component of electric current make it is poor；
The level numerical value exported in each signal line of Hall sensor is detected using level detector.
Further, in the step (1), in each signal line of the Hall sensor, low level signal is exported
Signal wire is A phase hall signal lines.
Further, in the step (2), given component of the given value of current value on the rotor magnetic pole d axis is
0, the given component on the rotor magnetic pole q axis is load current value, the rotor magnetic pole d axis relative stator A phase winding α axis
Another rotor space position angle be 30 °；Current actual value after the transformation includes on the rotor magnetic pole d axis
Practical component and the practical component on the rotor magnetic pole q axis.
Further, in the step (2), the electric current for measuring A, B, C phase winding respectively using current sensor is real
Actual value；Using subtracter respectively by the rotor magnetic pole d axis, q axis given value of current component and the practical component of electric current make it is poor；
The level numerical value of each signal line output of Hall sensor is detected using level detector.
Further, in the step (2), in each signal line of the Hall sensor, low level signal is exported
Signal wire is B phase hall signal lines.
A kind of detection device of detection method that realizing above-mentioned brshless DC motor Hall phase sequence is brushless straight for detecting
The output sequence of the three-phase signal line of Hall sensor in galvanic electricity machine；Described device include DC power supply, three-phase bridge type converter,
Hall sensor, three current sensors, controller and level detector, wherein DC power supply and three-phase bridge type converter are simultaneously
Connection, A, B, C three-phase windings of the output end connection brshless DC motor of three-phase bridge type converter, the input terminal of Hall sensor connect
The stator of the brshless DC motor is connect, and the output end of Hall sensor connects level detector；Three current sensors
Input terminal is connected in the A phase windings, B phase windings and C phase windings of brshless DC motor, and output end is then separately connected control
Device；The output end of the controller is separately connected the grid of 6 metal-oxide-semiconductors of three-phase bridge type converter, to control corresponding MOS
Pipe is connected.
Further, the controller includes initial value setting apparatus, Clark converters, Park converters, two subtractions
Device, two PID regulators, anti-Park converters and SVPWM pulse-modulators；The input terminal of the Clark converters connects
The output end of three current sensors, the output end of the Clark converters connect the input terminal of the Park converters,
The output end of the output end of the Park converters and the initial value setting apparatus is connected to the input of described two subtracters
End, the output end of described two subtracters are connected respectively to the input terminal of corresponding PID regulator, described two PID regulators
Output end be connected to the input terminals of the anti-Park converters, the output ends of the anti-Park converters is connected to described
The output end of the input terminal of SVPWM pulse-modulators, the SVPWM pulse-modulators is separately connected the 6 of three-phase bridge type converter
The grid of a metal-oxide-semiconductor.
After adopting the above scheme, the step of three phase connection phase sequence of detection brshless DC motor Hall sensor of the invention
Simply, whole process can effectively prevent brshless DC motor stall caused by random wiring to burn out existing without changing any wiring
As brshless DC motor being equivalent to common DC motor, control is simple.By introducing closed-loop current control, using setting electricity
The method for flowing given value can both prevent brshless DC motor actual current value deficiency, the inadequate nothing of rotor torque when being connected to load
The case where legal position, and the excessive stator insulation layer of actual current value can be prevented to be burned, substantially increase detection method and detection
The reliability of device.
Description of the drawings
Fig. 1 is the structure of the detecting device figure of the brshless DC motor Hall phase sequence of the specific embodiment of the invention；
Fig. 2 is the detection method flow chart of the brshless DC motor Hall phase sequence of the specific embodiment of the invention.
Specific implementation mode
Below with reference to attached drawing, technical scheme of the present invention is described in detail.
The present invention provides a kind of detection method and device of brshless DC motor Hall phase sequence, for detecting brushless dc
The output sequence of hall position sensor three-phase hall signal line in machine, the detection device is as shown in Figure 1, include：Direct current
Source 11, three-phase bridge type converter 12, Hall sensor 13, three current sensors 14,15,16, controller 17 and level detection
Device 18, wherein DC power supply 11 is in parallel with three-phase bridge type converter 12, and the output end connection of three-phase bridge type converter 12 is brushless straight
A, B, C three-phase windings of the stator of galvanic electricity machine 10, the stator of the input terminal connection brshless DC motor 10 of Hall sensor 13, and
The output end of Hall sensor 13 connects level detector 18；The input terminal of three current sensors 14,15,16 is corresponding respectively to be connected
It is connected in the A phase windings, B phase windings, C phase windings of the stator of brshless DC motor 10, output end is then separately connected controller 17
Input terminal, the output end of controller 17 is connected to the control terminal of three-phase bridge type converter 12, constitutes current closed-loop system.
In the present embodiment, three-phase bridge type converter 12 is by six metal-oxide-semiconductor groups of MOS1, MOS2, MOS3, MOS4, MOS5, MOS6
At MOS1~MOS6 is divided into three groups：DC power supply 11 is simultaneously again after the source electrode of MOS1 in first group and the drain series of MOS4
Connection, and the series connection node between MOS1 and MOS4 is connect with the A phase windings of the stator of the brshless DC motor 10；In second group
The source electrode of MOS3 with DC power supply 11 is in parallel again after the drain series of MOS6, and the series connection node between MOS3 and MOS6 and institute
State the B phase windings connection of the stator of brshless DC motor 10；After the source electrode of MOS5 in third group and the drain series of MOS2 again
DC power supply 11 is in parallel, and the C phase windings of the series connection node between MOS5 and MOS2 and the stator of the brshless DC motor 1-
Connection.In addition, a control signal of the grid of every transistor as the three-phase bridge type converter 12, connects the control
The output end of device 17 processed.
In the present embodiment, the controller 17 includes：Initial value setting apparatus 171, Clark converters 172, Park converters
173, two subtracters 174,175, two PID regulators 176,177, anti-Park converters 178 and SVPWM pulse-modulators
179；The input terminal of the Clark converters 172 connects the output end of three current sensors 14,15,16, described
The output end of Clark converters 172 connects the input terminal of the Park converters 173, the output end of the Park converters 173
The input terminal of two subtracters 174,175, subtracter 174 are respectively connected to the output end of the initial value setting apparatus 171
Output end be connected to the input terminal of PID regulator 176, the output end of subtracter 175 is connected to the input of PID regulator 177
End, the output end of PID regulator 176,177 are connected to the input terminal of the anti-Park converters 178, the anti-Park transformation
The output end of device 178 is connected to the input terminal of the SVPWM pulse-modulators 179, the SVPWM pulse-modulators 179 it is defeated
Outlet is separately connected the grid (i.e. the control terminal of three-phase bridge type converter 12) of 6 metal-oxide-semiconductors of three-phase bridge type converter 12, to
Control corresponding metal-oxide-semiconductor conducting.
Based on detection device shown in FIG. 1, coordinate shown in Fig. 2, a kind of inspection of brshless DC motor Hall phase sequence of the present invention
Survey method includes the following steps：
(1) electric current of A, B, C three-phase windings of the stator of setting brshless DC motor 10 is given on rotor magnetic pole d axis
ComponentGiven component on rotor magnetic pole q axis is load current valueRotor magnetic pole d axis relative stator A phases around
Rotor space angular position theta=- 90 ° of group α axis, are passed using the electric current being connected in A phase windings, B phase windings, C phase windings
Sensor 14,15,16 measures the current actual value i of A phase windingsA, B phase windings current actual value iB, the electric current of C phase windings it is practical
Value iC, by the actual current value i of A, B, C three-phase windingsA、iB、iCIt is got in return by corresponding Clark changes in Clark converters 172
To iαAnd iβ, reality of the three-phase windings electric current on rotor magnetic pole d axis is obtained using the Park transformation in Park converters 173
Border component idAnd the practical component i on rotor magnetic pole q axisq, giving on rotor magnetic pole d axis is divided by subtracter 174
AmountWith practical component idMake difference one PID regulator 176 of feeding and obtains ud, will be on rotor magnetic pole q axis by subtracter 175
Given componentWith practical component iqMake poor another PID regulator 177 of being sent into and obtains uq, by difference udAnd uqPass through anti-Park
The anti-Park of converter converts to obtain the component of voltage u needed for A phase winding α axisαAnd the component of voltage needed for A phase winding β axis
uβ, by uα、uβIt is sent to SVPWM pulse-modulators and generates corresponding pwm pulse feeding three-phase bridge type converter 12, control three-phase bridge
12 corresponding metal-oxide-semiconductor turn-on time of formula inverter makes practical component i of the three-phase windings electric current on rotor magnetic pole d axisdAnd
Practical component i on rotor magnetic pole q axisqGiven component is followed respectivelyWithIt is brushless straight at this time under the action of corresponding magnetic field force
10 rotor fixed position of galvanic electricity machine detects the defeated of 3 signal lines of Hall sensor 13 by level detector 18 to A phase windings position
Go out level numerical value, the signal wire for exporting low level signal is A phase hall signal lines；
(2) electric current of A, B, C three-phase windings of the stator of setting brshless DC motor 10 is given on rotor magnetic pole d axis
ComponentGiven component on rotor magnetic pole q axis is load current valueRotor magnetic pole d axis relative stator A phases around
Rotor space angular position theta=30 ° of group α axis, utilize the current sense being connected in A phase windings, B phase windings, C phase windings
Device 14,15,16 measures the current actual value i of A phase windingsA, B phase windings current actual value iB, C phase windings current actual value
iC, by the actual current value i of A, B, C three-phase windingsA、iB、iCIt converts to obtain i by corresponding Clark in Clark converters 172α
And iβ, reality of the three-phase windings electric current on rotor magnetic pole d axis point is obtained using the Park transformation in Park converters 173
Measure idAnd the practical component i on rotor magnetic pole q axisq, by subtracter 174 by the given component on rotor magnetic pole d axis
With practical component idMake difference one PID regulator 176 of feeding and obtains ud, by subtracter 175 by giving on rotor magnetic pole q axis
Determine componentWith practical component iqMake poor another PID regulator 177 of being sent into and obtains uq, by difference udAnd uqIt is converted by anti-Park
The anti-Park of device converts to obtain the component of voltage u needed for A phase winding α axisαAnd the component of voltage u needed for A phase winding β axisβ, will
uα、uβIt is sent to SVPWM pulse-modulators and generates corresponding pwm pulse feeding three-phase bridge type converter 12, control three-phase bridge type inverse
12 corresponding metal-oxide-semiconductor turn-on time of device makes practical component i of the three-phase windings electric current on rotor magnetic pole d axisdAnd in rotor magnetic
Practical component i on the q axis of poleqGiven component is followed respectivelyWithAt this time under the action of corresponding magnetic field force, brushless dc
10 rotor fixed position of machine is to B phase windings position, at this point, detecting 3 signal lines of hall position sensor by level detector again
The level numerical value of output, the signal wire for exporting low level signal are B phase hall signal lines；
(3) after A phase hall signal lines and B phase hall signal lines being determined by above step, remaining 1 hall signal
Line is C phase hall signal lines.
It should be noted that due to first determining whether A phase hall signal lines and B phase hall signal lines in the present embodiment, because
Two different rotor space positions of rotor magnetic pole d axis relative stator A phase winding α axis are respectively set in this in step (1) and (2)
Angle setting can first determine whether arbitrary two hall signal lines in practical operation, and rotor magnetic pole d axis relative stators A only need to be arranged
The corresponding different rotor space position angle of two of phase winding α axis, is not limited to this embodiment.
In summary, the detection method of brshless DC motor Hall phase sequence of the invention, step is simple, and whole process is not necessarily to
Change any wiring, brshless DC motor stall caused by random wiring can be effectively prevent to burn out, brshless DC motor is equivalent
For common DC motor, control is simply；Brushless direct-current can both be prevented using given load current value by introducing closed-loop current control
The case where motor actual current value when being connected to load is insufficient, rotor torque can not enough position, and actual current value can be prevented
Excessive stator insulation layer is burned, and substantially increases the reliability of detection method.
Above example is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within the scope of the present invention
Within.
Claims (9)
1. a kind of detection method of brshless DC motor Hall phase sequence, it is characterised in that include the following steps：
(1) three-phase stator winding for defining brshless DC motor is respectively A, B, C phase winding, respectively with three-phase bridge type converter
3 output end connections, the given value of current value and rotor magnetic pole d axis of setting brshless DC motor three-phase windings are with respect to A phase windings α
One rotor space position angle of axis measures the current actual value of three-phase windings, and is converted by corresponding Clark transformation and Park
The current actual value after three-phase windings transformation is obtained, it is poor that the current actual value after the given value of current value and the transformation is made,
Obtained difference is adjusted by PID successively, anti-Park is converted, is exported after SVPWM impulse modulations, inverse to control the three-phase bridge
Become the turn-on time of corresponding metal-oxide-semiconductor in device so that the current actual value after the transformation follows the given value of current value, in magnetic field
It is high by the level for detecting each signal line output of Hall sensor so that rotor fixed position is to the A phase windings under the action of power
It is low so that it is determined that corresponding A phase hall signal lines；
(2) the given value of current value and rotor magnetic pole d axis relative stator A phase windings α of brshless DC motor three-phase windings are reset
Another rotor space position angle of axis measures the current actual value of three-phase windings, and is become by corresponding Clark transformation and Park
The current actual value after the three-phase windings transformation is got in return, by the current actual value after the given value of current value and the transformation
It is poor to make, and obtained difference is adjusted by PID successively, anti-Park is converted, is exported after SVPWM impulse modulations, to control the three-phase
The turn-on time of corresponding metal-oxide-semiconductor in bridge-type inverter so that the current actual value after the transformation follows the given value of current value,
Under the action of a magnetic force so that rotor fixed position is to the B phase windings, by detecting each signal line output of Hall sensor
Level height is so that it is determined that corresponding B phase hall signal lines；
(3) after A phase hall signal lines and B phase hall signal lines being determined respectively by (1) and (2) step, remaining 1 Hall
Signal wire is C phase hall signal lines.
2. a kind of detection method of brshless DC motor Hall phase sequence as described in claim 1, it is characterised in that：The step
(1) in, given component of the given value of current value on rotor magnetic pole d axis is 0, and the given component on rotor magnetic pole q axis is
The rotor space position angle of load current value, the rotor magnetic pole d axis relative stator A phase winding α axis is -90 °；The change
Current actual value after changing includes the practical component on the rotor magnetic pole d axis and the reality on the rotor magnetic pole q axis
Border component.
3. a kind of detection method of brshless DC motor Hall phase sequence as claimed in claim 2, it is characterised in that：The step
(1) in, the current actual value of A, B, C phase winding is measured respectively using current sensor；It respectively will be in institute using subtracter
It is poor to state rotor magnetic pole d axis, the given value of current component on q axis and the practical component work of electric current；It is passed using level detector detection Hall
The level numerical value exported in each signal line of sensor.
4. a kind of detection method of brshless DC motor Hall phase sequence as claimed in claim 3, it is characterised in that：The step
(1) in, in each signal line of the Hall sensor, the signal wire for exporting low level signal is A phase hall signal lines.
5. a kind of detection method of brshless DC motor Hall phase sequence as described in claim 1, it is characterised in that：The step
(2) in, given component of the given value of current value on the rotor magnetic pole d axis is 0, giving on the rotor magnetic pole q axis
It is load current value, another rotor space position angle of the rotor magnetic pole d axis relative stator A phase winding α axis to determine component
It is 30 °；Current actual value after the transformation includes practical component on the rotor magnetic pole d axis and in the rotor magnetic
Practical component on the q axis of pole.
6. a kind of detection method of brshless DC motor Hall phase sequence as claimed in claim 5, it is characterised in that：The step
(2) in, the current actual value of A, B, C phase winding is measured respectively using current sensor；It respectively will be in institute using subtracter
It is poor to state rotor magnetic pole d axis, the given value of current component on q axis and the practical component work of electric current；It is passed using level detector detection Hall
The level numerical value of each signal line output of sensor.
7. a kind of detection method of brshless DC motor Hall phase sequence as claimed in claim 6, it is characterised in that：The step
(2) in, in each signal line of the Hall sensor, the signal wire for exporting low level signal is B phase hall signal lines.
8. a kind of detection device of detection method that realizing brshless DC motor Hall phase sequence as described in claim 1, for examining
Survey the output sequence of the three-phase signal line of Hall sensor in brshless DC motor；It is characterized in that：Described device includes direct current
Power supply, three-phase bridge type converter, Hall sensor, three current sensors, controller and level detector, wherein direct current
Source is in parallel with three-phase bridge type converter, A, B, C three-phase windings of the output end connection brshless DC motor of three-phase bridge type converter,
The input terminal of Hall sensor connects the stator of the brshless DC motor, and the output end of Hall sensor connects level detection
Device；The input terminal of three current sensors is connected in the A phase windings, B phase windings and C phase windings of brshless DC motor,
Output end is then separately connected controller；The output end of the controller is separately connected the grid of 6 metal-oxide-semiconductors of three-phase bridge type converter
Pole, to control corresponding metal-oxide-semiconductor conducting.
9. detection device as claimed in claim 8, it is characterised in that：The controller includes initial value setting apparatus, Clark
Converter, Park converters, two subtracters, two PID regulators, anti-Park converters and SVPWM pulse-modulators；Institute
The input terminal for stating Clark converters is all connected with the output end of three current sensors, the output end of the Clark converters
Connect the input terminal of the Park converters, the output end of the output end of the Park converters and the initial value setting apparatus is equal
It is connected to the input terminal of described two subtracters, the output end of described two subtracters is connected respectively to corresponding PID regulator
Input terminal, the output end of described two PID regulators is connected to the input terminal of the anti-Park converters, the anti-Park
The output end of converter is connected to the input terminal of the SVPWM pulse-modulators, the output end point of the SVPWM pulse-modulators
Not Lian Jie three-phase bridge type converter 6 metal-oxide-semiconductors grid.
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