CN107101428A - Control method and control system - Google Patents
Control method and control system Download PDFInfo
- Publication number
- CN107101428A CN107101428A CN201710374014.3A CN201710374014A CN107101428A CN 107101428 A CN107101428 A CN 107101428A CN 201710374014 A CN201710374014 A CN 201710374014A CN 107101428 A CN107101428 A CN 107101428A
- Authority
- CN
- China
- Prior art keywords
- micro
- value
- motor
- stepping
- coil
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B49/00—Arrangement or mounting of control or safety devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B41/00—Fluid-circulation arrangements
- F25B41/30—Expansion means; Dispositions thereof
- F25B41/31—Expansion valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B2600/00—Control issues
- F25B2600/25—Control of valves
- F25B2600/2513—Expansion valves
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The present invention discloses a kind of control method, can be used in controlling electric expansion valve, it includes：Step S1, clock signal is generated by reference clock；Step S2, samples, and sampled voltage is stored in bemf registers according to the clock signal in the time current crosses zero of sampling coil to the sampling coil both end voltage；Step S3, the sampled voltage is read from bemf registers, electric expansion valve is controlled；A kind of control system is also disclosed, electric expansion valve can be controlled.So, by being sampled at the current over-zero moment to it, the degree of accuracy of detection data is improved, is conducive to improving the reliability controlled.
Description
Technical field
The present invention relates to control technology field, and in particular to a kind of control method and control system.
Background technology
Electric expansion valve is by electronic controller, motor, the part composition such as needle, the rotation of controller controlled motor rotor,
The rotation of rotor drives moving up and down for needle, reaches the purpose of Flow-rate adjustment.Electric expansion valve is applied in more accurate work
In journey or instrument, it is therefore desirable to electric expansion valve, motor particularly therein accurately detect and control.
But the control data accuracy of current electric expansion valve is very low so that the flow of electric expansion valve is controlled not
Standard, influences system control effect, or even can influence the reliability of whole system.
Therefore, it is necessary to be improved to existing technology, to solve above technical problem
The content of the invention
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is that there is provided a kind of control method, the control
Method can be used in controlling electric expansion valve, and the electric expansion valve includes motor, and the motor includes stator coil, the control
Method processed includes：
Step S1, clock signal is generated by reference clock；
Step S2, according to the clock signal sampling stator coil time current crosses zero in the stator coil two
Terminal voltage is sampled, and sampled voltage is stored in bemf registers；
Step S3, reads the sampled voltage from the bemf registers, electric expansion valve is controlled and operated.
In the step S2, after being sampled to the sampling coil both end voltage, sampled data is converted into numeral
Signal.
While sampled voltage is stored in bemf registers current motor operation institute is preserved using micro-stepping register
Also include reading the micro-stepping value from the micro-stepping register in the micro-stepping value at place, the step S3.
The step S3 includes：Step S31, the sampled voltage is read from the bemf registers, from the micro-stepping
The micro-stepping value is read in register；Step S32, judge the micro-stepping value whether be motor step mode setting value integer
Times, if so, then return to step S31.
The present invention also provides a kind of control system, and the control system can control electric expansion valve, the electronic expansion
Valve includes motor, and the motor includes stator coil, it is characterised in that the control system includes：
Coil is selected and sampling hold circuit, itself and the motor connection, by the stator coil both end voltage of the motor
Sampled and obtain sampled data；
Adc circuit, the sampled data is converted to data signal by it；
Drive control module, it includes bemf registers, receives the data signal and updates；The drive control module
Control generation drive signal；
Drive module, it receives the drive signal, and drives the motor；
Wherein, reference clock of the drive control module based on input, the control generation drive signal, and to described
Coil is selected and sampling hold circuit transmission.
The drive control module also includes micro-stepping register, and the micro-stepping register is preserved residing for current motor operation
Micro-stepping value.
Also include central processing module, it is connected with the drive control module, judges the running status of the motor.
The central processing module includes：Data reception module, it is connected with the drive control module, receives described drive
The dynamic control module sampled voltage read from the bemf registers and the institute read from the micro-stepping value register
State micro-stepping value；Micro-stepping value contrast module, its judge the micro-stepping value whether be the motor step mode setting value integral multiple,
Restart signal if so, then being sent to the data reception module.
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 control method and control system that provide of the present invention, by the current over-zero moment to it
Sampled, improve the degree of accuracy of detection data, greatly reduce the risk that detection is forbidden to bring；By accurately detecting number
According to, can provide significantly control and operation accuracy.
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 the schematic flow sheet of the first embodiment of control method；
Fig. 2 is that the bemf values produced on stator coil change theoretical value schematic diagram with rotor velocity of rotation；；
Coil current and the corresponding relation schematic diagram of time when Fig. 3 is current over-zero on motor coil；
Coil voltage and the corresponding relation schematic diagram of time when Fig. 4 is current over-zero on motor coil；
Fig. 5 is the schematic flow sheet of step S3 the first embodiment；
Fig. 6 is the schematic flow sheet of step S3 second of embodiment；
Fig. 7 is the electric current and the corresponding relation schematic diagram of time of two phase coils；
Fig. 8 is the electric current and the schematic diagram of the corresponding relation another embodiment of time of two phase coils in a cycle；
Fig. 9 is to occur stall in motor operation course and the feedback position of stall does not occur and physical location corresponding relation shows
It is intended to；
Figure 10 is the schematic flow sheet of second of embodiment of control method；
Figure 11 is the schematic flow sheet of the third embodiment of control method；
Figure 12 is the schematic flow sheet of the 4th kind of embodiment of control method；
Figure 13 is the bemf values produced on the stator coil for include resonance range with showing that rotor velocity of rotation changes
It is intended to；
Figure 14 is the schematic diagram of the first embodiment of control system；
Figure 15 is the schematic diagram of second of embodiment of control system；
Figure 16 is the schematic diagram of the third embodiment of control system；
Figure 17 is the schematic diagram of the 4th kind of embodiment of control system；
The schematic diagram of the first embodiment of processing module centered on Figure 18；
The schematic diagram of second of embodiment of processing module centered on Figure 19；
The schematic diagram of the third embodiment of processing module centered on Figure 20；
The schematic diagram of 4th kind of embodiment of processing module centered on Figure 21；
The schematic diagram of 5th kind of embodiment of processing module centered on Figure 22.
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 1, in the present embodiment, control method can be used in controlling electric expansion valve, and electric expansion valve includes electricity
Machine, motor includes stator coil, and control method controls electric expansion valve by controlled motor, and control method includes：
Step S1, 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 S2, enters according to clock signal in the time current crosses zero of sampling coil to the sampling coil both end voltage
Row sampling, and sampled voltage is stored in bemf registers；
Wherein, sampling coil is coil of stator of motor.
Voltage expression is on coil of stator of motor：
VcilFor 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.
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 2.
In addition, when being sampled to the both end voltage of sampling coil, the stator coil of motor be 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 sampling coil both end voltage, sampled data is converted into data signal, the number
Word signal is the sampled voltage.
So, by being sampled at the current over-zero moment to it, the degree of accuracy of detection data is improved, by accurate
Data are detected, the accuracy of control and operation can be favorably provided, and then improve the reliability of system control.
Step S3, the sampled voltage is read from the bemf registers, the electric expansion valve is controlled and
Operation.
In the step, the control operation can be stall control, or motor speed is controlled；It can be existing
The control operation that can be taken electronic control valve.
So, the service data of electric expansion valve can be accurately detected, by accurately detecting data, can be provided significantly
Control and the accuracy of operation, improve the reliability of control.
Embodiment 2
Control method as described above, the present embodiment is different from part and is that the step S1 also includes, to described
Clock signal enters line delay；
It is coil current zero-crossing timing between T1 and T2 in Fig. 3.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 4, 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, and then cause bemf
Inverse electromotive force of the value closer to coil.
Embodiment 3
Control method as described above, the present embodiment is different from part and is, in the step S2, in the electricity that will sample
Pressure is stored in while in bemf registers using the micro-stepping value that the preservation current motor operation of micro-stepping register is residing.
So, can be to needing the situation of micro-stepping value to be supported in the follow-up control operation, expansion can be supported
Opereating specification.
In the step S3, the sampled voltage is read from the bemf registers, is read from the micro-stepping register
The micro-stepping value is taken, the electric expansion valve is controlled and operated.
Embodiment 4
Control method as described above, the present embodiment is different from part and is, as shown in figure 5, the step S3 bags
Include：
Step S31, the sampled voltage is read from the bemf registers, is read from the micro-stepping register described
Micro-stepping value；
Step S32, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so, then returning
Return step S31.
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, and then cause bemf values closer to the inverse electromotive force of coil.
Embodiment 5
Control method as described above, the present embodiment is different from part and is, as shown in fig. 6, the step S3 is also
Including step S33, judge the micro-stepping value and whether micro-stepping value is in a quadrant before, if then return to step S31.
Ta0 and Tb0 were respectively two phase coil zero crossing moment in Fig. 7 and Fig. 8.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. 7.So, a zero crossing sampled voltage
Just it is read several times and then is reused, is made troubles to normal electronic expansion valve controls.
Fig. 8 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, can further solve a zero crossing sampled voltage shown in Fig. 7 be read several times so that by
The problem of reuse.
Embodiment 6
Auto electronic expansion valve is controlled by controller, and electric expansion valve includes motor, the part, motor bag such as needle
Stator coil and rotor are included, the rotation of rotor drives moving up and down for needle, reaches the purpose of Flow-rate adjustment.Auto electronic expands
Valve is arranged on automobile, and the operating condition of automobile is extremely complex, the possibility that there is the entrance of impurity foreign matter, so as to cause motor card
Firmly.
The failure that electric expansion valve generation motor is blocked can not be detected, and electric expansion valve can be caused to report control control
The electric expansion valve of device processed is presently in position (such as reporting in 50% open position) and electric expansion valve physical location (ratio
Such as it is in 10% open position) be not inconsistent, i.e., the flow of electric expansion valve is forbidden, and has a strong impact on system control reliability.And if
Electric expansion valve is blocked and can not be detected in ad-hoc location (closed positions that such as aperture is 0%), then will be to whole system band
Carry out serious risk.
As shown in figure 9, in the present embodiment, wherein solid line represents electric expansion valve physical location, reality residing for electric expansion valve
Border position is the mechanical location residing for electronic expansion valve needle, and dotted line represents electric expansion valve feedback position, and electric expansion valve is anti-
Feedback position is that software thinks the position that electric expansion valve is presently in and this positional value can be fed back to control electric expansion valve
Controller；The bending place Tchange moment.Before the Tchange moment, electric expansion valve does not occur motor desynchronizing or blocked
Abnormal, now both are consistent, and feedback position is consistent with physical location.At the Tchange moment, motor, which occurs, for electric expansion valve blocks,
Physical location is stopped always afterwards, is no longer changed.Because no stall detects function, software will be considered that motor work still " just
Often ", continue to apply drive signal to coil, correspondingly software will be considered that electric expansion valve self-position " according to application
Drive signal normal variation is until going to target location " and this is reported into controller.Thus produce electric expansion valve actual
Position and report the problem of position is not inconsistent, influence the reliability of control.
As shown in Figure 10, a kind of control method, can be used in controlling electric expansion valve, the electric expansion valve includes electricity
Machine, the motor includes stator coil, and it 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；
Wherein, the sampling coil is stator coil.
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.
Step S13, if sampled voltage summation is an initial value；
Step S14, reads the sampled voltage, and this described sampled voltage is converted to from the bemf registers
Voltage equivalence value；
This sampled voltage is converted into voltage equivalence value, this conversion is set up in each sampled voltage and motor operation shape
On the basis of the correlation analysis of state.
Voltage equivalence value is the contribution margin that motor abnormality is operated, according to the sampled voltage pair read from the bemf registers
Motor abnormality contribution assigns corresponding weight to it, contributes big to motor abnormality, assigns larger weight, i.e., basis from
The sampled voltage that the bemf registers are read assigns weight proportional therewith, voltage etc. to motor abnormality contribution to it
Valid value is equal to the weight corresponding with sampled voltage；
Step S15, using the sampled voltage summation and the voltage equivalence value and be used as new sampled voltage summation；
Step S16, judges whether the sampled voltage summation is more than threshold value, if being more than, and judges that stall occurs for motor simultaneously
Send signal；If being not more than, return to step S14.
It should be noted that step S16 is built upon on the basis of the particular conversion relation in step S14.Work as use
After opposite transformational relation, the Rule of judgment of stall is judged in step S16 to be less than threshold value as sampled voltage summation, and this is simultaneously
The judgement to " judgement stall " this actual conditions is not influenceed.
So, by the sampling of both end voltage in the time current crosses zero to coil of stator of motor, and it is general to be used in stall
The related equivalence value of rate is judged, the running status of motor is favorably grasped, to be preferably controlled to the motor；Can be with
The rapid stall to motor is detected, is prevented because of the serious risk that motor rotation blockage is brought to system.
Embodiment 7
Control method as described above, the present embodiment is different from part and is that the step S11 also includes, to institute
State clock signal and enter line delay；
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, and then cause bemf
Inverse electromotive force of the value closer to coil.
Embodiment 8
As shown in figure 11, in the present embodiment, control method can be used in controlling electric expansion valve, the electric expansion valve
Including motor, the motor includes stator coil, and control method 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, is transported while preserving current motor using micro-stepping register
The residing micro-stepping value of row；
Wherein, the sampling coil is coil of stator of motor.
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.
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 S13, if sampled voltage summation is an initial value；
Step S14, the sampled voltage is read from the bemf registers, is read from the micro-stepping register described
Micro-stepping value；
Step S15, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so, then returning
Return step S14；
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, and then cause bemf values closer to the inverse electromotive force of coil.
Step S17, determines this described sampled voltage for virtual value and the sampled voltage is converted into voltage equivalence value；
This sampled voltage is converted into voltage equivalence value, this conversion is set up in each sampled voltage and motor operation shape
On the basis of the correlation analysis of state.
Voltage equivalence value is the contribution margin that motor abnormality is operated, according to the sampled voltage pair read from the bemf registers
Motor abnormality contribution assigns corresponding weight to it, contributes big to motor abnormality, assigns larger weight, i.e., basis from
The sampled voltage that the bemf registers are read assigns weight proportional therewith, voltage etc. to motor abnormality contribution to it
Valid value is equal to the weight corresponding with sampled voltage；
Step S18, using the sampled voltage summation and the voltage equivalence value and be used as new sampled voltage summation；
Step S19, judges whether the sampled voltage summation is more than threshold value, if being more than, and judges that stall occurs for motor simultaneously
Send signal；If being not more than, return to step S14.
It should be noted that this step is built upon on the basis of the particular conversion relation in step S17.When using phase
The Rule of judgment of stall is judged after anti-transformational relation, in this step to be less than threshold value as sampled voltage summation, and this is not
Influence the judgement to " judgement stall " this actual conditions.
So, by the sampling of both end voltage in the time current crosses zero to coil of stator of motor, and it is general to be used in stall
The related equivalence value of rate is judged, the running status of motor is favorably grasped, to be preferably controlled to the motor；Can be with
The rapid stall to motor is detected, is prevented because of the serious risk that motor rotation blockage is brought to system
Embodiment 9
Control method as described above, the present embodiment is different from part and is, as shown in figure 12, in addition to step
S16, judges the micro-stepping value and whether micro-stepping value is in a quadrant before, if then return to step S14；The step is in step
After S15, before step S17.
Ta0 and Tb0 were respectively two phase coil zero crossing moment in Fig. 7 and Fig. 8.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. 7.So, a zero crossing sampled voltage
Just it is read several times and then is reused, is made troubles to normal motor control.
Fig. 8 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, can further solve a zero crossing sampled voltage shown in Fig. 7 be read several times so that by
The problem of reuse.
Embodiment 10
Control method as described above, the present embodiment is different from part and is, in addition to step S, setting motor speed
Spend for speed between a non-motor resonance region；The step may be provided at before or after the step S13.
Bemf values are linear with rotor rotation speed in theory, as shown in Figure 2.But in fact, because motor is present
Resonance characteristic, bemf values can be suffered from this.Motor speed S11 and S12 interval are interval for the resonant frequency of motor in Figure 13, it is seen that
It is interval interior herein, bemf values and the non-linear relation of rotor speed.
Therefore, motor speed is set to speed between a non-motor resonance region, motor can be accurately controlled, kept away
Exempt to cause control to malfunction because of the resonance characteristic of motor.
Embodiment 11
As shown in figure 14；Wherein, the control system, can control electric expansion valve, and the electric expansion valve includes electricity
Machine, the motor includes stator coil, and the control system 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 and obtain sampled data；
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；The drive control mould
Block control generation drive signal；
Drive module 4, it receives the drive signal, and drives the motor；
Wherein,
The reference clock of the drive control module 3 based on input, control generation drive signal, and selected to the coil
And sampling hold circuit 1 is transmitted.
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
Control system as described above, the present embodiment is different from part and is, as shown in figure 15, the electronic expansion
Valve control system also includes central processing module 6, and it is connected with the drive control module 3, judges the operation shape of the motor
State.
Embodiment 13
Control system as described above, the present embodiment is different from part and is that the drive control module 3 also includes
Micro-stepping register, the micro-stepping register preserves the residing micro-stepping value of current motor operation, by reading the register intermediate value i.e.
It can determine whether what micro-stepping position current motor operation is in.It is 16 micro-steppings (i.e. one synchronizing for motor step mode setting value
It 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 drive cycle.Work as step
Enter mode settings change, the register range is accordingly changed.
The micro-stepping register synchronizes renewal when the bemf registers update.
Embodiment 14
Control system as described above, the present embodiment is different from part and is that the drive control module 3 also includes
Delay circuit, it enters line delay to the clock signal so that do suitable time-delay to ensure in Tdecay during each zero passage of coil
It is stored in again in bemf registers after moment, so can be by controlling the signal of bemf register captures and then causing center
Inverse electromotive force of the bemf values that processing module is read closer to coil.
Embodiment 15
Control system as described above, the present embodiment is different from part and is, as shown in figure 16, the control system
Also include LIN and/or CAN transceiver modules 7, it is connected with the central processing module 6, output control signal.
LIN the and/or CAN transceiver modules 7 are controlled for receiving external control signal to electric expansion valve.
Embodiment 16
Control system as described above, the present embodiment is different from part and is, as shown in figure 17, the control system
Also include LIN and/or CAN 8, it is connected with LIN the and/or CAN transceiver modules 7, transmission of control signals.
LIN and/or CAN 8 are used to transmit external control signal.
Embodiment 17
Control system as described above, the present embodiment is different from part and is, as shown in figure 18, the center processing
Module 6 includes：
Data reception module 62, it is connected with the drive control module, receives the drive control module from described
The sampled voltage read in bemf registers and the micro-stepping value read from the micro-stepping value register；
Micro-stepping value contrast module 67, its judge the micro-stepping value whether be the motor step mode setting value integer
Times, restart signal if so, then being sent to the data reception module 62.
So, influence of the coil zero passage start time residual current to bemf values directly can be excluded using micro-stepping value, entered
And cause bemf values closer to the inverse electromotive force of coil.
Embodiment 18
Control system as described above, the present embodiment is different from part and is, as shown in figure 19；The center processing
Module 6 also includes：Quadrant contrast module 68, it is connected with the micro-stepping value contrast module 67, judge the micro-stepping value with before
Micro-stepping value restarts signal whether in a quadrant if so, then being sent to the data reception module 62.
So, a problem of zero crossing sampled voltage is read several times and then is reused can further be solved.
Embodiment 19
Control system as described above, the present embodiment is different from part and is, as shown in figure 20, the center processing
Module 6 includes：
Initial value setting module 61, the sampled voltage summation is set to an initial value by it；
Data reception module 62, it is connected with the drive control module, receives the drive control module from described
The sampled voltage read in bemf registers；
Voltage equivalent modules 63, the sampled voltage is converted to voltage equivalence value by it；
Assignment module 64, its using the sampled voltage summation with it is the voltage equivalence value and total as new sampled voltage
With；
Presetting module 65, is previously provided with threshold value in it；
Whether judge module 66, its described sampled voltage summation is more than threshold value, if so, judge that stall sends stall signal,
Restart signal if it is not, being sent to the data reception module 62.
It should be noted that judge module 66 is built upon on the basis of the particular conversion relation in assignment module 64.
After using opposite transformational relation, judge that the Rule of judgment of stall can also be less than as sampled voltage summation in judge module 66
Threshold value, this has no effect on the judgement to " judgement stall " this actual conditions.
Embodiment 20
Control system as described above, the present embodiment is different from part and is, as shown in figure 21, the center processing
Module 6 also includes：Micro-stepping value contrast module 67；The data reception module 62 also receives the drive control module from described micro-
The micro-stepping value read in step register；The micro-stepping value contrast module 67 judges whether the micro-stepping value is the motor step
Enter the integral multiple of mode settings, signal is restarted if so, then being sent to the data reception module 62.
Influence of the coil zero passage start time residual current to bemf values directly can be excluded using micro-stepping value, and then caused
Inverse electromotive force of the bemf values closer to coil.
Embodiment 21
Control system as described above, the present embodiment is different from part and is, as shown in figure 22；The center processing
Module 6 also includes：Quadrant contrast module 68, it is connected with the micro-stepping value contrast module 67, judge the micro-stepping value with before
Micro-stepping value restarts signal whether in a quadrant if so, then being sent to the data reception module 62.
So, a problem of zero crossing sampled voltage is read several times and then is reused can further be solved.
It should be noted that the present invention is simply illustrated by taking electric expansion valve as an example, it is impossible to be interpreted as the invention and only limit
Used due to electric expansion valve.As long as the method for carrying out motor operating state detection using detection method of the present invention,
In the scope of the present invention.As long as carrying out electricity using motor shown in the present invention and using detection method of the present invention
The device of machine condition monitoring, all falls in the scope of protection of the present invention.
In the present invention, the sampled voltage is the bemf values of motor.
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 (10)
1. a kind of control method, the control method can be used in controlling electric expansion valve, the electric expansion valve includes motor,
The motor includes stator coil, it is characterised in that the control method includes：
Step S1, clock signal is generated by reference clock；
Step S2, according to the clock signal sampling stator coil time current crosses zero in the stator coil two ends electricity
Pressure is sampled, and sampled voltage is stored in bemf registers；
Step S3, reads the sampled voltage from the bemf registers, electric expansion valve is controlled and operated.
2. control method as claimed in claim 1, it is characterised in that in the step S2, to the sampling coil two ends
After voltage is sampled, sampled data is converted into data signal.
3. control method as claimed in claim 1 or 2, it is characterised in that in the step S2, be stored in by sampled voltage
Preserved and also wrapped in the residing micro-stepping value of current motor operation, the step S3 using micro-stepping register while in bemf registers
Include and the micro-stepping value is read from the micro-stepping register.
4. control method as claimed in claim 3, it is characterised in that the step S3 includes：
Step S31, the sampled voltage is read from the bemf registers, and the micro-stepping is read from the micro-stepping register
Value；
Step S32, judge the micro-stepping value whether be motor step mode setting value integral multiple, if so, then return to step
S31。
5. control method as claimed in claim 4, it is characterised in that the step S3 also includes step S33, judges described micro-
Step value with whether micro-stepping value in a quadrant before, if then return to step S31.
6. a kind of control system, the control system can control electric expansion valve, the electric expansion valve includes motor, described
Motor includes stator coil, it is characterised in that the control system includes：
Coil is selected and sampling hold circuit, itself and the motor connection, and the stator coil both end voltage of the motor is carried out
Sample and obtain sampled data；
Adc circuit, the sampled data is converted to data signal by it；
Drive control module, it includes bemf registers, receives the data signal and updates；The drive control module control
Generate drive signal；
Drive module, it receives the drive signal, and drives the motor；
Wherein,
Reference clock of the drive control module based on input, the control generation drive signal, and selected to the coil
And sampling hold circuit transmission.
7. control system as claimed in claim 6, it is characterised in that the drive control module also includes micro-stepping register,
The micro-stepping register preserves the residing micro-stepping value of current motor operation.
8. control system as claimed in claim 7, it is characterised in that also including central processing module, it is controlled with the driving
Molding block is connected, and judges the running status of the motor.
9. control system as claimed in claim 8, it is characterised in that the central processing module includes：
Data reception module, it is connected with the drive control module, receives the drive control module and is deposited from the bemf
The sampled voltage read in device and the micro-stepping value read from the micro-stepping value register；
Micro-stepping value contrast module, its judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so,
Then sent to the data reception module and restart signal.
10. control system as claimed in claim 9, it is characterised in that the central processing module also includes：Quadrant contrasts mould
Block, it is connected with the micro-stepping value contrast module, judge the micro-stepping value with micro-stepping value before whether in a quadrant, if
Be, then to the data reception module send described in restart signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374014.3A CN107101428B (en) | 2017-05-24 | 2017-05-24 | The control method and control system of electric expansion valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374014.3A CN107101428B (en) | 2017-05-24 | 2017-05-24 | The control method and control system of electric expansion valve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107101428A true CN107101428A (en) | 2017-08-29 |
| CN107101428B CN107101428B (en) | 2019-08-23 |
Family
ID=59669935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710374014.3A Active CN107101428B (en) | 2017-05-24 | 2017-05-24 | The control method and control system of electric expansion valve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107101428B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261667A (en) * | 2019-05-15 | 2019-09-20 | 宁波拓邦智能控制有限公司 | Bean milling machine lacks beans detection method, system, bean milling machine and motor power detection circuit |
| CN112196897A (en) * | 2020-10-10 | 2021-01-08 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control system, method, device, equipment and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6519949B1 (en) * | 2000-11-13 | 2003-02-18 | Jds Uniphase Corporation | Dual pulse width modulated driver for thermo-electric cooler |
| US20030210011A1 (en) * | 2002-05-09 | 2003-11-13 | Corneliu Dragoi | Stall protection based on back EMF detection |
| CN1836369A (en) * | 2003-08-21 | 2006-09-20 | 罗姆股份有限公司 | Motor driver and magnetic disc apparatus |
| CN101098118A (en) * | 2007-06-13 | 2008-01-02 | 邱光 | Rotation velocity control method and circuit of DC dragging system |
| CN101355334A (en) * | 2007-07-27 | 2009-01-28 | 比亚迪股份有限公司 | Control method for correcting phase of brushless DC motor without position sensor |
| CN201238279Y (en) * | 2008-06-26 | 2009-05-13 | 上海日立电器有限公司 | Activation module of DC variable-frequency refrigerator |
| CN105007002A (en) * | 2015-07-06 | 2015-10-28 | 成都弘毅天承科技有限公司 | Single-phase driving circuit structure based on single-MEMS sensor |
| CN105009444A (en) * | 2013-03-13 | 2015-10-28 | 密克罗奇普技术公司 | Three phase brushless dc motor sensor-less control using sinusoidal drive method and apparatus |
-
2017
- 2017-05-24 CN CN201710374014.3A patent/CN107101428B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6519949B1 (en) * | 2000-11-13 | 2003-02-18 | Jds Uniphase Corporation | Dual pulse width modulated driver for thermo-electric cooler |
| US20030210011A1 (en) * | 2002-05-09 | 2003-11-13 | Corneliu Dragoi | Stall protection based on back EMF detection |
| CN1836369A (en) * | 2003-08-21 | 2006-09-20 | 罗姆股份有限公司 | Motor driver and magnetic disc apparatus |
| CN101098118A (en) * | 2007-06-13 | 2008-01-02 | 邱光 | Rotation velocity control method and circuit of DC dragging system |
| CN101355334A (en) * | 2007-07-27 | 2009-01-28 | 比亚迪股份有限公司 | Control method for correcting phase of brushless DC motor without position sensor |
| CN201238279Y (en) * | 2008-06-26 | 2009-05-13 | 上海日立电器有限公司 | Activation module of DC variable-frequency refrigerator |
| CN105009444A (en) * | 2013-03-13 | 2015-10-28 | 密克罗奇普技术公司 | Three phase brushless dc motor sensor-less control using sinusoidal drive method and apparatus |
| CN105007002A (en) * | 2015-07-06 | 2015-10-28 | 成都弘毅天承科技有限公司 | Single-phase driving circuit structure based on single-MEMS sensor |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261667A (en) * | 2019-05-15 | 2019-09-20 | 宁波拓邦智能控制有限公司 | Bean milling machine lacks beans detection method, system, bean milling machine and motor power detection circuit |
| CN110261667B (en) * | 2019-05-15 | 2022-08-23 | 宁波拓邦智能控制有限公司 | Bean grinding machine lack detection method and system, bean grinding machine and motor power detection circuit |
| CN112196897A (en) * | 2020-10-10 | 2021-01-08 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control system, method, device, equipment and storage medium |
| CN112196897B (en) * | 2020-10-10 | 2021-07-20 | 珠海格力电器股份有限公司 | Magnetic suspension bearing control system, method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107101428B (en) | 2019-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102230799B (en) | The method of the micro-electro-mechanical gyroscope synchronous with the excitation of calibration and excitation micro-electro-mechanical gyroscope | |
| CN107101428A (en) | Control method and control system | |
| CN107147342B (en) | A kind of induction motor parameter identification system and method | |
| TWI284451B (en) | Method and apparatus for detecting a stall condition in a stepping motor | |
| CN105783350B (en) | A kind of control method for electronic expansion valve of air conditioner and device | |
| CN102645065A (en) | Drive control device and method of electronic expansion valve | |
| CN107093965A (en) | The method of controlled motor speed and the system of controlled motor speed | |
| CN103248294A (en) | Position sensor-free double closed-loop speed regulation control method for brushless DC motor | |
| CN103078586A (en) | Non-location technology for three-phase electro-magnetic double-salient pole machine starting and accelerating based on induction method | |
| CN106464183A (en) | Motor coil timing method | |
| CN108631666A (en) | A kind of motor control method and motor control assembly | |
| KR20160103087A (en) | A method checking the orientation of a magnetic ring position indicator | |
| CN107104615A (en) | The method and control system of controlled motor | |
| CN106533266A (en) | Method for restarting induction machine | |
| CN105978429A (en) | Switched reluctance motor monitoring system and method | |
| CN109474219A (en) | A kind of parameter of electric machine discrimination method based on frequency dividing coupling | |
| KR20190127901A (en) | Control system and control method | |
| US20140021948A1 (en) | Nuclear magnetic flowmeter | |
| US20130214714A1 (en) | Method and device for controlling a synchronous machine | |
| CN103759722B (en) | Electrostatic method of adjustment and the electrostatic of a kind of annular gyroscope adjust system | |
| CN100408982C (en) | Method and device for determining the hydraulic flow rate in a pump | |
| CN104167962B (en) | The switched reluctance machines starter of position-sensor-free and startup method | |
| CN107643679A (en) | A kind of method during automatic pair of wrist-watch | |
| CN114924487B (en) | Motor simulator based on robust observer and nonlinear control and control method thereof | |
| CN105337552B (en) | Refrigerator, motor mould group and motor drive circuit |
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: 20210326 Address after: 312500 Zhejiang Shaoxing Xinchang County Qixing street Liquan Patentee after: ZHEJIANG SANHUA INTELLIGENT CONTROLS 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 |