CN106385205B - Control method and device of Hall permanent magnet synchronous motor - Google Patents
Control method and device of Hall permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN106385205B CN106385205B CN201610839812.4A CN201610839812A CN106385205B CN 106385205 B CN106385205 B CN 106385205B CN 201610839812 A CN201610839812 A CN 201610839812A CN 106385205 B CN106385205 B CN 106385205B
- Authority
- CN
- China
- Prior art keywords
- voltage
- permanent magnet
- synchronous motor
- magnet synchronous
- hall permanent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 207
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000001514 detection method Methods 0.000 claims description 41
- 238000005259 measurement Methods 0.000 claims description 35
- 230000005611 electricity Effects 0.000 claims description 9
- 230000005389 magnetism Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 5
- 239000000779 smoke Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A control method and a device for a Hall permanent magnet synchronous motor are disclosed, the method comprises the following steps: detecting the current rotating speed of the Hall permanent magnet synchronous motor; when the current rotating speed is within a preset extremely low speed range, calculating the absolute value of the difference value between the current rotating speed and the target rotating speed; when the absolute value of the difference value is smaller than or equal to a preset threshold value, maintaining the current terminal voltage for controlling the rotating speed of the Hall permanent magnet synchronous motor; when the difference absolute value is larger than the preset threshold, acquiring a voltage increment corresponding to the difference absolute value according to a preset corresponding relation between the difference absolute value and the voltage increment; and after increasing the inquired voltage increment at the current terminal voltage for controlling the rotating speed of the Hall permanent magnet synchronous motor, returning to the step of detecting the current rotating speed of the Hall permanent magnet synchronous motor. The control method and the control device of the Hall permanent magnet synchronous motor can ensure that the Hall permanent magnet synchronous motor stably runs at an extremely low speed.
Description
Technical field
The present invention relates to motor control technology field more particularly to a kind of control methods and dress of Hall permanent magnet synchronous motor
It sets.
Background technique
Hall permanent magnet synchronous motor is under the jurisdiction of direct current generator one kind from broad sense, has high power density, high efficiency, low damage
Consumption, the features such as small in size and structure is simple.Hall permanent magnet synchronous motor is in the efficiencies grade mark such as household electrical appliances such as smoke exhaust ventilator, washing machine
Quasi- more harsh occasion has obtained extensive utilization.
Hall permanent magnet synchronous motor can realize stepless time adjustment, and speed adjustable range is extremely wide, and by taking 8 slot, 12 pole motor as an example, theory is most
High revolving speed is up to 30,000 RPM, minimum reachable 10RPM.Extremely low speed is had to operate in certain specific occasion Hall permanent magnet synchronous motors
It (defines revolving speed under state and is less than 50RPM), if straight drive washing machine is in washing mode, kitchen ventilator is in cleaning model, at this time suddenly
You are generally 20-30RPM by the revolving speed of permanent magnet synchronous motor.When traditional Hall permanent magnet synchronous motor operates under extremely low speed, nothing
Method accurately controls the end voltage being added on motor stator, causes accurately reach scheduled revolving speed, to cause in extremely low speed
The unstable problem of lower operating.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide the control method and dress of a kind of Hall permanent magnet synchronous motor
It sets, the stable operation under the lower-speed state of pole of Hall permanent magnet synchronous motor can be made.
A kind of control method of Hall permanent magnet synchronous motor, which is characterized in that described method includes following steps:
Detect the current rotating speed of Hall permanent magnet synchronous motor；
When the current rotating speed is in the low-speed range of default pole, the difference for calculating the current rotating speed and rotating speed of target is exhausted
To value；
When the absolute difference is less than or equal to preset threshold, keep turning for controlling the Hall permanent magnet synchronous motor
Speed works as front voltage；
It is value-added right according to preset absolute difference and voltage when the absolute difference is greater than the preset threshold
Answer the corresponding voltage increment of absolute difference described in Relation acquisition；
The voltage inquired when front voltage increase for being used to control the Hall permanent magnet synchronous motor revolving speed is increased
After value, return it is described detection Hall permanent magnet synchronous motor current rotating speed the step of.
In one embodiment, it is described detection Hall permanent magnet synchronous motor current rotating speed the step of before, the side
Method includes:
Receiving pole low speed adjustment instruction；
According to the extremely low fast adjustment instruction by when receiving the extremely low fast adjustment instruction when front voltage is adjusted to
Zero；
Apply start end voltage, so that the Hall permanent magnet synchronous motor is with the revolving speed in the default pole low-speed range
Rotation.
In one embodiment, it is kept when the absolute difference is less than or equal to preset threshold for controlling described
The Hall permanent magnet synchronous motor revolving speed after the step of front voltage, the method further includes:
Obtain the Hall permanent magnet synchronous motor works as front steering；
Compare described when whether front steering and goal-selling steering are identical；
If it is not, the step of then returning to the current rotating speed of the detection Hall permanent magnet synchronous motor.
In one embodiment, it is kept when the absolute difference is less than or equal to preset threshold for controlling described
The Hall permanent magnet synchronous motor revolving speed after the step of front voltage, the method also includes:
Obtain actual bus voltage, the specified busbar voltage under power grid voltage rating, Yi Ji under current electric grid voltage
End voltage of the Hall permanent magnet synchronous motor when the goal-selling revolving speed is run is maintained under the specified busbar voltage；
The specified busbar voltage is held into electricity compared with obtaining after end voltage multiplication divided by the actual bus voltage
Pressure；
Obtain the current actual measurement end voltage on the Hall permanent magnet synchronous motor；
When the current actual measurement end voltage is less than or equal to the relatively end voltage, the detection Hall permanent-magnet synchronous is returned
The step of current rotating speed of motor.
In one embodiment, the method also includes:
When the current actual measurement end voltage is greater than the relatively end voltage, the detection Hall permanent magnet synchronous motor is returned
Current rotating speed the step of；
It is value-added according to preset absolute difference and voltage described when the absolute difference is greater than preset threshold
After corresponding relationship obtains the step of corresponding voltage of the absolute difference rises in value, the method also includes:
Under conditions of the current actual measurement end voltage is greater than the relatively end voltage, it is used to control the Hall for described
Permanent magnet synchronous motor revolving speed after front voltage subtracts the voltage increment inquired, return to the detection Hall permanent magnet synchronous electric
The step of current rotating speed of machine；
Under conditions of the current actual measurement end voltage is less than or equal to the relatively end voltage, by it is described be used to control it is described
After the voltage increment of Hall permanent magnet synchronous motor revolving speed inquired when front voltage increase, it is same to return to the detection Hall permanent magnetism
The step of walking the current rotating speed of motor.
A kind of control device of Hall permanent magnet synchronous motor, comprising:
Detection module, for detecting the current rotating speed of Hall permanent magnet synchronous motor；
Absolute difference computing module, for working as described in calculating when the current rotating speed is in the low-speed range of default pole
The absolute difference of preceding revolving speed and rotating speed of target；
Voltage control module is held, for keeping for controlling when the absolute difference is less than or equal to preset threshold
That states Hall permanent magnet synchronous motor revolving speed works as front voltage；
Voltage increment obtains module, is used for when the absolute difference is greater than the preset threshold, according to preset difference
It is worth absolute value and the value-added corresponding relationship of voltage obtains the corresponding voltage increment of the absolute difference；
First return module, for increasing the front voltage of working as being used to control the Hall permanent magnet synchronous motor revolving speed
After adding the voltage inquired to rise in value, the current rotating speed of the detection Hall permanent magnet synchronous motor is returned.
In one embodiment, the control device further include:
Receiving module is used for receiving pole low speed adjustment instruction；
Voltage regulator module is held, being used for will be when receiving the extremely low fast adjustment instruction according to the extremely low fast adjustment instruction
Be adjusted to zero when front voltage；
Starting module, for applying start end voltage so that the Hall permanent magnet synchronous motor with it is described preset it is extremely low
Rotational speed in fast range.
In one embodiment, the control device further include:
When front steering obtains module, work as front steering for obtain the Hall permanent magnet synchronous motor；
First comparison module, for relatively more described when whether front steering and goal-selling steering are identical；If it is not, then returning to institute
State the current rotating speed of detection Hall permanent magnet synchronous motor.
In one embodiment, the control device further include:
Module is obtained, for obtaining the specified mother under the actual bus voltage under current electric grid voltage, power grid voltage rating
Line voltage and the Hall permanent magnet synchronous motor is maintained to run in the goal-selling revolving speed under the specified busbar voltage
When end voltage；
Compare end voltage and obtain module, divided by the reality after being used to for the specified busbar voltage being multiplied with the end voltage
End voltage is compared in busbar voltage acquisition in border；
Current actual measurement end voltage obtains module, for obtaining the electricity of the current actual measurement end on the Hall permanent magnet synchronous motor
Pressure；
Second return module, for returning to institute when the current actual measurement end voltage is less than or equal to the relatively end voltage
State the current rotating speed of detection Hall permanent magnet synchronous motor.
In one embodiment, the control device further include:
Second return module is also used to return when the current actual measurement end voltage is greater than the relatively end voltage
The current rotating speed of the detection Hall permanent magnet synchronous motor；
Third return module is used under conditions of the current actual measurement end voltage is greater than the relatively end voltage, by institute
State for control the Hall permanent magnet synchronous motor revolving speed after front voltage subtracts the voltage inquired increment, described in return
Detect the current rotating speed of Hall permanent magnet synchronous motor；It is less than or equal to the item of the relatively end voltage in the current actual measurement end voltage
Under part, the voltage inquired when front voltage increase for being used to control the Hall permanent magnet synchronous motor revolving speed is rised in value
Afterwards, the current rotating speed of the detection Hall permanent magnet synchronous motor is returned.
The control method and device of Hall permanent magnet synchronous motor provided by the invention rise in value according to the voltage and adjust Hall
Permanent magnet synchronous motor works as front voltage, when the absolute difference is less than or equal to preset threshold, keeps for controlling
That states Hall permanent magnet synchronous motor revolving speed works as front voltage, to keep Hall permanent magnet synchronous motor in extremely low fast stable operation.
The voltage increment is obtained according to the current rotating speed of the Hall permanent magnet synchronous motor, same by being gradually increased the Hall permanent magnetism
Walk motor when front voltage mode, can accurately adjust the Hall permanent magnet synchronous motor works as front voltage so that
The Hall permanent magnet synchronous motor is more stable in pole low-speed running.
Detailed description of the invention
Fig. 1 is the flow chart of the control method of Hall permanent magnet synchronous motor in one embodiment of the invention；
Fig. 2 be Fig. 1 in it is described detection Hall permanent magnet synchronous motor current rotating speed the step of before, the controlling party
The flow chart of the also included step of method；
Fig. 3 be in Fig. 1 described when the absolute difference is less than or equal to preset threshold, keep described for controlling
Hall permanent magnet synchronous motor revolving speed after the step of front voltage, the flow chart of the also included step of control method；
Fig. 4 be in Fig. 1 described when the absolute difference is less than or equal to preset threshold, keep described for controlling
Hall permanent magnet synchronous motor revolving speed after the step of front voltage, the flow chart of the also included step of control method；
Fig. 5 is the flow chart for the step of control method in Fig. 4 further comprises；
Fig. 6 is the structural block diagram of the control device of Hall permanent magnet synchronous motor in invention one embodiment；
Fig. 7 is the structural block diagram of the control device of Hall permanent magnet synchronous motor in invention one embodiment；
Fig. 8 is the structural block diagram of the control device of Hall permanent magnet synchronous motor in invention one embodiment；
Fig. 9 is the structural block diagram of the control device of Hall permanent magnet synchronous motor in invention one embodiment；
Figure 10 is the structural block diagram of the control device of Hall permanent magnet synchronous motor in invention one embodiment.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, right with reference to the accompanying drawings and embodiments
Hall permanent magnet synchronous motor and device of the present invention are further elaborated.It should be appreciated that specific implementation described herein
Example is not intended to limit the present invention only to explain the present invention.
In one embodiment, as shown in Figure 1, providing a kind of Hall method for controlling permanent magnet synchronous motor, including it is following
Step:
S102 detects the current rotating speed of Hall permanent magnet synchronous motor.
Hall permanent magnet synchronous motor senses the revolving speed of Hall permanent magnet synchronous motor using Hall element.For example, for installation
There are three the Hall permanent magnet synchronous motors of Hall element, in Hall permanent magnet synchronous motor operation process, three Hall element senses
After the position of rotor should be arrived, it will trigger the interruption of Hall integrated circuit.To by built-in in Hall integrated circuit
The current rotating speed ω of counter calculating Hall permanent magnet synchronous motor.
S104 calculates the current rotating speed and rotating speed of target when the current rotating speed is in the low-speed range of default pole
Absolute difference.
In general it when Hall permanent magnet synchronous motor rotates within the scope of 0-50RPM, can be regarded as in pole low-speed range
Interior rotation.When Hall permanent magnet synchronous motor rotates within the scope of 50RPM-200RPM, can be regarded as turning in low-speed range
It is dynamic.When Hall permanent magnet synchronous motor rotates within the scope of 200RPM-1000RPM, can be regarded as in normal range of operation
Rotation.In the present embodiment, the current rotating speed ω < 50RPM for defining Hall permanent magnet synchronous motor is default pole low-speed range.It can manage
Solution, pole low-speed range can according to need self-defining, such as less than 60RPM, 70RPM or 80RPM.Rotating speed of target ωrefIt can be with
The preset value being stored in the memory of Permanent Magnet Synchronous Motor Controller.Rotating speed of target ωrefAlso belong to pole low-speed range
It is interior.Current rotating speed and the absolute difference of rotating speed of target are the absolute values that current rotating speed and rotating speed of target make the value after difference operation.
For example, current rotating speed ω is 10RPM, rotating speed of target ωrefFor 20RPM.So absolute difference of current rotating speed and rotating speed of target
Δ ω is exactly 10RPM.
S106 is kept when the absolute difference is less than or equal to preset threshold for controlling the Hall permanent-magnet synchronous
Motor speed works as front voltage.
Preset threshold is that one in memory that is pre-set and being stored in Hall Permanent Magnet Synchronous Motor Controller is solid
Fixed value.Preset threshold is the degree of closeness for judging Hall permanent magnet synchronous motor and rotating speed of target, can be manually set,
It can be sized according to the requirement to precision.Such as in one embodiment, preset threshold can be 1RPM.Hall permanent magnetism is same
Step motor rotation be by when front end it is voltage-controlled, when front voltage is added on the stator of Hall permanent magnet synchronous motor
Hold voltage.When front voltage is corresponding with current rotating speed ω, and for adjusting current rotating speed.For example, if increasing when front end electricity
Pressure, then current rotating speed ω just will increase.If front voltage is worked as in reduction, current rotating speed will reduce.It therefore can be pre-
If a condition, for judging whether current rotating speed ω meets the requirements.For example, current rotating speed ω and rotating speed of target ωrefDifference
When absolute value delta ω is less than or equal to preset threshold, illustrate that current rotating speed ω meets the requirements, then can keep working as front voltage,
To guarantee that Hall magneto rotates in the low-speed range of pole.
S108 increases when the absolute difference is greater than the preset threshold according to preset absolute difference and voltage
The corresponding relationship of value obtains the corresponding voltage increment of the absolute difference.
Current rotating speed ω and rotating speed of target ωrefAbsolute difference Δ ω be greater than preset threshold when, illustrate current rotating speed ω
It is undesirable, work as front voltage then can adjust, to guarantee that Hall magneto rotates in the low-speed range of pole.In order to
Front voltage is worked as in adjustment, needs to obtain voltage increment Δ U.Specifically, voltage increment Δ U can be obtained by way of tabling look-up.
Current rotating speed ω and rotating speed of target ω is describedrefAbsolute difference Δ ω and voltage increment Δ U relationship table, can be pre-
It is first stored in the memory of Hall Permanent Magnet Synchronous Motor Controller.In current rotating speed ω and rotating speed of target ωrefDifference it is absolute
When being worth Δ ω greater than preset threshold, so that it may obtain the corresponding voltage increment Δ U of absolute difference Δ ω by way of tabling look-up.
For example, rotating speed of target ωrefFor 20RPM, if current rotating speed ω is 18RPM, then current rotating speed ω and rotating speed of target ωrefDifference
Value absolute value delta ω is 2RPM.In the case where Network Voltage Stability, absolute difference Δ ω and rotating speed of target ωrefRatio
Be 10%, by table look-up can obtain voltage rise in value Δ U be specified busbar voltage U 3.3%.When specified busbar voltage is 310V
When, Δ U is just 10.23V.
S110, by the electricity inquired when front voltage increase for being used to control the Hall permanent magnet synchronous motor revolving speed
The step of pressing after rising in value, returning to the current rotating speed of the detection Hall permanent magnet synchronous motor.
After obtaining voltage increment Δ U, so that it may by Hall permanent magnet synchronous motor when front voltage increases Δ U and protects
A period T, such as 0.4 second are held, is turned so that Hall permanent magnet synchronous motor improves after improving when front voltage
Speed.Therefore, it is achieved that by adjusting Hall permanent magnet synchronous motor when front voltage adjusts current rotating speed ω.However, adjusting
Whether the current rotating speed ω after whole has met the requirements, it is also necessary to by current rotating speed ω adjusted and rotating speed of target ωrefDifference
Absolute value delta ω is compared with preset threshold.Therefore, after step S110 will return step S102, until meeting step S106
When, it can just obtain stable current rotating speed ω.Stable current rotating speed ω meets preset condition, with rotating speed of target ωrefConnect
Short range degree is met the requirements.
The control method and device of Hall permanent magnet synchronous motor in the present embodiment rise in value according to voltage and adjust Hall permanent magnetism
Synchronous motor works as front voltage, when the absolute difference is less than or equal to preset threshold, keep for control it is described suddenly
That permanent magnet synchronous motor revolving speed works as front voltage, to keep Hall permanent magnet synchronous motor in extremely low fast stable operation.Voltage
Increment is obtained according to the current rotating speed of the Hall permanent magnet synchronous motor, by being gradually increased the Hall permanent magnet synchronous motor
When the mode of front voltage, can accurately adjust the Hall permanent magnet synchronous motor works as front voltage, so that the Hall
Permanent magnet synchronous motor is more stable in pole low-speed running.
It is appreciated that in one embodiment, above-mentioned steps are all that Hall permanent magnet synchronous motor executes under open loop situations
, when the absolute difference is less than or equal to preset threshold, keep for controlling the Hall permanent magnet synchronous motor revolving speed
After the step S106 of front voltage, one can also be increased and judge whether stable step: when keep current rotating speed hold
When reforwarding turns default revolution, into closed-loop control state.For example, entering and closing when holding but 100 turns of the continuous running of money revolving speed
Loop control state.Turning default revolution is preset revolution, when Hall permanent magnet synchronous motor is stablizing fortune according to current rotating speed
When going to default revolution, Hall permanent magnet synchronous motor has entered stable state, so as to be switched to closed-loop control.
Refer to Fig. 2, in one embodiment, detection Hall permanent magnet synchronous motor current rotating speed step S102 it
Before, the control method of Hall permanent magnet synchronous motor is further comprising the steps of:
S202, receiving pole low speed adjustment instruction.
Hall permanent magnet synchronous motor can receive the extremely low fast adjustment instruction of host computer transmission.It is wrapped in extremely low speed adjustment instruction
Rotating speed of target and target diversion are contained.When Hall permanent magnet synchronous motor not pole low-speed range rotate when, can be according to pole
Low speed adjustment instruction carries out the adjustment of current rotating speed ω, slowly runs adjustment from high-speed rotation to pole.
S204 will work as front voltage tune when receiving the extremely low fast adjustment instruction according to the extremely low fast adjustment instruction
Whole is zero.
When Hall permanent magnet synchronous motor receives extremely low fast adjustment instruction, it will Hall permanent magnet synchronous motor will be applied to and turned
Front voltage of working as on son is adjusted to zero.Under the action of damping, current rotating speed ω gradually becomes Hall permanent magnet synchronous motor in this way
Small is zero, to stop operating.
S206 applies start end voltage, so that the Hall permanent magnet synchronous motor is in the default pole low-speed range
Rotational speed.
When the current rotating speed ω of Hall permanent magnet synchronous motor is zero, Hall permanent magnet synchronous motor starts application start end
Voltage, so that Hall permanent magnet synchronous motor starts with the rotational speed in default pole low-speed range.The voltage of start end voltage
Value is smaller, can be the 5%-50% of specified phase voltage.In one embodiment, the value of start end voltage is specified phase voltage
7%.
The control method of the Hall permanent magnet synchronous motor of the present embodiment first will suddenly after receiving pole low speed adjustment instruction
The current rotating speed of your permanent magnet synchronous motor adjusts in the low-speed range of default pole, is then worked as again by calculating voltage increment to adjust
Front voltage, to realize control Hall permanent magnet synchronous motor stable rotation in the low-speed range of pole, control method is more acurrate, effect
Rate is higher.
Fig. 3 is referred to, in one embodiment, when the absolute difference is less than or equal to preset threshold, keeps using
In the control Hall permanent magnet synchronous motor revolving speed after step S104 of front voltage, the control of Hall permanent magnet synchronous motor
Method processed is further comprising the steps of:
S302, obtain the Hall permanent magnet synchronous motor works as front steering.
Hall permanent magnet synchronous motor can be obtained by Hall element when front steering.Hall permanent magnet synchronous motor is extremely low
When speed rotation, the current rotating speed ω of Hall permanent magnet synchronous motor can be made to become smaller when the external world, which loads, to increase suddenly, or even can
So that Hall permanent magnet synchronous motor rotates backward.For example, when smoke exhaust ventilator is when entering cleaning model, the Hall of smoke exhaust ventilator
Permanent magnet synchronous motor is slowly run with pole.When occurring adverse current wind in the air duct of smoke exhaust ventilator, it is possible to can to take out
The Hall permanent magnet synchronous motor of kitchen ventilator rotates backward.It is therefore desirable to which further adjustment is applied to Hall permanent magnet synchronous motor
On work as front voltage, so as to adjust the current rotating speed ω of Hall permanent magnet synchronous motor.
S304, it is relatively more described when whether front steering and goal-selling steering are identical.
Obtain Hall permanent magnet synchronous motor after front steering, can compare when front steering be in goal-selling turn
To identical.Hall permanent magnet synchronous motor is perhaps clockwise or counterclockwise only there are two turning to.It is suitable when goal-selling turns to
When hour hands, if counterclockwise when front steering, it may determine that when front steering is different from goal-selling steering.
S306, if it is not, the step of then returning to the current rotating speed of the detection Hall permanent magnet synchronous motor.
When front steering is different from goal-selling steering, illustrate that the load of Hall permanent magnet synchronous motor increases.So
Return detection Hall permanent magnet synchronous motor current rotating speed step S102, so as to continue calculate voltage increment, and according to
Voltage increment adjusts the current rotating speed ω of Hall permanent magnet synchronous motor, so that current rotating speed ω can satisfy preset item
Part is realized in extremely low fast stable operation.
The control method of the Hall permanent magnet synchronous motor of the present embodiment, further by comparing described when front steering and default
Whether target diversion is identical, calculates voltage increment to choose whether to continue through and works as forward adjust Hall permanent magnet synchronous motor
Fast ω.When Hall permanent magnet synchronous motor is in extremely low fast steady running, if increasing load suddenly, can also further adjust
Control Hall permanent magnet synchronous motor works as front voltage to adjust current rotating speed ω, to realize Hall permanent magnet synchronous motor in pole
Low-speed stable operation.
Fig. 4 is referred to, in one embodiment, when the absolute difference is less than or equal to preset threshold, keeps using
In the control Hall permanent magnet synchronous motor revolving speed after step S104 of front voltage, the control of Hall permanent magnet synchronous motor
Method processed is further comprising the steps of:
S402, obtain current electric grid voltage under actual bus voltage, the specified busbar voltage under power grid voltage rating, with
And end electricity of the Hall permanent magnet synchronous motor when the goal-selling revolving speed is run is maintained under the specified busbar voltage
Pressure；
S404, by the specified busbar voltage compared with being obtained after end voltage multiplication divided by the actual bus voltage
Hold voltage；
S406 obtains the current actual measurement end voltage on the Hall permanent magnet synchronous motor；
S408 returns to the detection Hall forever when the current actual measurement end voltage is less than or equal to the relatively end voltage
The step of current rotating speed ω of magnetic-synchro motor.
In the Hall permanent magnet synchronous motor course of work, in the ideal situation, network voltage is fixed value.In practice, it passes through
The case where often encountering that network voltage is unstable, becoming larger or become smaller network voltage and voltage increment be positively related relationship, when
When network voltage is unstable, voltage increment inaccuracy will lead to, to cause the current rotating speed ω of Hall permanent magnet synchronous motor not
Accurately, it needs further to control adjustment.UdcIt is the actual bus voltage value under the current electric grid voltage detected, UNFor power grid electricity
Busbar voltage when pressing specified, a are that terminal voltage value of the motor when rotating speed of target is run is maintained under specified busbar voltage.It is obtaining
Obtained Udc、UN, after a, formula K=a*U can be passed throughN/UdcTo calculate the value of a comparison end voltage K.Hall permanent magnetism is same
The current actual measurement end voltage of step motor holds voltage K to compare compared with, when the current actual measurement end voltage is less than or equal to compare end electricity
When pressure, it can continue to calculate voltage increment by the step of current rotating speed S102 of return detection Hall permanent magnet synchronous motor, and
Adjustment Hall permanent magnet synchronous motor works as front voltage, so as to adjust current rotating speed ω, until current rotating speed ω meet it is preset
Condition.
The technical solution of the present embodiment realizes that when becoming smaller, this method continues to lead to when network voltage is under unstable state
It crosses and calculates that voltage rise in value and adjust Hall permanent magnet synchronous motor works as front voltage, so as to adjust current rotating speed ω, until satisfaction
Preset condition guarantees Hall permanent-magnet synchronous so that realizing the adjust automatically in the case where network voltage becomes smaller works as front voltage
Motor stable operation in the low-speed range of pole.
Fig. 5 is referred to, in one embodiment, the control method of the Hall permanent magnet synchronous motor in Fig. 4 further includes following
Step:
It is same to return to the detection Hall permanent magnetism when the current actual measurement end voltage is greater than the relatively end voltage by S502
The step of walking the current rotating speed of motor；
It is value-added according to preset absolute difference and voltage described when the absolute difference is greater than preset threshold
After corresponding relationship obtains the step S108 of the corresponding voltage increment of the absolute difference, the method also includes:
S504 is used to control institute for described under conditions of the current actual measurement end voltage is greater than the relatively end voltage
State Hall permanent magnet synchronous motor revolving speed after front voltage subtracts the voltage increment inquired, return to the detection Hall permanent magnetism
The step of current rotating speed of synchronous motor；
S506 is used to control under conditions of the current actual measurement end voltage is less than or equal to the relatively end voltage by described
After making the voltage increment of the Hall permanent magnet synchronous motor revolving speed inquired when front voltage increase, the detection Hall is returned
The step of current rotating speed of permanent magnet synchronous motor.
The technical solution of the present embodiment is realized and is working as network voltage under unstable state, when network voltage becomes larger, the party
Method, which continues through, calculates that voltage rises in value and adjust Hall permanent magnet synchronous motor works as front voltage, so as to adjust current rotating speed ω,
Until meeting preset condition, so that realizing the adjust automatically in the case where network voltage becomes larger works as front voltage, guarantee Hall
Permanent magnet synchronous motor stable operation in the low-speed range of pole.
Fig. 6 is referred to, the embodiment of the present invention further provides for the control device 600 of Hall permanent magnet synchronous motor, comprising:
Detection module 602, for detecting the current rotating speed of Hall permanent magnet synchronous motor；
Absolute difference computing module 604 is used for when the current rotating speed is in the low-speed range of default pole, described in calculating
The absolute difference of current rotating speed and rotating speed of target.
Voltage control module 606 is held, for keeping for controlling when the absolute difference is less than or equal to preset threshold
The Hall permanent magnet synchronous motor revolving speed works as front voltage.
Voltage increment obtains module 608, is used for when the absolute difference is greater than the preset threshold, according to preset
Absolute difference and the value-added corresponding relationship of voltage obtain the corresponding voltage increment of the absolute difference.
First return module 610, for by it is described be used to control the Hall permanent magnet synchronous motor revolving speed when front end electricity
After pressure increases the voltage increment inquired, the current rotating speed of the detection Hall permanent magnet synchronous motor is returned.
Fig. 7 is referred to, in one embodiment, the control device 600 further include:
Receiving module 601 is used for receiving pole low speed adjustment instruction.
Voltage regulator module 603 is held, for according to the extremely low fast adjustment instruction the extremely low whole finger of velocity modulation will to be received
Front voltage of working as when enabling is adjusted to zero.
Starting module 605, for applying start end voltage, so that the Hall permanent magnet synchronous motor is in the default pole
Rotational speed in low-speed range.
Fig. 8 is referred to, in one embodiment, the control device 600 further include:
When front steering obtains module 612, work as front steering for obtain the Hall permanent magnet synchronous motor；
First comparison module 614, for relatively more described when whether front steering and goal-selling steering are identical；If it is not, then returning
Return the current rotating speed of the detection Hall permanent magnet synchronous motor.
Fig. 9 is referred to, in one embodiment, the control device 600 further include:
Module 611 is obtained, it is specified under the actual bus voltage under current electric grid voltage, power grid voltage rating for obtaining
Busbar voltage and the Hall permanent magnet synchronous motor is maintained to transport in the goal-selling revolving speed under the specified busbar voltage
End voltage when row；
Compare end voltage and obtain module 613, divided by institute after being used to for the specified busbar voltage being multiplied with the end voltage
It states actual bus voltage acquisition and compares end voltage；
Current actual measurement end voltage obtains module 615, for obtaining the current actual measurement end on the Hall permanent magnet synchronous motor
Voltage；
Second return module 617, for returning when the current actual measurement end voltage is less than or equal to the relatively end voltage
The current rotating speed of the detection Hall permanent magnet synchronous motor.
Referring to Figure 10, in one embodiment, the control device 600 further include:
Second return module 617 is also used to return when the current actual measurement end voltage is greater than the relatively end voltage
Return the current rotating speed of the detection Hall permanent magnet synchronous motor；
Third return module 619 is used under conditions of the current actual measurement end voltage is greater than the relatively end voltage, will
It is described for control the Hall permanent magnet synchronous motor revolving speed when front voltage subtract inquire voltage increment after, return institute
State the current rotating speed of detection Hall permanent magnet synchronous motor；It is less than or equal to the relatively end voltage in the current actual measurement end voltage
Under the conditions of, the voltage inquired when front voltage increase for being used to control the Hall permanent magnet synchronous motor revolving speed is rised in value
Afterwards, the current rotating speed of the detection Hall permanent magnet synchronous motor is returned.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, described program can be stored in a computer-readable storage medium
In, in the embodiment of the present invention, described program be can be stored in the storage medium of computer system, and by the computer system
In at least one processor execute, to realize including process such as the embodiment of above-mentioned each method.Wherein, the storage medium
It can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random
Access Memory, RAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of control method of Hall permanent magnet synchronous motor, which is characterized in that described method includes following steps:
Detect the current rotating speed of Hall permanent magnet synchronous motor；
When the current rotating speed is in the low-speed range of default pole, the difference for calculating the current rotating speed and rotating speed of target is absolute
Value；
When the absolute difference is less than or equal to preset threshold, keep for controlling the Hall permanent magnet synchronous motor revolving speed
Work as front voltage；
When the absolute difference is greater than the preset threshold, according to the value-added corresponding pass of preset absolute difference and voltage
System obtains the corresponding voltage increment of the absolute difference；
After by the voltage increment inquired when front voltage increase for being used to control the Hall permanent magnet synchronous motor revolving speed,
The step of returning to the current rotating speed of the detection Hall permanent magnet synchronous motor.
2. control method as described in claim 1, which is characterized in that work as forward in the detection Hall permanent magnet synchronous motor
Before the step of speed, which comprises
Receiving pole low speed adjustment instruction；
The front voltage of working as when receiving the extremely low fast adjustment instruction is adjusted to zero according to the extremely low fast adjustment instruction；
Apply start end voltage, so that the Hall permanent magnet synchronous motor is turned with the revolving speed in the default pole low-speed range
It is dynamic.
3. control method as described in claim 1, which is characterized in that described when the absolute difference is less than or equal to preset
When threshold value, keep for control the Hall permanent magnet synchronous motor revolving speed after the step of front voltage, the method into
One step includes:
Obtain the Hall permanent magnet synchronous motor works as front steering；
Compare described when whether front steering and goal-selling steering are identical；
If it is not, the step of then returning to the current rotating speed of the detection Hall permanent magnet synchronous motor.
4. control method as claimed in any one of claims 1-3, which is characterized in that described when the absolute difference is small
In be equal to preset threshold when, keep for control the Hall permanent magnet synchronous motor revolving speed after the step of front voltage,
The method also includes:
Obtain the actual bus voltage under current electric grid voltage, the specified busbar voltage under power grid voltage rating and described
End voltage of the Hall permanent magnet synchronous motor when the goal-selling revolving speed is run is maintained under specified busbar voltage；
End voltage compared with being obtained after the specified busbar voltage is multiplied with the end voltage divided by the actual bus voltage；
Obtain the current actual measurement end voltage on the Hall permanent magnet synchronous motor；
When the current actual measurement end voltage is less than or equal to the relatively end voltage, the detection Hall permanent magnet synchronous motor is returned
Current rotating speed the step of.
5. control method as claimed in claim 4, which is characterized in that the method also includes:
When the current actual measurement end voltage is greater than the relatively end voltage, working as the detection Hall permanent magnet synchronous motor is returned
The step of preceding revolving speed；
Described when the absolute difference is greater than preset threshold, according to preset absolute difference and the value-added correspondence of voltage
After the step of corresponding voltage of absolute difference described in Relation acquisition rises in value, the method also includes:
Under conditions of the current actual measurement end voltage is greater than the relatively end voltage, it is used to control the Hall permanent magnetism for described
Synchronous motor revolving speed after front voltage subtracts the voltage increment inquired, return to the detection Hall permanent magnet synchronous motor
The step of current rotating speed；
Under conditions of the current actual measurement end voltage is less than or equal to the relatively end voltage, it is used to control the Hall for described
After the voltage increment of permanent magnet synchronous motor revolving speed inquired when front voltage increase, the detection Hall permanent magnet synchronous electric is returned
The step of current rotating speed of machine.
6. a kind of control device of Hall permanent magnet synchronous motor, which is characterized in that the control device includes:
Detection module, for detecting the current rotating speed of Hall permanent magnet synchronous motor；
Absolute difference computing module, for working as forward described in calculating when the current rotating speed is in the low-speed range of default pole
The absolute difference of speed and rotating speed of target；
Hold voltage control module, for when the absolute difference is less than or equal to preset threshold, keep for control it is described suddenly
That permanent magnet synchronous motor revolving speed works as front voltage；
Voltage increment obtains module, is used for when the absolute difference is greater than the preset threshold, exhausted according to preset difference
Voltage increment corresponding with the value-added corresponding relationship acquisition absolute difference of voltage to value；
First return module, for looking into the front voltage increase of working as being used to control the Hall permanent magnet synchronous motor revolving speed
After the voltage increment ask, the current rotating speed of the detection Hall permanent magnet synchronous motor is returned.
7. control device as claimed in claim 6, which is characterized in that the control device further include:
Receiving module is used for receiving pole low speed adjustment instruction；
Hold voltage regulator module, for according to the extremely low fast adjustment instruction by working as when receiving the extremely low fast adjustment instruction
Front voltage is adjusted to zero；
Starting module, for applying start end voltage, so that the Hall permanent magnet synchronous motor is to preset extremely low fast model described
Enclose interior rotational speed.
8. control device as claimed in claim 6, which is characterized in that the control device further include:
When front steering obtains module, work as front steering for obtain the Hall permanent magnet synchronous motor；
First comparison module, for relatively more described when whether front steering and goal-selling steering are identical；If it is not, then returning to the inspection
Survey the current rotating speed of Hall permanent magnet synchronous motor.
9. the control device as described in any one of claim 6-8, which is characterized in that the control device further include:
Module is obtained, for obtaining the electricity of the specified bus under the actual bus voltage under current electric grid voltage, power grid voltage rating
Pressure and maintain under the specified busbar voltage Hall permanent magnet synchronous motor when the goal-selling revolving speed is run
Hold voltage；
Compare end voltage and obtain module, for female divided by the reality after the specified busbar voltage is multiplied with the end voltage
End voltage is compared in line voltage acquisition；
Current actual measurement end voltage obtains module, for obtaining the current actual measurement end voltage on the Hall permanent magnet synchronous motor；
Second return module, for returning to the inspection when the current actual measurement end voltage is less than or equal to the relatively end voltage
Survey the current rotating speed of Hall permanent magnet synchronous motor.
10. control device as claimed in claim 9, which is characterized in that the control device further include:
Second return module is also used to when the current actual measurement end voltage is greater than the relatively end voltage, described in return
Detect the current rotating speed of Hall permanent magnet synchronous motor；
Third return module is used under conditions of the current actual measurement end voltage is greater than the relatively end voltage, by the use
In the control Hall permanent magnet synchronous motor revolving speed after front voltage subtracts the voltage increment inquired, the detection is returned
The current rotating speed of Hall permanent magnet synchronous motor；It is less than or equal to the condition of the relatively end voltage in the current actual measurement end voltage
Under, after the voltage inquired when front voltage increase for being used to control the Hall permanent magnet synchronous motor revolving speed is rised in value,
Return to the current rotating speed of the detection Hall permanent magnet synchronous motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839812.4A CN106385205B (en) | 2016-09-21 | 2016-09-21 | Control method and device of Hall permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839812.4A CN106385205B (en) | 2016-09-21 | 2016-09-21 | Control method and device of Hall permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106385205A CN106385205A (en) | 2017-02-08 |
| CN106385205B true CN106385205B (en) | 2018-12-07 |
Family
ID=57936016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610839812.4A Active CN106385205B (en) | 2016-09-21 | 2016-09-21 | Control method and device of Hall permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106385205B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110768588A (en) * | 2018-07-26 | 2020-02-07 | 比亚迪股份有限公司 | Control method and device for adjusting motor, storage medium and vehicle |
| CN112217425B (en) * | 2019-07-10 | 2022-11-01 | 广东美的生活电器制造有限公司 | Motor control device, control method and control system |
| CN115037199A (en) * | 2022-07-19 | 2022-09-09 | 宁波森瑞机电技术有限公司 | Direct current motor control method and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4814679A (en) * | 1986-12-10 | 1989-03-21 | Ricoh Company, Ltd. | Motor speed control |
| US6181020B1 (en) * | 1998-06-04 | 2001-01-30 | Nissan Motor Co., Ltd. | Integrated driving torque control system for automotive vehicles with continuously variable automatic transmission |
| CN104986047A (en) * | 2015-05-28 | 2015-10-21 | 安徽江淮汽车股份有限公司 | Control method for low-voltage hybrid vehicle battery system |
| CN105027422A (en) * | 2013-03-28 | 2015-11-04 | 爱信艾达株式会社 | Rotating electric machine control device |
| CN105138028A (en) * | 2015-09-18 | 2015-12-09 | 珠海格力电器股份有限公司 | Method and device for controlling rotating speed of range hood |
| RU2576330C1 (en) * | 2014-09-23 | 2016-02-27 | Федеральное государственное автономное образовательное учреждение высшего профессионального образования "Национальный исследовательский Томский политехнический университет" | Alternating current electric drive |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8975845B2 (en) * | 2011-10-31 | 2015-03-10 | Regal Beloit America, Inc. | Motor operation failure detection |
-
2016
- 2016-09-21 CN CN201610839812.4A patent/CN106385205B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4814679A (en) * | 1986-12-10 | 1989-03-21 | Ricoh Company, Ltd. | Motor speed control |
| US6181020B1 (en) * | 1998-06-04 | 2001-01-30 | Nissan Motor Co., Ltd. | Integrated driving torque control system for automotive vehicles with continuously variable automatic transmission |
| CN105027422A (en) * | 2013-03-28 | 2015-11-04 | 爱信艾达株式会社 | Rotating electric machine control device |
| RU2576330C1 (en) * | 2014-09-23 | 2016-02-27 | Федеральное государственное автономное образовательное учреждение высшего профессионального образования "Национальный исследовательский Томский политехнический университет" | Alternating current electric drive |
| CN104986047A (en) * | 2015-05-28 | 2015-10-21 | 安徽江淮汽车股份有限公司 | Control method for low-voltage hybrid vehicle battery system |
| CN105138028A (en) * | 2015-09-18 | 2015-12-09 | 珠海格力电器股份有限公司 | Method and device for controlling rotating speed of range hood |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106385205A (en) | 2017-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10063177B2 (en) | Method and apparatus for optimizing efficiency of induction motor in electric vehicle | |
| KR101625278B1 (en) | Optimized control for synchronous motors | |
| US9755562B2 (en) | Power convertor, controller, and method for changing carrier frequency | |
| US9520821B1 (en) | System and method for optimizing flux regulation in electric motors | |
| US9160262B2 (en) | Sensorless motor control | |
| CN106385205B (en) | Control method and device of Hall permanent magnet synchronous motor | |
| EP1835613A2 (en) | System and method for motor speed estimation using hybrid model reference adaptive system | |
| CN103516267A (en) | Method and system for starting permanent magnet synchronous fan motor for air conditioner | |
| Na et al. | An improved vector-control system of PMSM based on fuzzy logic controller | |
| CN110492798B (en) | Self-adaptive zero crossing point detection method of brushless direct current motor | |
| CN108063575A (en) | Self-start permanent magnet synchronous I/F starts method and system | |
| CN107070352B (en) | A kind of Switched Reluctance Motor | |
| CN104092413A (en) | Method and device for optimizing brushless motor phase lead angle and control system | |
| Guo et al. | Coupling and digital control delays affected stability analysis of permanent magnet synchronous motor current loop control | |
| CN109660179B (en) | Speed detection starting method for frequency converter | |
| CN108880352B (en) | Counter electromotive force balance adjusting device and method for permanent magnet synchronous motor | |
| JP5665063B2 (en) | Motor drive control device, motor drive control method, and motor using the same | |
| TWI587623B (en) | Synchronous motor control circuit and control method | |
| CN116582048B (en) | Position-sensor-free control method of permanent magnet synchronous motor | |
| CN112344538B (en) | Air conditioning system, compressor control system and control method thereof | |
| CN111342721A (en) | Control method and device of permanent magnet synchronous motor and related components | |
| Li et al. | Simplified loss model control efficiency optimization algorithm for vector control induction motor drives | |
| CN203933470U (en) | Brushless electric machine phase advance angle optimization circuit | |
| Gao et al. | Torque ripple minimization strategy for direct torque control of induction motors | |
| Kashif et al. | BEMF-MRAS based sensorless PMSM for solar irrigation pump with ancillary load services |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181025 Address after: 519070 golden hill road, Qianshan, Zhuhai, Guangdong Applicant after: GREE ELECTRIC APPLIANCES,Inc.OF ZHUHAI Address before: 519070 science and technology building, 789 Jinji Road, Qianshan, Zhuhai, Guangdong Applicant before: GREE GREEN REFRIGERATION TECHNOLOGY CENTER Co.,Ltd. OF ZHUHAI |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |