CN106849775A - Using the Continuity signal synthetic method of brshless DC motor three or three of SIN function computing - Google Patents
Using the Continuity signal synthetic method of brshless DC motor three or three of SIN function computing Download PDFInfo
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- CN106849775A CN106849775A CN201710136965.7A CN201710136965A CN106849775A CN 106849775 A CN106849775 A CN 106849775A CN 201710136965 A CN201710136965 A CN 201710136965A CN 106849775 A CN106849775 A CN 106849775A
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Abstract
The invention discloses a kind of Continuity signal synthetic method of brshless DC motor three or three of use SIN function computing, the rising edge and trailing edge of a phase hall signal are captured using dsp controller, obtain the cycle of hall signal, the sine wave that a cycle is identical with hall signal, amplitude is 2 times of hall signal is being sent using dsp controller, made the difference with hall signal amplitude with the SIN function, the turn-on and turn-off of each group switching tube are judged by judging whether difference is particular value.WithEach moment being calculated is postponed 30 electrical angles and 90 electrical angles compared with hall signal with sin90 °=1, compensate for the deficiency that the conduction position signal of brshless DC motor three or three and switching tube conducting can not be directly synthesized with cut-off signals with hall signal.The inventive method has the advantages that low cost, position detection accuracy are high, amount of digital computation is small, control algolithm is simple.
Description
Technical field
The present invention relates to brshless DC motor control field, especially a kind of brushless dc of use SIN function computing
The Continuity signal synthetic method of machine three or three.
Background technology
Brshless DC motor has good speed adjustment features, efficiency high, small volume, lightweight feature, in national product life
In be widely used.Especially along with the shortage of nowadays fossil energy, the electric automobile driven by brshless DC motor
It is more and more.Current scholars mostly studys the conduction mode two-by-two of brshless DC motor, three or three conduction modes are studied compared with
It is few.Due to the trigger signal of three or three conductings, hall signal need to be postponed 30 electrical angles, so directly can not be closed by hall signal
Into research now mostly realizes frequency multiplication and then drives three or three conductings of brshless DC motor using photoelectric encoder, using light
Photoelectric coder cost increases, and is badly in need of three or the three conducting drive signal synthetic methods that a kind of utilization software computing is realized, using sine
The Continuity signal new synthetic method of brshless DC motor three or three of functional operation arises at the historic moment.
The content of the invention
Present invention aim at the nothing for providing small, the cost-effective use SIN function computing of a kind of high accuracy, operand
The Continuity signal synthetic method of brushless motor three or three.
To achieve the above object, following technical scheme is employed：The invention mainly comprises brshless DC motor, hall position
Sensor and dsp controller, methods described step are as follows：
Step 1, can obtain A, B, C three-phase phase mutual using the hall position sensor carried inside brshless DC motor
Differ from the motor rotor position signal of 120 degree and each half of low and high level；
Step 2, the cycle T of hall signal is recorded with dsp controller；
Step 3, by dsp controller send amplitude all the way for two times of A phase hall signal amplitudes, cycle be T (T=2t),
Duration is the sine wave of T/4, i.e. 2Hsin [t (2 π/T)]；H is the amplitude of hall signal；
Step 4, makes the difference the sine wave in step 3 in dsp controller with three-phase hall signal amplitude respectively, and record is worked as
Difference is moment ta1, ta2 corresponding to 0 and H, and the two moment are exactly the conducting of brshless DC motor three or three state of three-phase six and cut
At the moment changed, remaining two-phase is similarly.
Further, in step 2, any one phase hall signal is recorded, rising edge starts timing, and trailing edge stops timing,
The record time is t, and the hall signal cycle is 2t.
Further, in step 4,
Making the difference calculating formula is：2Hsin[t(2π/T)]-H；
When result of calculation is 0, [t (2 π/T)]=30 °, the moment is hall signal rising edge and postpones 30 electric angles backward
The degree corresponding moment；
When result of calculation is H, i.e., [t (2 π/T)]=90 °, the moment, similarly another group of switching tube was turned on and off
Switching instant.
WhenWhen being set up with sin90 °=1, hall signal delays 30 electrical angles and 90 electrical angles respectively.
Compared with prior art, the invention has the advantages that：
1st, only computing need to be carried out without other control control cores with the hall position sensor of motor itself and DSP
Piece or the control of development board auxiliary or computing, reduce cost.
2nd, clear logic understands that calculate simple, programming is easy.
3rd, the computational accuracy of the method is high, can carry out real-time computing, is adapted to be used in high accuracy field.
Brief description of the drawings
Fig. 1 is sine wave and hall signal computing and switching tube conducting figure in the inventive method.
Fig. 2 is that three or three conducting switching tubes of brshless DC motor in the inventive method open situation and back-emf rule figure.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
HA, HB, HC as shown in Figure 1 are the three-phase hall sensor signal of brshless DC motor, are all that low and high level is respectively
180 degree electrical angle, and the electrical angle of A, B, C mutual deviation 120.Such as A phases, first rising edge of hall signal be at 30 degree still
Switching tube VT1 needs to be triggered at 0 degree, that is to say, that the 30 degree of triggerings of the advanced hall signal of switching tube, other two-phases are similarly.If
Logic synthesis is carried out using three-phase hall signal, the triggering moment of the signal of synthesis also lag or lead switching tube, institute
With directly using hall signal can not realize well commutation signal synthesis or each switching tube the corresponding moment triggering.
It is any all the way suddenly using DSP captures in the Continuity signal synthetic method of brshless DC motor of the present invention three or three
The rising edge and trailing edge (below all by taking A phases as an example) of your signal, and the time is recorded for t, by hall signal low and high level each
Half understands that the cycle of hall signal is 2t, after represented with T, it is assumed that the amplitude of hall signal is H.When DSP is successfully captured
After time t, dsp controller is allowed to send sine wave 2Hsin [t (2 π/T)] all the way in real time at once, and only need to this sine wave
In the preceding a quarter cycle, a time T is often recorded after this and just sends sine wave all the way in real time.This SIN function is used below
Do subtraction with constant H, 2Hsin [t (2 π/T)]-H, then by judging before formula result of calculation, judge the conducting of switching tube with
The shut-off moment.When the result of calculation of the formula is 0, [t1(2 π/T)]=30 °, this moment t1 is just more stagnant than hall signal rising edge
30 electrical angle afterwards, it is the switching state of the conducting of VT2 and VT5 switching tubes and shut-off that this moment is corresponding.Because brshless DC motor
Three or three conductings are the states of three-phase six, and 60 electrical angles change one action state, [the t when the result of calculation of the formula is H2(2π/T)]
=90 °, this moment t2 is exactly the moment that t1 postpones corresponding to 60 electrical angles, this moment be another group of conducting of switching tube with
The switching instant of shut-off.Using SIN function and the method for former hall signal computing, the conducting of brshless DC motor three or three is compensate for
The deficiency that the triggering of switching tube can not be directly synthesized using hall signal.Similarly, transported with this kind of SIN function and hall signal
The method of calculation, can accurately determine the moment corresponding to the state of brshless DC motor six each state.Remembered using dsp controller
The cycle of hall signal in each cycle is recorded, so that dsp controller updates the cycle of sent sine wave, such energy in real time
Make the commutation moment calculated more accurate.
As shown in figure 1, calculating six states in real time using the above method distinguishes the corresponding moment, then according to following moment
Turned on switching tube and turn off rule controlling switch pipe, so as to realize being precisely controlled and stabilization for the conducting of brshless DC motor three or three
Operation.Ta1 opens VT2 and turns off VT5, and ta2 opens VT3 and turns off VT6, and tb1 opens VT4 shut-offs VT1, tb2 and opens VT5 shut-off VT2,
Tc1 opens VT6 shut-offs VT3, tc2 and opens VT1 shut-offs VT4.
As shown in Fig. 2 three or three conductings of brushless electric machine refer to have three power switch pipes to be at any one time
State, every 60 degree of electrical angles, motor changes one action state, and each switching tube sequentially turns on 180 degree electrical angle.Each group
The conducting rule of switching tube be VT1, VT2, VT3 → VT2, VT3, VT4 → VT3, VT4, VT5 → VT4, VT5, VT6 → VT5,
VT6、VT1→VT6、VT1、VT2。
Embodiment described above is only that the preferred embodiment of the present invention is described, not to model of the invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art are to technical side of the invention
Various modifications and improvement that case is made, all should fall into the protection domain of claims of the present invention determination.
Claims (4)
1. the Continuity signal synthetic method of brshless DC motor three or three of a kind of use SIN function computing, mainly including brushless direct-current
Motor, hall position sensor and dsp controller, it is characterised in that methods described step is as follows：
Step 1, A, B, C three-phase phase mutual deviation can be obtained using the hall position sensor carried inside brshless DC motor
120 degree and the motor rotor position signal of each half of low and high level；
Step 2, the cycle T of hall signal is recorded with dsp controller；
Step 3, amplitude all the way is sent for two times of A phase hall signal amplitudes, cycle are T (T=2t), continue by dsp controller
Time is the sine wave of T/4, i.e. 2Hsin [t (2 π/T)]；H is the amplitude of hall signal；
Step 4, makes the difference the sine wave in step 3 in dsp controller with three-phase hall signal amplitude respectively, and record works as difference
Moment ta1, ta2 corresponding to 0 and H, the two moment are exactly the conducting three-phase six state switching of brshless DC motor three or three
At the moment, remaining two-phase is similarly.
2. the Continuity signal synthetic method of brshless DC motor three or three of use SIN function computing according to claim 1,
It is characterized in that：In step 2, any one phase hall signal is recorded, rising edge starts timing, and trailing edge stops timing, during record
Between be t, the hall signal cycle be 2t.
3. the Continuity signal synthetic method of brshless DC motor three or three of use SIN function computing according to claim 1,
Characterized in that, in step 4, the calculating formula that makes the difference is：2Hsin[t(2π/T)]-H；
When result of calculation is 0, [t (2 π/T)]=30 °, the moment is hall signal rising edge and postpones 30 electrical angle institutes backward
The corresponding moment；
When result of calculation is H, i.e., [t (2 π/T)]=90 °, the moment is similarly the switching that another group of switching tube is turned on and off
Moment.
4. the Continuity signal synthetic method of brshless DC motor three or three of use SIN function computing according to claim 1,
It is characterized in that：WhenWhen being set up with sin90 °=1, hall signal delays 30 electrical angles and 90 electrical angles respectively.
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| CN201710136965.7A CN106849775A (en) | 2017-03-09 | 2017-03-09 | Using the Continuity signal synthetic method of brshless DC motor three or three of SIN function computing |
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Citations (5)
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| CN103346713A (en) * | 2013-06-19 | 2013-10-09 | 大力电工襄阳股份有限公司 | Simplified algorithm of synchronous frequency conversion soft starting motor rotor position detection |
| CN103606328A (en) * | 2013-11-28 | 2014-02-26 | 上海新时达电气股份有限公司 | Self-studying method for relationship between motor hall signal and rotor position of brushless direct current |
| CN104038134A (en) * | 2014-06-24 | 2014-09-10 | 北京航空航天大学 | Method for correcting position error of permanent magnet synchronous motor rotor based on linear hall |
| CN105790652A (en) * | 2016-04-28 | 2016-07-20 | 广东威灵电机制造有限公司 | Hall signal identification method used for motor control system and apparatus thereof |
| US9667176B2 (en) * | 2013-12-20 | 2017-05-30 | Semiconductor Components Industries, Llc | Motor control circuit and method |
-
2017
- 2017-03-09 CN CN201710136965.7A patent/CN106849775A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103346713A (en) * | 2013-06-19 | 2013-10-09 | 大力电工襄阳股份有限公司 | Simplified algorithm of synchronous frequency conversion soft starting motor rotor position detection |
| CN103606328A (en) * | 2013-11-28 | 2014-02-26 | 上海新时达电气股份有限公司 | Self-studying method for relationship between motor hall signal and rotor position of brushless direct current |
| US9667176B2 (en) * | 2013-12-20 | 2017-05-30 | Semiconductor Components Industries, Llc | Motor control circuit and method |
| CN104038134A (en) * | 2014-06-24 | 2014-09-10 | 北京航空航天大学 | Method for correcting position error of permanent magnet synchronous motor rotor based on linear hall |
| CN105790652A (en) * | 2016-04-28 | 2016-07-20 | 广东威灵电机制造有限公司 | Hall signal identification method used for motor control system and apparatus thereof |
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| 吴红星等: "《无刷直流电机转子位置检测技术综述》", 《微电机》 * |
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