CN107093965A - The method of controlled motor speed and the system of controlled motor speed - Google Patents
The method of controlled motor speed and the system of controlled motor speed Download PDFInfo
- Publication number
- CN107093965A CN107093965A CN201710375869.8A CN201710375869A CN107093965A CN 107093965 A CN107093965 A CN 107093965A CN 201710375869 A CN201710375869 A CN 201710375869A CN 107093965 A CN107093965 A CN 107093965A
- Authority
- CN
- China
- Prior art keywords
- bemf
- motor
- speed
- value
- micro
- 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.)
- Granted
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The present invention discloses a kind of method of controlled motor speed, and it includes：Step S1, gathers the bemf values of motor, and is stored in bemf registers；Step S2, it is an initial value to set bemf averages；Step S3, reads bemf values, and regard the average value of bemf averages and this bemf value sum as new bemf averages from bemf registers；Step S4, judges bemf averages whether in predetermined interval, if then motor speed is consistent with setting speed, and return to step S3；If otherwise motor speed is not inconsistent with setting speed；Step S5, setting speed or generation signal are modified to by motor speed；A kind of system of controlled motor speed is also disclosed.So, the speed to motor carries out closed loop detection and control, and motor operation speed can be monitored in real time, improves control accuracy.
Description
Technical field
The present invention relates to motor control technology field, and in particular to method and the controlled motor speed of a kind of controlled motor speed
The system of degree.
Background technology
The operation of control section controlled motor, motor is generally used in the accurate equipment of comparison or instrument, therefore, to electricity
The control of machine typically requires higher.
As shown in figure 1, the bemf values of motor are linear with rotor rotation speed in theory, can by this relation
To carry out accurately detecting and controlling to the operation conditions of motor；But in fact, because there is resonance characteristic and stall in motor
Situations such as, bemf values and the non-linear relation of rotor speed can be caused.
Operationally, when motor is in interval motor resonance and stall, the speed of service and the pre-set velocity of motor can not
Symbol, can all cause the operation conditions detection to motor not to be inconsistent, and then have a strong impact on the control accuracy to motor.
Accordingly, it would be desirable to which the speed to motor is controlled in real time, and then improve control accuracy.
The content of the invention
It is an object of the invention to provide a kind of control method and control system, the speed of service for controlled motor.
To achieve the above object, the present invention provides a kind of method of controlled motor speed, including：
Step S1, gathers the bemf values of motor, and is stored in bemf registers；
Step S2, it is an initial value to set bemf averages；
Step S3, reads the bemf values from the bemf registers, and by the bemf averages and this bemf value
The average value of sum is used as new bemf averages；
Step S4, judges the bemf averages whether in predetermined interval, if so, the then motor speed and setting speed
It is consistent, and return to step S3；If it is not, then the motor speed is not inconsistent with setting speed；
Step S5, the setting speed or generation signal are modified to by the motor speed.
The step S1 includes：Step S11, clock signal is generated by reference clock；Step S12, according to the clock
Signal is sampled in the time current crosses zero of sampling coil to the sampling coil both end voltage, and sampled voltage is preserved
In the bemf registers；The sampled voltage is the bemf values of motor.
In the step S12, after being sampled to the sampling coil both end voltage, sampled data is converted into numeral
Signal.
Also include step S, set motor speed as speed between a non-motor resonance region；The step is arranged on the step S2
Or before or after S1.
A kind of method of controlled motor speed is also disclosed, including：
Step S1, gathers the bemf values of motor, and is stored in bemf registers, works as while being preserved using micro-stepping register
The residing micro-stepping value of front motor operation；
Step S2, it is an initial value to set bemf averages；
Step S3, reads the bemf values from the bemf registers, is read from the micro-stepping register described micro-
Step value；
Step S4, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so, then returning
Step S3；
Step S6, regard the average value of the bemf averages and this bemf value sum as new bemf averages；
Step S7, judges the bemf averages whether in predetermined interval, if so, the then motor speed and setting speed
It is consistent, and return to step S3；If it is not, then the motor speed is not inconsistent with setting speed；
Step S8, the setting speed or generation signal are modified to by the motor speed.
The step S1 includes：Step S11, clock signal is generated by reference clock；Step S12, according to the clock
Signal is sampled in the time current crosses zero of sampling coil to the sampling coil both end voltage, and sampled voltage is preserved
In the bemf registers；The sampled voltage is the bemf values of motor；Step S13, the sampled voltage is preserved
While in the bemf registers micro-stepping residing for presently described motor operation is preserved using the micro-stepping register
Value.
Also include step S5, judge that the micro-stepping value whether in a quadrant, is walked with micro-stepping value before if then returning
Rapid S3.
The present invention also provides a kind of system of controlled motor speed, and it can be used in the speed operation of controlled motor, described
The system of controlled motor speed includes：
Drive control module, it controls generation drive signal；Drive module, it receives the drive signal, and drives institute
State motor；
Central processing module, it is connected with the drive control module, judges the running status of the motor；
The central processing module includes：
Initial value setting module, an initial value is set to by bemf averages；
Data reception module, what the reception drive control module was read from bemf registers states bemf values；
Assignment module, it is connected with the data reception module, by putting down for the bemf averages and this bemf value sum
Average is used as new bemf averages；
Presetting module, is previously provided with predetermined interval in it；
Judge module, judges the bemf averages whether in the predetermined interval, if then to the data reception
Block, which is sent, restarts signal；If not then sending non-setting signal；
The drive control module is received after the non-setting signal, and the speed to the motor is modified or generated letter
Number.
Also include：Coil is selected and sampling hold circuit, itself and the motor connection, to the stator coil two of the motor
Terminal voltage is sampled；Adc circuit, sampled voltage is converted to data signal by it；It is described in the drive control module
Bemf registers, receive the data signal and update.
Reference clock of the drive control module based on input, the control generation drive signal, and to the coil
Selection and sampling hold circuit transmission.
The central processing module also includes：Micro-stepping value contrast module；The data reception module also receives the driving
The micro-stepping value that control module is read from micro-stepping register；The micro-stepping value contrast module judges whether the micro-stepping value is described
The integral multiple of motor step mode setting value, if so, then to the data reception module send described in restart signal.
The central processing module also includes：Quadrant contrast module, it is connected with the micro-stepping value contrast module, judges institute
Micro-stepping value is stated with micro-stepping value before whether in a quadrant, if so, then to the data reception module send described in restart
Signal.
Compared with the prior art, the method and the system of controlled motor speed for the controlled motor speed that the present invention is provided,
By judging whether the bemf averages in predetermined interval judge whether the speed of service is consistent with pre-set velocity, and then to motor
Speed carry out closed loop detection and control, improve the precision of the control of motor.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in various embodiments of the present invention, required in being described below to embodiment
The accompanying drawing used is briefly described.
Fig. 1 is that the bemf values produced on stator coil change theoretical value schematic diagram with rotor velocity of rotation；
Fig. 2 is the signal that the bemf values produced on the stator coil for include resonance range change with rotor velocity of rotation
Figure；
Fig. 3 is the schematic flow sheet of the first embodiment of the method for controlled motor speed；
Coil current and the corresponding relation schematic diagram of time when Fig. 4 is current over-zero on motor coil；
Coil voltage and the corresponding relation schematic diagram of time when Fig. 5 is current over-zero on motor coil；
Fig. 6 is the schematic flow sheet of step S1 the first embodiment；
Fig. 7 is the schematic flow sheet of step S1 second of embodiment；
Fig. 8 is the electric current and the corresponding relation schematic diagram of time of two phase coils；
Fig. 9 is the electric current and the schematic diagram of the corresponding relation another embodiment of time of two phase coils in a cycle；
Figure 10 is the schematic flow sheet of second of embodiment of the method for controlled motor speed；
Figure 11 is the schematic flow sheet of the third embodiment of the method for controlled motor speed；
Figure 12 is the schematic diagram of the first embodiment of the system of controlled motor speed；
Figure 13 is the schematic diagram of second of embodiment of the system of controlled motor speed；
The schematic diagram of the first embodiment of processing module centered on Figure 14；
The schematic diagram of second of embodiment of processing module centered on Figure 15.
Embodiment
Below in conjunction with accompanying drawing, the forgoing and additional technical features and advantages are described in more detail.
Embodiment 1
As shown in figure 3, in the present embodiment, the method for the controlled motor speed includes：
Step S1, gathers bemf (Back Electromotive Force inverse electromotive forces) value of motor, and is stored in
In bemf registers；
The bemf that the rotor magnetic field of change is produced on stator coil changes theoretical public with rotor velocity of rotation
Formula is：
Bemf=-N × B × A × ω sin ω t
Wherein N is the stator coil number of turn, the coupling surface that B is rotor magnetic field intensity, A is rotor magnetic field and coil
Product, ω are rotor rotational angular velocity.For the motor of determination, N, B, A are constant, therefore bemf values rotate speed with rotor in theory
Degree is linear, as shown in Figure 1.Therefore, the change of bemf values can reflect the change of the velocity of rotation of rotor；It is logical
The collection to bemf is crossed, the velocity of rotation situation of change of rotor can be obtained.
Step S2, it is an initial value to set bemf averages；
Wherein, the bemf averages are the average value of bemf values that all previous sampling is obtained, when not reading bemf values, can be with
It is set as an initial value, the specific data of the initial value can be set by experience or actual conditions；, can if having read bemf values
To regard all average values for having read bemf values as the initial value.
Step S3, reads the bemf values from the bemf registers, and by the bemf averages and this bemf value
The average value of sum is used as new bemf averages；
In this step, the mode of assignment is used, bemf averages are assigned by new average value.
Step S4, judges the bemf averages whether in predetermined interval, if the then motor speed and setting speed
It is consistent, and return to step S3；If not then the motor speed is not inconsistent with setting speed；
In predetermined interval, a data signal Bemf is correspond under a pre-set velocityi, assign the speed corresponding numeral letter
Number BemfiOne error range, such as error range is in the range of positive and negative 10%, first threshold Bemfmin=0.9Bemfi, second
Threshold value Bemfmax=1.1BemfiIf sample obtained corresponding this average Bemfaver of data signal every timeiFall
[Bemfmin,Bemfmax] interval interior, illustrate that motor actual motion speed is consistent with setting speed in certain error range, it is no
Then, motor speed occurs abnormal；If detecting motor actual speed with setting speed not being inconsistent, carried in screen display or alarm
Show.Using the control method, the actual motion speed of motor can be monitored in real time in motor start-up procedure, find and solve in time
Certainly problem, favourable to improve the precision controlled.Certain error rate can also be set according to control accuracy and system operation ability
Other numerical value, such as between 5%-20% is could be arranged in the case that system operation ability is enough.
Step S5, setting speed or generation signal are modified to by the motor speed.
Speed to motor carries out closed loop detection, can prevent motor speed from entering motor resonance interval, it is ensured that to motor
Accurately controlled, it is to avoid cause control to malfunction because of the resonance characteristic of motor, cause irremediable loss.
Embodiment 2
The method of controlled motor speed as described above, the present embodiment is different from part and is, as shown in fig. 6, institute
Stating step S1 includes：
Step S11, clock signal is generated by reference clock；
By generating clock signal, follow-up sampling instant can be selected, in order to carry out in special time period
Sampling.
Step S12, according to the clock signal in the time current crosses zero of sampling coil to the sampling coil two ends
Voltage is sampled, and sampled voltage is stored in bemf registers；The sampled voltage is the bemf values of motor.
Wherein, the sampling coil is coil of stator of motor.
Voltage expression is on coil of stator of motor：
VcoilFor coil voltage, i is coil current, and R is coil resistance, and L is coil inductance, and bemf becomes for rotor field
Change the induced electromotive force produced on coil.When electric current is 0 on coil, the terminal voltage of coil is equal to bemf, therefore can be with
By collection coil magnitude of voltage when electric current is zero on coil to obtain bemf.
In addition, when being sampled to the both end voltage of sampling coil, the stator coil of the motor is generally one or two
It is individual or three or more than three, it can now choose one of them and be sampled as sampling coil.
In the step, after being sampled to the sampling coil both end voltage, sampled data is converted into data signal,
The data signal is the sampled voltage.
So, the bemf values of motor can be directly measured in the time current crosses zero of sampling coil, simple, quick, side
Just.
Embodiment 3
The method of controlled motor speed as described above, the present embodiment is different from part and is, as shown in fig. 7, institute
Stating step S1 also includes：
Step S13, preserves presently described while sampled voltage is stored in bemf registers using micro-stepping register
Micro-stepping value residing for motor operation.
So, the operation conditions of motor can be judged by micro-stepping value.
Embodiment 4
The method of controlled motor speed as described above, the present embodiment is different from part and is that the step S11 is also
Including entering line delay to the clock signal；
It is coil current zero-crossing timing between T1 and T2 in Fig. 4.Dotted line is theoretical value, and solid line is actual value.Due to coil
Energy storage characteristic, after the drive module shut-off of driving coil (T1 moment), electric current will not be 0 at once in coil, but need
It can just be changed into for 0 (Tdecay moment) after wanting certain time.Due to the presence of this characteristic, therefore actual bemf values are Tdecay
Coil voltage value after moment.As shown in figure 5, S10 and S27 are first time and the last time coil of this current over-zero respectively
Voltage sample.From S10 to S14, the voltage that coil voltage value is also produced except bemf comprising coil current itself is adopted；S14 it
Afterwards, the energy storage of coil Central Plains has been consumed, and is adopted magnitude of voltage and is only included bemf.
Motor speed and sample frequency are depended on to the sampling number of coil voltage in a coil zero crossing, but always
Not the problem of coil voltage is not coil actual bemf before there is the Tdecay moment.
Tdecay durations depend primarily on coil energy storage, the time required to being discharged relative to the energy storage, when coil zero passage is maintained
Between to be grown it is many.So, the delay to clock signal is passed through so that do suitable time-delay to ensure during each zero passage of coil
It is stored in again in bemf registers after the Tdecay moment.
Delay to clock signal, can by reference clock integrated delay circuit complete；Can also be other
Delay pattern.
By delay, influence of the coil zero passage start time residual current to bemf values can be avoided so that collection
Inverse electromotive force of the bemf values closer to coil.
Embodiment 5
As shown in Figure 10, its for controlled motor speed of the present invention method flowchart 2；Wherein, the controlled motor speed
The method of degree includes：
Step S1, gathers bemf (Back Electromotive Force inverse electromotive forces) value of motor, and is stored in
In bemf registers, while preserving the residing micro-stepping value of current motor operation using micro-stepping register；
The bemf that the rotor magnetic field of change is produced on stator coil changes theoretical public with rotor velocity of rotation
Formula is：
Bemf=-N × B × A × ω sin ω t
Wherein N is the stator coil number of turn, the coupling surface that B is rotor magnetic field intensity, A is rotor magnetic field and coil
Product, ω are rotor rotational angular velocity.For the motor of determination, N, B, A are constant, therefore bemf values rotate speed with rotor in theory
Degree is linear, as shown in Figure 1.Therefore, the change of bemf values can reflect the change of the velocity of rotation of rotor；It is logical
The collection to bemf is crossed, the velocity of rotation situation of change of rotor can be obtained.
Wherein, the value that micro-stepping register is preserved runs residing micro-stepping value for current motor, therefore by reading the deposit
Device intermediate value is that can determine whether what micro-stepping position current motor operation is in.For motor step mode setting value be 16 micro-steppings (i.e.
One synchronizing is divided into 16 micro-steppings to walk) when, the register value scope is 0 to 63, the scope 4 synchronizings of correspondence, i.e., one driving
Cycle.When the change of step mode setting value, the register range is accordingly changed.
Step S2, it is an initial value to set bemf averages；
Wherein, the bemf averages are the average value of bemf values that all previous sampling is obtained, when not reading bemf values, can be with
It is set as an initial value, the specific data of the initial value can be set by experience or actual conditions；, can if having read bemf values
To regard all average values for having read bemf values as the initial value.
Step S3, reads the bemf values from the bemf registers, is read from the micro-stepping register described micro-
Step value；
Step S4, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so, then returning
Step S3；
Each coil voltage sampled value of coil zero-acrross ing moment can be all stored in bemf registers, i.e. S10 to S27's
Each sampled value can all be saved in bemf registers.After the coil zero-acrross ing moment, bemf registers preserve this secondary coil zero passage
The sampled value of last time is until next coil zero-acrross ing moment.S10 to S27 occurs in primary winding zero-crossing timing, therefore
Corresponding micro-stepping register value is same value, and when motor step mode setting value is 16 micro-steppings, the value is 0, or 16, or 32,
Or 48.
When micro-stepping value correspondence coil zero crossing, the coil electricity that Bemf register values may be picked up from before the Tdecay moment
Pressure.And during coil zero crossing, the bemf values of last coil zero passage last moment can be preserved in bemf registers always.Line
Enclose the corresponding micro-stepping value of zero crossing and be the integral multiple of motor step mode setting value, therefore micro-stepping register value can be read to sentence
Whether this bemf value of breaking is effective.As motor step mode setting value be 16 micro-steppings, then when reading current micro-stepping value be 0,
Or 16, or 32, or when 48, then this bemf register value is insignificant values.
By the step, shadow of the coil zero passage start time residual current to bemf values directly can be excluded using micro-stepping value
Ring.
Step S6, regard the average value of the bemf averages and this bemf value sum as new bemf averages；
In this step, the mode of assignment is used, bemf averages are assigned by new average value.
Step S7, judges the bemf averages whether in predetermined interval, if the then motor speed and setting speed
It is consistent, and return to step S3；If not then the motor speed is not inconsistent with setting speed；
In predetermined interval, a data signal Bemf is correspond under a pre-set velocityi, assign the speed corresponding numeral letter
Number BemfiOne error range, such as error range is in the range of positive and negative 10%, first threshold Bemfmin=0.9Bemfi, second
Threshold value Bemfmax=1.1BemfiIf sample obtained corresponding this average Bemfaver of data signal every timeiFall
[Bemfmin,Bemfmax] interval interior, illustrate that motor actual motion speed is consistent with setting speed in certain error range, it is no
Then, motor speed occurs abnormal；If detecting motor actual speed with setting speed not being inconsistent, carried in screen display or alarm
Show.Using the control method, the actual motion speed of motor can be monitored in real time in motor start-up procedure, find and solve in time
Certainly problem, favourable to improve the precision controlled.Certain error rate can also be set according to control accuracy and system operation ability
Other numerical value, such as between 5%-20% is could be arranged in the case that system operation ability is enough.
Step S8, setting speed or generation signal are modified to by the motor speed.
Speed to motor is controlled, and can prevent motor speed from entering motor resonance interval, it is ensured that motor is carried out
Accurately control, it is to avoid cause control to malfunction because of the resonance characteristic of motor, cause irremediable loss.
In the present embodiment, influence of the coil zero passage start time residual current to bemf values is directly excluded by micro-stepping value,
Time delay process need not be additionally added, it is simple and convenient.
Embodiment 6
The method of controlled motor speed as described in Example 5, the present embodiment is different from part and is, such as Figure 11 institutes
Show, in addition to step S5, judge the micro-stepping value and whether micro-stepping value is in a quadrant before, if then return to step S3；
The step after step s4, before step S6.
Ta0 and Tb0 were respectively two phase coil zero crossing moment in Fig. 8 and Fig. 9.Because coil voltage sampling is only in electric current mistake
Occur when zero, such Ta0 moment last time voltage sample value is stored in after bemf registers, when can be saved in Tb0 always
Before quarter.And the frequency for reading register value will be significantly larger than this frequency, the sampled value of such zero crossing can be multiple
Read.
Illustrate that Ta0 last time sampled value has been continuously read 5 times in Fig. 8.So, a zero crossing bemf value is just
It is read several times and then is reused, is made troubles to normal motor control.
Fig. 9 shows the corresponding relation of micro-stepping value and quadrant residing for motor when step mode arranges value is 16 micro-stepping.Therefore
It is that can determine whether whether quadrant updates by micro-stepping register value.
By this step, it can further solve a zero crossing bemf value shown in Fig. 8 and be read several times and then weighed
The problem of using again.
Embodiment 7
The method of controlled motor speed as described in any in above-mentioned embodiment 1-6, what the present embodiment was different from is in
In, in addition to step S, motor speed is set as speed between a non-motor resonance region；The step may be provided at the step S2 or
Before or after S1.
So, when can cause initial motor speed is speed between a non-motor resonance region, if motor is when initial
Motor speed is motor resonance overall travel speed, then when being detected to its motor speed due to the influence of resonance characteristic, it is impossible to accurate
Really the running speed of motor is judged, so that can not be normally carried out to the speed control of motor；Therefore, by motor when initial
Speed is set to speed between a non-motor resonance region, and the speed control of motor can be caused to be normally carried out, and smoothly solves because resonance can
The problem of data distortion that can be produced etc. influences system control effect and then brings risk to whole system.
Embodiment 8
The control method of motor as described above, the present embodiment is different from part and is, as shown in fig. 7, the step
Rapid S1 includes：
Step S11, clock signal is generated by reference clock；
By generating clock signal, follow-up sampling instant can be selected, in order to carry out in special time period
Sampling.
Step S12, according to the clock signal in the time current crosses zero of sampling coil to the sampling coil two ends
Voltage is sampled, and sampled voltage is stored in bemf registers；The sampled voltage is the bemf values of motor；
Wherein, the sampling coil is coil of stator of motor.
Voltage expression is on coil of stator of motor：
VcoilFor coil voltage, i is coil current, and R is coil resistance, and L is coil inductance, and bemf becomes for rotor field
Change the induced electromotive force produced on coil.When electric current is 0 on coil, the terminal voltage of coil is equal to bemf, therefore can be with
By collection coil magnitude of voltage when electric current is zero on coil to obtain bemf.
In addition, when being sampled to the both end voltage of the sampling coil, the stator coil of the motor is generally one
Or two or three or more than three, it can now choose one of them and be sampled as sampling coil.
In the step, after being sampled to the sampling coil both end voltage, sampled data is converted into data signal,
The data signal is the sampled voltage.
So, the bemf values of motor can be directly measured in the time current crosses zero of sampling coil, simple, quick, side
Just.
Step S13, preserves presently described while sampled voltage is stored in bemf registers using micro-stepping register
Micro-stepping value residing for motor operation.
So, the operation conditions of motor can be judged by micro-stepping value.
Embodiment 9
As shown in figure 12；Wherein, the system of the controlled motor speed, it is capable of the speed operation of controlled motor, including：
Drive control module 3, it controls generation drive signal；
Drive module 4, it receives the drive signal, and drives the motor；
Central processing module 6, it is connected with the drive control module 3, judges the running status of the motor；
The central processing module 6 includes：,
The initial value setting module 61, an initial value is set to by the bemf averages；
The data reception module 62, is received described in the drive control module reads from the bemf registers
Bemf values；
The assignment module 64, it is connected with the data reception module 62, by the bemf averages and this bemf value
The average value of sum is used as new bemf averages；
The presetting module 65, is previously provided with predetermined interval in it；
The judge module 66, judges the bemf averages whether in predetermined interval, if then to the data receiver
Module 62, which is sent, restarts signal；If not then sending non-setting signal；
The drive control module 3 is received after the non-setting signal, and the speed to the motor is modified.
So, the control system can be controlled to the speed of motor, be prevented because motor speed enters resonance interval
The serious consequence caused.
Embodiment 10
The system of controlled motor speed as described above, the present embodiment is different from part and is, is as described in Figure 13
System also includes：
Coil is selected and sampling hold circuit 1, itself and the motor connection, by the stator coil both end voltage of the motor
Sampled；
Adc circuit 2, sampled data is converted to data signal by it；
Drive control module 3, it includes bemf registers, receives the data signal and updates.
So, bemf values can be acquired and is updated.
Embodiment 11
The system of controlled motor speed as described above, the present embodiment is different from part and is, the drive control
Reference clock of the module 3 based on input, control generation drive signal, and transmitted to coil selection and sampling hold circuit 1.
Due to included in drive signal in coil electric current when the information of zero passage, the drive control module 3 is to the line
The voltage sample that circle is selected and the transmission of sampling hold circuit 1 clock signal causes it to stator coil is only being sampled the electricity of coil
Flow through progress in the zero-time.
So, the coil selection and sampling hold circuit can be carried out to it in the time current crosses zero of stator coil
Both end voltage is sampled；Adc circuit is converted to sampled data in the bemf registers in data signal, drive control module 3
Value is corresponding to be updated；The drive control module control generation drive signal is to drive module simultaneously, to drive the motor.This
Sample, by the sampling of both end voltage in the time current crosses zero to coil of stator of motor, can grasp the operation shape of the motor
State, to be preferably controlled to the motor.
Embodiment 12
The system of controlled motor speed as described above, the present embodiment is different from part and is, the drive control
Module 3 also includes micro-stepping register, and the micro-stepping register preserves the residing micro-stepping value of current motor operation, posted by reading this
Storage intermediate value is that can determine whether what micro-stepping position current motor operation is in.It is 16 micro-steppings for motor step mode setting value
When (i.e. one synchronizing is divided into 16 micro-steppings to walk), the register value scope is 0 to 63, the scope 4 synchronizings of correspondence, i.e., one drive
The dynamic cycle.When the change of step mode setting value, the register range is accordingly changed.
The micro-stepping register synchronizes renewal when the bemf registers update.
Embodiment 13
The system of controlled motor speed as described above, the present embodiment is different from part and is, the drive control
Module 3 also includes delay circuit, and it enters line delay to the clock signal so that do suitable time-delay during each zero passage of coil with true
Guarantor is stored in bemf registers again after the Tdecay moment, so can be by controlling the signal of bemf register captures to enter
And cause the bemf values that central processing module is read closer to the inverse electromotive force of coil.
Embodiment 14
The system of controlled motor speed as described above, the present embodiment is different from part and is, as shown in figure 14, institute
Stating central processing module 6 also includes：Micro-stepping value contrast module 67；The data reception module 62 also receives the drive control mould
The micro-stepping value that block is read from the micro-stepping register；The micro-stepping value contrast module 67 judge the micro-stepping value whether be
The integral multiple of the motor step mode setting value, signal is restarted if so, then being sent to the data reception module 62.
Directly influence of the coil zero passage start time residual current to bemf values can be excluded using micro-stepping value.So, may be used
The problem of being read several times and then be reused with a further zero crossing bemf value of solution.
Embodiment 15
The system of controlled motor speed as described above, the present embodiment is different from part and is, as shown in figure 15, institute
Stating central processing module 6 also includes：Quadrant contrast module 68, it is connected with the micro-stepping value contrast module 67, judges described micro-
Whether in a quadrant, signal is restarted if so, then being sent to the data reception module 62 with micro-stepping value before for step value.
So, a problem of zero crossing bemf value is read several times and then is reused can further be solved.
It should be noted that the present invention is simply illustrated with the few examples in the application of motor, it is impossible to be interpreted as this
Invention is only defined in the example in the present invention and used, if motor application is in electric expansion valve, electronics water valve, electronic water pump
In, fall within protection scope of the present invention.As long as being transported using control method of the present invention and control system come controlled motor
The method of scanning frequency degree, all falls in the scope of protection of the present invention.As long as using motor shown in the present invention and using institute of the present invention
The device that detection method carries out motor operating state detection is stated, is also all fallen in the scope of protection of the present invention.
Presently preferred embodiments of the present invention is the foregoing is only, is merely illustrative for the purpose of the present invention, and it is non-limiting
's.Those skilled in the art understands, many changes can be carried out to it in the spirit and scope that the claims in the present invention are limited,
Modification, in addition it is equivalent, but fall within protection scope of the present invention.
Claims (12)
1. a kind of method of controlled motor speed, it is characterised in that including：
Step S1, gathers the bemf values of motor, and is stored in bemf registers；
Step S2, it is an initial value to set bemf averages；
Step S3, reads the bemf values from the bemf registers, and by the bemf averages and this bemf value sum
Average value be used as new bemf averages；
Step S4, judges the bemf averages whether in predetermined interval, if so, the then motor speed and setting speed phase
Symbol, and return to step S3；If it is not, then the motor speed is not inconsistent with setting speed；
Step S5, the setting speed or generation signal are modified to by the motor speed.
2. the method for controlled motor speed as claimed in claim 1, it is characterised in that the step S1 includes：
Step S11, clock signal is generated by reference clock；
Step S12, according to the clock signal in the time current crosses zero of sampling coil to the sampling coil both end voltage
Sampled, and sampled voltage is stored in the bemf registers；The sampled voltage is the bemf values of motor.
3. the method for controlled motor speed as claimed in claim 2, it is characterised in that in the step S12, adopted to described
After line-transect circle both end voltage is sampled, sampled data is converted into data signal.
4. the method for the controlled motor speed as described in any in claim 1-3, it is characterised in that also including step S, setting
Motor speed is speed between a non-motor resonance region；The step is arranged on before or after the step S2 or S1.
5. a kind of method of controlled motor speed, it is characterised in that including：
Step S1, gathers the bemf values of motor, and is stored in bemf registers, while preserving current electricity using micro-stepping register
The residing micro-stepping value of machine operation；
Step S2, it is an initial value to set bemf averages；
Step S3, reads the bemf values from the bemf registers, and the micro-stepping value is read from the micro-stepping register；
Step S4, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so, then return to step
S3；
Step S6, regard the average value of the bemf averages and this bemf value sum as new bemf averages；
Step S7, judges the bemf averages whether in predetermined interval, if so, the then motor speed and setting speed phase
Symbol, and return to step S3；If it is not, then the motor speed is not inconsistent with setting speed；
Step S8, the setting speed or generation signal are modified to by the motor speed.
6. the method for controlled motor speed as claimed in claim 5, it is characterised in that the step S1 includes：
Step S11, clock signal is generated by reference clock；
Step S12, according to the clock signal in the time current crosses zero of sampling coil to the sampling coil both end voltage
Sampled, and sampled voltage is stored in the bemf registers；The sampled voltage is the bemf values of motor；
Step S13, is preserved while the sampled voltage is stored in the bemf registers using the micro-stepping register
The micro-stepping value residing for presently described motor operation.
7. the method for the controlled motor speed as described in claim 5 or 6, it is characterised in that also including step S5, judges described
Micro-stepping value with whether micro-stepping value in a quadrant before, if then return to step S3.
8. a kind of system of controlled motor speed, it can be used in the speed operation of controlled motor, it is characterised in that the control
The system of motor speed includes：
Drive control module, it controls generation drive signal；Drive module, it receives the drive signal, and drives the electricity
Machine；
Central processing module, it is connected with the drive control module, judges the running status of the motor；
The central processing module includes：
Initial value setting module, an initial value is set to by bemf averages；
Data reception module, what the reception drive control module was read from bemf registers states bemf values；
Assignment module, it is connected with the data reception module, by the average value of the bemf averages and this bemf value sum
It is used as new bemf averages；
Presetting module, is previously provided with predetermined interval in it；
Judge module, judges the bemf averages whether in the predetermined interval, if then being sent out to the data reception module
Send and restart signal；If not then sending non-setting signal；
The drive control module is received after the non-setting signal, and the speed to the motor is modified or generated signal.
9. the system of controlled motor speed as claimed in claim 8, it is characterised in that also include：
Coil is selected and sampling hold circuit, itself and the motor connection, and the stator coil both end voltage to the motor is carried out
Sampling；
Adc circuit, sampled voltage is converted to data signal by it；
The bemf registers in the drive control module, receive the data signal and update.
10. the system of controlled motor speed as claimed in claim 9, it is characterised in that the drive control module is based on defeated
The reference clock entered, the control generation drive signal, and transmitted to coil selection and sampling hold circuit.
11. the system of the controlled motor speed as described in claim 8 or 9 or 10, it is characterised in that the central processing module
Also include：Micro-stepping value contrast module；The data reception module also receives the drive control module and read from micro-stepping register
The micro-stepping value taken；The micro-stepping value contrast module judge the micro-stepping value whether be the motor step mode setting value integer
Times, if so, then to the data reception module send described in restart signal.
12. the system of controlled motor speed as claimed in claim 11, it is characterised in that the central processing module is also wrapped
Include：Quadrant contrast module, whether it is connected with the micro-stepping value contrast module, judge the micro-stepping value with micro-stepping value before one
In individual quadrant, if so, then to the data reception module send described in restart signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710375869.8A CN107093965B (en) | 2017-05-24 | 2017-05-24 | The system for controlling the method for motor speed and controlling motor speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710375869.8A CN107093965B (en) | 2017-05-24 | 2017-05-24 | The system for controlling the method for motor speed and controlling motor speed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107093965A true CN107093965A (en) | 2017-08-25 |
| CN107093965B CN107093965B (en) | 2019-08-23 |
Family
ID=59640388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710375869.8A Active CN107093965B (en) | 2017-05-24 | 2017-05-24 | The system for controlling the method for motor speed and controlling motor speed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107093965B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187274A (en) * | 2019-05-31 | 2019-08-30 | 维沃移动通信有限公司 | A kind of stepper motor detection method, device and system |
| CN110350846A (en) * | 2019-07-12 | 2019-10-18 | 四川虹美智能科技有限公司 | A kind of motor speed control method and device |
| CN111946885A (en) * | 2019-05-17 | 2020-11-17 | 杭州三花研究院有限公司 | Control system and control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030137273A1 (en) * | 2000-08-15 | 2003-07-24 | Acuid Corporation (Guernsey) Limited | Method and apparatus for controlling acceleration and velocity of a stepper motor |
| CN101098118A (en) * | 2007-06-13 | 2008-01-02 | 邱光 | Rotation velocity control method and circuit of DC dragging system |
| CN105958874A (en) * | 2016-03-30 | 2016-09-21 | 曹子沛 | Three-phase brushless direct current motor adaptive commutation angle compensation method |
| CN106253789A (en) * | 2016-10-27 | 2016-12-21 | 深圳市复兴伟业技术有限公司 | The zero passage method of sampling of single phase induction motor inverse electromotive force |
| CN106533279A (en) * | 2016-11-18 | 2017-03-22 | 广州视源电子科技股份有限公司 | Out-of-step detection method and out-of-step detection device of synchronous motor |
| CN106602943A (en) * | 2016-12-03 | 2017-04-26 | 中国电子科技集团公司第四十三研究所 | Position sensor free motor speed detection circuit and detection method thereof |
-
2017
- 2017-05-24 CN CN201710375869.8A patent/CN107093965B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030137273A1 (en) * | 2000-08-15 | 2003-07-24 | Acuid Corporation (Guernsey) Limited | Method and apparatus for controlling acceleration and velocity of a stepper motor |
| CN101098118A (en) * | 2007-06-13 | 2008-01-02 | 邱光 | Rotation velocity control method and circuit of DC dragging system |
| CN105958874A (en) * | 2016-03-30 | 2016-09-21 | 曹子沛 | Three-phase brushless direct current motor adaptive commutation angle compensation method |
| CN106253789A (en) * | 2016-10-27 | 2016-12-21 | 深圳市复兴伟业技术有限公司 | The zero passage method of sampling of single phase induction motor inverse electromotive force |
| CN106533279A (en) * | 2016-11-18 | 2017-03-22 | 广州视源电子科技股份有限公司 | Out-of-step detection method and out-of-step detection device of synchronous motor |
| CN106602943A (en) * | 2016-12-03 | 2017-04-26 | 中国电子科技集团公司第四十三研究所 | Position sensor free motor speed detection circuit and detection method thereof |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111946885A (en) * | 2019-05-17 | 2020-11-17 | 杭州三花研究院有限公司 | Control system and control method |
| CN111946885B (en) * | 2019-05-17 | 2022-06-28 | 杭州三花研究院有限公司 | Control system and control method |
| CN110187274A (en) * | 2019-05-31 | 2019-08-30 | 维沃移动通信有限公司 | A kind of stepper motor detection method, device and system |
| CN110350846A (en) * | 2019-07-12 | 2019-10-18 | 四川虹美智能科技有限公司 | A kind of motor speed control method and device |
| CN110350846B (en) * | 2019-07-12 | 2020-12-22 | 四川虹美智能科技有限公司 | Motor rotating speed control method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107093965B (en) | 2019-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107093965B (en) | The system for controlling the method for motor speed and controlling motor speed | |
| CN100355196C (en) | Small armature inductance high-speed permanent-magnet brushless DC motor control system without position sensor | |
| TWI284451B (en) | Method and apparatus for detecting a stall condition in a stepping motor | |
| EP0883234A2 (en) | Drive circuit for brushless motor | |
| CN106341062B (en) | For controlling the technology of brushless DC (BLDC) motor | |
| CN100486100C (en) | Method and apparatus for driving brushless DC motor | |
| CN101884162A (en) | Be used to discern the method and apparatus of stepping motor step-out | |
| CN103078586A (en) | Non-location technology for three-phase electro-magnetic double-salient pole machine starting and accelerating based on induction method | |
| EP3633845B1 (en) | Control system and control method | |
| CN103954010A (en) | Air-conditioner outdoor fan starting control method and control device and air-conditioner adopting same | |
| CN107101428B (en) | The control method and control system of electric expansion valve | |
| CN106464183A (en) | Motor coil timing method | |
| CN104503222A (en) | Watch and method for synchronizing time thereof | |
| US7880423B2 (en) | Method and apparatus for stepper motor stall detection | |
| CN107104615B (en) | Control the method and control system of motor | |
| US20130214714A1 (en) | Method and device for controlling a synchronous machine | |
| US7812562B2 (en) | Method and apparatus for high speed stepper motor stall detection | |
| CN101635548B (en) | Smooth switching method of position sensorless control of brushless DC motor | |
| CN102608438B (en) | Method for determining corresponding relation of phase sequence of stator winding and encoder | |
| CN100408982C (en) | Method and device for determining the hydraulic flow rate in a pump | |
| CN103743923A (en) | High-frequency vehicle speed collection system and collection method | |
| US11374518B2 (en) | Control unit and method to detect stall or step-loss in a stepper motor | |
| CN101053148B (en) | Counter electro-motoric force based functional status detection of an electro-motor | |
| CN102197582A (en) | D.C. motor and method for operating said D.C. motor | |
| KR102322608B1 (en) | Control system and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210714 Address after: 312500 xialiquan village, Qixing street, Xinchang County, Shaoxing City, Zhejiang Province Patentee after: SANHUA HOLDING GROUP Co.,Ltd. Address before: 310018 no.289-2, No.12 street, Xiasha Economic Development Zone, Hangzhou City, Zhejiang Province Patentee before: Hangzhou Sanhua Research Institute Co.,Ltd. |
|
| TR01 | Transfer of patent right |