CN107101428B - The control method and control system of electric expansion valve - Google Patents
The control method and control system of electric expansion valve Download PDFInfo
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- CN107101428B CN107101428B CN201710374014.3A CN201710374014A CN107101428B CN 107101428 B CN107101428 B CN 107101428B CN 201710374014 A CN201710374014 A CN 201710374014A CN 107101428 B CN107101428 B CN 107101428B
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Classifications
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- 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
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- 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
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- 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
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- 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
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- 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 comprising: step S1 generates clock signal by reference clock；Step S2 samples the sampling coil both end voltage in the time current crosses zero of sampling coil according to the clock signal, and sampled voltage is stored in bemf register；Step S3 reads the sampled voltage from bemf register, controls electric expansion valve；A kind of control system is also disclosed, electric expansion valve can be controlled.In this way, improving the accuracy of detection data by sampling at the current over-zero moment to it, be conducive to the reliability for improving control.
Description
Technical field
The present invention relates to control technology fields, and in particular to a kind of control method and control system.
Background technique
Electric expansion valve controls the rotation of rotor by electronic controller, motor, the components such as needle composition, controller,
The rotation of rotor drives moving up and down for needle, achievees the purpose that flow is adjusted.Electric expansion valve is applied in more accurate work
In journey or instrument, it is therefore desirable to which, to electric expansion valve, motor especially therein carries out accurate detection and control.
But the control data accuracy of current electric expansion valve is very low, so that not to the flow control of electric expansion valve
Standard influences system control effect, or even will affect the reliability of whole system.
Therefore, it is necessary to be improved to existing technology, to solve the above technical problem
Summary of the invention
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, provides a kind of control of electric expansion valve
Method, the electric expansion valve include motor, and the motor includes stator coil, and the control method includes:
Step S1 generates clock signal by reference clock；
Step S2, according to the clock signal to the stator coil two in the time current crosses zero of sampling stator coil
End voltage is sampled, and sampled voltage is stored in bemf register；
Step S3 reads the sampled voltage from the bemf register, controls and operates to electric expansion valve.
In the step S2, after sampling to the sampling coil both end voltage, sampled data is converted into number
Signal.
Current motor, which is saved, using micro-stepping register while sampled voltage is stored in bemf register runs institute
The micro-stepping value at place further includes that the micro-stepping value is read from the micro-stepping register in the step S3.
The step S3 includes: step S31, reads the sampled voltage from the bemf register, 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, return step S31.
The present invention also provides a kind of control system of electric expansion valve, the electric expansion valve includes motor, the motor
Including stator coil, which is characterized in that the control system includes:
Coil selection and sampling hold circuit, which is connected with the motor, by the stator coil both end voltage of the motor
It is sampled and obtains sampled data；
The sampled data is converted to digital signal by adc circuit；
Drive control module comprising bemf register receives the digital signal and updates；The drive control module
Control generates driving signal；
Drive module receives the driving signal, and drives the motor；
Wherein, reference clock of the drive control module based on input, control generate the driving signal, and to described
Coil selection and sampling hold circuit transmission.
The drive control module further includes micro-stepping register, and the micro-stepping register saves locating for current motor operation
Micro-stepping value.
Further include central processing module, connect with the drive control module, judges the operating status of the motor.
The central processing module includes: data reception module, is connect with the drive control module, and the drive is received
Control module is moved from the sampled data read in the bemf register and the institute read from the micro-stepping value register
State micro-stepping value；Micro-stepping value contrast module, judge the micro-stepping value whether be the motor step mode setting value integral multiple,
If so, restarting signal to data reception module transmission.
The central processing module further include: quadrant contrast module connect 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, restarting to described in data reception module transmission
Signal.
Compared with the prior art, control method and control system provided by the invention, by the current over-zero moment to it
It is sampled, improves the accuracy of detection data, greatly reduce the inaccurate bring risk of detection；Pass through accurate detection number
According to the accuracy controled and operated can be provided significantly.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution in various embodiments of the present invention
The attached drawing used is briefly described.
Fig. 1 is the flow diagram of the first embodiment of control method；
Fig. 2 is that the bemf value generated on stator coil changes theoretical value schematic diagram with rotor velocity of rotation；；
Coil current and the correspondence diagram of time when Fig. 3 is current over-zero on electrical-coil；
Coil voltage and the correspondence diagram of time when Fig. 4 is current over-zero on electrical-coil；
Fig. 5 is the flow diagram of the first embodiment of step S3；
Fig. 6 is the flow diagram of second of embodiment of step S3；
Fig. 7 is the electric current and the correspondence diagram of time of two phase coils；
Fig. 8 is the electric current of two phase coils and the schematic diagram of the corresponding relationship another embodiment of time in a cycle；
Fig. 9 is that stall occurs in motor operation course and the feedback position of stall does not occur and physical location corresponding relationship shows
It is intended to；
Figure 10 is the flow diagram of second of embodiment of control method；
Figure 11 is the flow diagram of the third embodiment of control method；
Figure 12 is the flow diagram of the 4th kind of embodiment of control method；
Figure 13 be include that the bemf value generated on the stator coil of resonance range is shown with what rotor velocity of rotation changed
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；
Figure 18 is the schematic diagram of the first embodiment of center processing module；
Figure 19 is the schematic diagram of second of embodiment of center processing module；
Figure 20 is the schematic diagram of the third embodiment of center processing module；
Figure 21 is the schematic diagram of the 4th kind of embodiment of center processing module；
Figure 22 is the schematic diagram of the 5th kind of embodiment of center processing module.
Specific embodiment
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
Embodiment 1
As shown in Figure 1, control method can be used in controlling electric expansion valve, and electric expansion valve includes electricity in the present embodiment
Machine, motor include stator coil, and control method includes: by control motor control electronics expansion valve, control method
Step S1 generates clock signal by reference clock；
By generating clock signal, subsequent sampling instant can be selected, in order to carry out in special time period
Sampling.
Step S2, according to clock signal in the time current crosses zero of sampling coil to the sampling coil both end voltage into
Row sampling, and sampled voltage is stored in bemf register；
Wherein, sampling coil is motor stator coil.
Voltage expression on motor stator coil are as follows:
VcilFor coil voltage, i is coil current, and R is coil resistance, and L is coil inductance, and bemf is rotor field change
Change the induced electromotive force generated on coil.When electric current is 0 on coil, the end voltage of coil is equal to bemf, therefore can be with
Coil voltage value is acquired when stream is zero to obtain bemf by powering in coil.
The bemf that the rotor magnetic field of variation generates on stator coil changes theoretical public with rotor velocity of rotation
Formula are as follows:
Bemf=-N × B × A × ω sin ω t
Wherein N is stator coil the number of turns, B is rotor magnetic field strength, the coupling surface that A is rotor magnetic field and coil
Product, ω are rotor rotational angular velocity.For determining motor, N, B, A are constant, therefore bemf value theoretically rotates speed with rotor
Spend it is linear, as shown in Figure 2.
In addition, when the both end voltage to sampling coil samples, the stator coil of motor be generally one or two or
Three or three or more, one of them can be chosen at this time and is sampled as sampling coil.
In the step, after sampling to sampling coil both end voltage, sampled data is converted into digital signal, the number
Word signal is the sampled voltage.
In this way, the accuracy of detection data is improved, by accurate by sampling at the current over-zero moment to it
Detection data can favorably provide the accuracy controled and operated, and then improve the reliability of system control.
Step S3 reads the sampled voltage from the bemf register, to the electric expansion valve carry out control and
Operation.
In the step, the control operation can control for stall, or motor speed control；It can be existing
Electronic control valve can be taken control operation.
In this way, the operation data of electric expansion valve can be detected accurately, by accurate detection data, can provide significantly
The accuracy controled and operated improves the reliability of control.
Embodiment 2
Control method as described above, the present embodiment are different from place and are that the step S1 further includes, to described
Clock signal is delayed；
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 shutdown of driving coil (T1 moment), electric current will not be 0 at once in coil, but need
It wants just become for 0 (Tdecay moment) after certain time.Since with the presence of this characteristic, actual bemf value is 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, adopted coil voltage value is in addition to the voltage that bemf also includes that coil current itself generates；S14 it
Afterwards, the energy storage of coil Central Plains has consumed, and adopted voltage value only includes bemf.
Motor speed and sample frequency are depended on to the sampling number of coil voltage in a coil zero crossing, but always
Coil voltage is not the practical bemf of coil before there is the Tdecay moment.
Tdecay duration depends primarily on coil energy storage, the time required to discharging relative to the energy storage, when coil zero passage maintains
Between to be grown it is more.In this way, by the delay to clock signal, so that doing suitable time-delay when each zero passage of coil to ensure
It is stored in bemf register again after the Tdecay moment.
Delay to clock signal can be completed by integrating delay circuit in reference clock；It is also possible to other
Delay pattern.
By delay, can influence to avoid coil zero passage start time residual current to bemf value so that bemf
It is worth the inverse electromotive force closer to coil.
Embodiment 3
Control method as described above, the present embodiment are different from place and are, in the step S2, will sample electricity
Current motor, which is saved, using micro-stepping register while pressure is stored in bemf register runs locating micro-stepping value.
In this way, can be supported to the case where needing micro-stepping value in the subsequent control operation, expansion can be supported
Opereating specification.
In the step S3, the sampled voltage is read from the bemf register, is read from the micro-stepping register
The micro-stepping value is taken, the electric expansion valve is controled and operated.
Embodiment 4
Control method as described above, the present embodiment is different from place and is, as shown in figure 5, the step S3 packet
It includes:
Step S31 reads the sampled voltage from the bemf register, from the micro-stepping register described in reading
Micro-stepping value；
Step S32, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so, returning
Return step S31.
Each coil voltage sampled value of coil zero-acrross ing moment can be all saved in bemf register, i.e. S10 to S27's
Each sampled value can all be saved in bemf register.After the coil zero-acrross ing moment, bemf register saves 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 coil zero-crossing timing, therefore
Corresponding micro-stepping register value is the same value, and when motor step mode setting value is 16 micro-steppings, which is 0 or 16 or 32,
Or 48.
When micro-stepping value corresponds to coil zero crossing, Bemf register value may pick up from the coil electricity before the Tdecay moment
Pressure.And during coil zero crossing, the bemf value of last coil zero passage last moment can be saved in bemf register always.Line
It encloses the corresponding micro-stepping value of zero crossing and is 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.If motor step mode setting value is 16 micro-steppings, then when the current micro-stepping value of reading is 0,
Or when 16 or 32 or 48, then this bemf register value is insignificant values.
By the step, coil zero passage start time residual current directly can be excluded to the shadow of bemf value using micro-stepping value
It rings, so that inverse electromotive force of the bemf value closer to coil.
Embodiment 5
Control method as described above, the present embodiment is different from place and is, as shown in fig. 6, the step S3 is also
Including step S33, judges the micro-stepping value and whether micro-stepping value is in a quadrant before, if then return step S31.
Ta0 and Tb0 was respectively two phase coil zero crossing moment in Fig. 7 and Fig. 8.Since coil voltage sampling is only in electric current mistake
Zero Shi Fasheng, such Ta0 moment last time voltage sample value is stored in after bemf register, 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
It reads.
Illustrate that the last time sampled value of Ta0 has been continuously read 5 times in Fig. 7.In this way, a zero crossing sampled voltage
It is just read several times and then is reused, make troubles to normal electronic expansion valve controls.
Fig. 8 shows the corresponding relationship of micro-stepping value and quadrant locating for motor when step mode setting value is 16 micro-stepping.Therefore
It can determine whether quadrant updates by micro-stepping register value.
By this step, it can further solve a zero crossing sampled voltage shown in Fig. 7 and be read several times quilt in turn
The problem of reuse.
Embodiment 6
Auto electronic expansion valve is controlled by controller, and electric expansion valve includes motor, the components such as needle, motor packet
Stator coil and rotor are included, the rotation of rotor drives moving up and down for needle, achievees the purpose that flow is adjusted.Auto electronic expansion
Valve is mounted on automobile, and the operating condition of automobile is extremely complex, and there are the possibility that impurity foreign matter enters, so as to cause motor card
Firmly.
The failure that motor blocks, which occurs, for electric expansion valve to be detected, and will lead to electric expansion valve and be reported to control control
The electric expansion valve of device processed is presently in position (for example 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 inaccurate, seriously affects system control reliability.And if
Electric expansion valve is blocked and cannot be detected at specific position (closed positions that such as aperture is 0%), then will be to whole system band
Carry out serious risk.
As shown in figure 9, wherein solid line represents electric expansion valve physical location, reality locating for electric expansion valve in the present embodiment
Border position is mechanical location locating 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 is there is no motor desynchronizing or blocks
Abnormal, the two is consistent at this time, and feedback position is consistent with physical location.At the Tchange moment, motor, which occurs, for electric expansion valve blocks,
Physical location stops always later, no longer changes.Due to not having stall detection function, software will be considered that motor work still " just
Often ", continue to apply driving signal to coil, correspondingly software will be considered that electric expansion valve self-position " according to application
Driving signal normal variation is until going to target position " and this is reported to controller.It is practical thus to generate electric expansion valve
Position and the problem of reporting position not to be inconsistent, influence the reliability of control.
As shown in Figure 10, a kind of control method can be used in controlling electric expansion valve, and the electric expansion valve includes electricity
Machine, the motor include stator coil comprising:
Step S11 generates clock signal by reference clock；
By generating clock signal, subsequent sampling instant can be selected, in order to carry out in special time period
Sampling.
Step S12, according to the clock signal to the sampling coil both ends in the time current crosses zero of sampling coil
Voltage is sampled, and sampled voltage is stored in bemf register；
Wherein, the sampling coil is stator coil.
In addition, the stator coil of the motor is generally one when sampling to the both end voltage of the sampling coil
Or two or three or three or more, it can choose one of sampled as sampling coil at this time.
In the step, after sampling to the sampling coil both end voltage, sampled data is converted into digital signal,
The digital signal is the sampled voltage.
Step S13, if sampled voltage summation is an initial value；
Step S14 reads the sampled voltage from the bemf register, and this described sampled voltage is converted to
Voltage equivalence value；
This sampled voltage is converted into voltage equivalence value, this conversion is established in each sampled voltage and motor operation shape
On the basis of the correlation analysis of state.
Voltage equivalence value is the contribution margin of motor abnormality operating, according to the sampled voltage pair from the bemf register read
Motor abnormality contribution assigns corresponding weight to it, big to motor abnormality contribution, assigns biggish weight, i.e., according to from
The sampled voltage of the bemf register read assigns weight proportional therewith, voltage etc. to it to motor abnormality contribution
Valid value is equal to weight corresponding with sampled voltage；
Step S15, using the sampled voltage summation and the sum of the voltage equivalence value as new sampled voltage summation；
Step S16, judges whether the sampled voltage summation is greater than threshold value, if more than then determining that stall occurs for motor simultaneously
Issue signal；If being not more than, return step S14.
It should be noted that step S16 is built upon on the basis of the particular conversion relationship in step S14.Work as use
After opposite transformational relation, determine that the Rule of judgment of stall may be that sampled voltage summation is less than threshold value in step S16, this is simultaneously
The judgement to " determining stall " this actual conditions is not influenced.
In this way, by the sampling of both end voltage in the time current crosses zero to motor stator coil, and it is general to be used in stall
The relevant equivalence value of rate is judged, grasps the operating status of motor, favorably preferably to control the motor；It can be with
The stall of motor is detected rapidly, prevents from giving system bring serious risk because of motor rotation blockage.
Embodiment 7
Control method as described above, the present embodiment are different from place and are that the step S11 further includes, to institute
Clock signal is stated to be delayed；
Delay to clock signal can be completed by integrating delay circuit in reference clock；It is also possible to other
Delay pattern.
By delay, can influence to avoid coil zero passage start time residual current to bemf value so that bemf
It is worth the inverse electromotive force 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 generates clock signal by reference clock；
By generating clock signal, subsequent sampling instant can be selected, in order to carry out in special time period
Sampling.
Step S12, according to the clock signal to the sampling coil both ends in the time current crosses zero of sampling coil
Voltage is sampled, and sampled voltage is stored in bemf register, while being saved current motor using micro-stepping register and being transported
The locating micro-stepping value of row；
Wherein, the sampling coil is motor stator coil.
In addition, the stator coil of the motor is generally one when sampling to the both end voltage of the sampling coil
Or two or three or three or more, it can choose one of sampled as sampling coil at this time.
In the step, after sampling to the sampling coil both end voltage, sampled data is converted into digital signal,
The digital signal is the sampled voltage.
Wherein, the value that micro-stepping register saves is the locating micro-stepping value of current motor operation, therefore by reading the deposit
Device intermediate value can determine whether current motor operation in what micro-stepping position.For motor step mode setting value be 16 micro-steppings (i.e.
One synchronizing is divided into 16 micro-steppings to walk) when, which is 0 to 63, corresponding 4 synchronizings of the range, i.e., one driving
Period.When step mode setting value is changed, which is accordingly changed.
Step S13, if sampled voltage summation is an initial value；
Step S14 reads the sampled voltage from the bemf register, from the micro-stepping register described in reading
Micro-stepping value；
Step S15, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so, returning
Return step S14；
Each coil voltage sampled value of coil zero-acrross ing moment can be all saved in bemf register, i.e. S10 to S27's
Each sampled value can all be saved in bemf register.After the coil zero-acrross ing moment, bemf register saves 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 coil zero-crossing timing, therefore
Corresponding micro-stepping register value is the same value, and when motor step mode setting value is 16 micro-steppings, which is 0 or 16 or 32,
Or 48.
When micro-stepping value corresponds to coil zero crossing, Bemf register value may pick up from the coil electricity before the Tdecay moment
Pressure.And during coil zero crossing, the bemf value of last coil zero passage last moment can be saved in bemf register always.Line
It encloses the corresponding micro-stepping value of zero crossing and is 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.If motor step mode setting value is 16 micro-steppings, then when the current micro-stepping value of reading is 0,
Or when 16 or 32 or 48, then this bemf register value is insignificant values.
By the step, coil zero passage start time residual current directly can be excluded to the shadow of bemf value using micro-stepping value
It rings, so that inverse electromotive force of the bemf value closer to coil.
Step S17 determines that this described sampled voltage is virtual value and the sampled voltage is converted to voltage equivalence value；
This sampled voltage is converted into voltage equivalence value, this conversion is established in each sampled voltage and motor operation shape
On the basis of the correlation analysis of state.
Voltage equivalence value is the contribution margin of motor abnormality operating, according to the sampled voltage pair from the bemf register read
Motor abnormality contribution assigns corresponding weight to it, big to motor abnormality contribution, assigns biggish weight, i.e., according to from
The sampled voltage of the bemf register read assigns weight proportional therewith, voltage etc. to it to motor abnormality contribution
Valid value is equal to weight corresponding with sampled voltage；
Step S18, using the sampled voltage summation and the sum of the voltage equivalence value as new sampled voltage summation；
Step S19, judges whether the sampled voltage summation is greater than threshold value, if more than then determining that stall occurs for motor simultaneously
Issue signal；If being not more than, return step S14.
It should be noted that this step is built upon on the basis of the particular conversion relationship in step S17.When using phase
After anti-transformational relation, determine that the Rule of judgment of stall may be that sampled voltage summation is less than threshold value in this step, this is not
Influence the judgement to " determining stall " this actual conditions.
In this way, by the sampling of both end voltage in the time current crosses zero to motor stator coil, and it is general to be used in stall
The relevant equivalence value of rate is judged, grasps the operating status of motor, favorably preferably to control the motor；It can be with
The stall of motor is detected rapidly, prevents from giving system bring serious risk because of motor rotation blockage
Embodiment 9
Control method as described above, the present embodiment are different from place and are, further include step as shown in figure 12
S16 judges the micro-stepping value and whether micro-stepping value is in a quadrant before, if then return step S14；The step is in step
After S15, before step S17.
Ta0 and Tb0 was respectively two phase coil zero crossing moment in Fig. 7 and Fig. 8.Since coil voltage sampling is only in electric current mistake
Zero Shi Fasheng, such Ta0 moment last time voltage sample value is stored in after bemf register, 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
It reads.
Illustrate that the last time sampled value of Ta0 has been continuously read 5 times in Fig. 7.In this way, a zero crossing sampled voltage
It is just read several times and then is reused, make troubles to normal motor control.
Fig. 8 shows the corresponding relationship of micro-stepping value and quadrant locating for motor when step mode setting value is 16 micro-stepping.Therefore
It can determine whether quadrant updates by micro-stepping register value.
By this step, it can further solve a zero crossing sampled voltage shown in Fig. 7 and be read several times quilt in turn
The problem of reuse.
Embodiment 10
Control method as described above, the present embodiment are different from place and are, further include step S, setting motor speed
Degree speed between a non-motor resonance region；The step may be provided at before or after the step S13.
Bemf value is theoretically linear with rotor rotation speed, as shown in Figure 2.But in fact, since motor exists
Resonance characteristic, bemf value can be affected by this.The section motor speed S11 and S12 is the resonance frequency section of motor in Figure 13, it is seen that
In this section, bemf value and the non-linear relationship of rotor speed.
Therefore, speed between a non-motor resonance region is set by motor speed, motor can be accurately controlled, is kept away
Exempt from that control is made 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 include stator coil, and the control system includes:
Coil selection and sampling hold circuit 1, which is connected with the motor, by the stator coil both end voltage of the motor
It is sampled and obtains sampled data；
Adc circuit 2, is converted to digital signal for sampled data；
Drive control module 3 comprising bemf register receives the digital signal and updates；The drive control mould
Block control generates driving signal；
Drive module 4 receives the driving signal, and drives the motor；
Wherein,
The reference clock of the drive control module 3 based on input, control generates driving signal, and selects to the coil
And sampling hold circuit 1 transmits.
Due to include in driving signal in coil electric current when the information of zero passage, the drive control module 3 is to the line
Circle selection and sampling hold circuit 1 transmit clock signal and make it to the voltage sample of stator coil only by the electricity of sampling coil
It flows through in the zero-time and carries out.
In this way, the coil selection and sampling hold circuit can carry out in the time current crosses zero of stator coil to it
Both end voltage is sampled；Sampled data is converted to digital signal by adc circuit, the bemf register in drive control module 3
Value is corresponding to be updated；The drive control module control generates driving signal to drive module, to drive the motor simultaneously.This
Sample can grasp the operation shape of the motor by the sampling of both end voltage in the time current crosses zero to motor stator coil
State, preferably to control the motor.
Embodiment 12
Control system as described above, the present embodiment are different from place and are, as shown in figure 15, the electronic expansion
Valve control system further includes central processing module 6, is connect with the drive control module 3, judges the operation shape of the motor
State.
Embodiment 13
Control system as described above, the present embodiment are different from place and are that the drive control module 3 further includes
Micro-stepping register, the micro-stepping register saves the locating micro-stepping value of current motor operation, by reading the register intermediate value i.e.
It can determine whether current motor operation in what micro-stepping position.It is a 16 micro-steppings (i.e. synchronizing for motor step mode setting value
It is divided into 16 micro-steppings to walk) when, which is 0 to 63, corresponding 4 synchronizings of the range, i.e. a drive cycle.Work as step
It is changed into mode settings, which accordingly changes.
The micro-stepping register synchronizes update when the bemf register updates.
Embodiment 14
Control system as described above, the present embodiment are different from place and are that the drive control module 3 further includes
Delay circuit is delayed to the clock signal, so that doing suitable time-delay when each zero passage of coil to ensure in Tdecay
It is stored in bemf register again after moment, it in this way can be by controlling the signal of bemf register capture so that center
Inverse electromotive force of the bemf value that processing module is read closer to coil.
Embodiment 15
Control system as described above, the present embodiment are different from place and are, as shown in figure 16, the control system
Further include LIN and/or CAN transceiver module 7, is connect with the central processing module 6, output control signal.
LIN the and/or CAN transceiver module 7 controls electric expansion valve for receiving external control signal.
Embodiment 16
Control system as described above, the present embodiment are different from place and are, as shown in figure 17, the control system
Further include LIN and/or CAN bus 8, is connect with LIN the and/or CAN transceiver module 7, transmission of control signals.
LIN and/or CAN bus 8 are used for transmission external control signal.
Embodiment 17
Control system as described above, the present embodiment are different from place and are, as shown in figure 18, the center processing
Module 6 includes:
Data reception module 62 is connect with the drive control module, receives the drive control module from described
The sampled voltage read in bemf register and the micro-stepping value read from the micro-stepping value register；
Micro-stepping value contrast module 67, judge the micro-stepping value whether be the motor step mode setting value integer
Times, if so, restarting signal to the data reception module 62 transmission.
In this way, influence of the coil zero passage start time residual current to bemf value directly can be excluded using micro-stepping value, into
And make bemf value closer to the inverse electromotive force of coil.
Embodiment 18
Control system as described above, the present embodiment are different from place and are, as shown in figure 19；The center processing
Module 6 further include: quadrant contrast module 68 is connect with the micro-stepping value contrast module 67, judge the micro-stepping value with before
Whether micro-stepping value is in a quadrant, if so, restarting signal to the data reception module 62 transmission.
In this way, can further solve the problems, such as that a zero crossing sampled voltage is read several times and then is reused.
Embodiment 19
Control system as described above, the present embodiment are different from place and are, as shown in figure 20, the center processing
Module 6 includes:
The sampled voltage summation is set an initial value by initial value setting module 61；
Data reception module 62 is connect with the drive control module, receives the drive control module from described
The sampled voltage read in bemf register；
The sampled voltage is converted to voltage equivalence value by voltage equivalent modules 63；
Assignment module 64, the sampled voltage summation and the sum of the voltage equivalence value is total as new sampled voltage
With；
Presetting module 65, is inside previously provided with threshold value；
Whether judgment module 66, the sampled voltage summation are greater than threshold value, if so, determine that stall issues stall signal,
If it is not, restarting signal to the data reception module 62 transmission.
It should be noted that judgment module 66 is built upon on the basis of the particular conversion relationship in assignment module 64.
After using opposite transformational relation, determine that the Rule of judgment of stall may be that sampled voltage summation is less than in judgment module 66
Threshold value, this has no effect on the judgement to " determining stall " this actual conditions.
Embodiment 20
Control system as described above, the present embodiment are different from place and are, as shown in figure 21, the center processing
Module 6 further include: 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
Into the integral multiple of mode settings, if so, restarting signal to the data reception module 62 transmission.
Influence of the coil zero passage start time residual current to bemf value directly can be excluded using micro-stepping value, so that
Inverse electromotive force of the bemf value closer to coil.
Embodiment 21
Control system as described above, the present embodiment are different from place and are, as shown in figure 22；The center processing
Module 6 further include: quadrant contrast module 68 is connect with the micro-stepping value contrast module 67, judge the micro-stepping value with before
Whether micro-stepping value is in a quadrant, if so, restarting signal to the data reception module 62 transmission.
In this way, can further solve the problems, such as that a zero crossing sampled voltage is read several times and then is reused.
It should be noted that the present invention is only illustrated by taking electric expansion valve as an example, it should not be understood as the invention and only limit
It is 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 driving 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 value of motor.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive
's.Those skilled in the art understand that in the spirit and scope defined by the claims in the present invention many changes can be carried out to it,
It modifies or even equivalent, but falls in protection scope of the present invention.
Claims (10)
1. a kind of control method of electric expansion valve, the electric expansion valve include motor, the motor includes stator coil,
It is characterized in that, the control method includes:
Step S1 generates clock signal by reference clock；
Step S2, according to the clock signal to the stator coil both ends electricity in the time current crosses zero of sampling stator coil
Pressure is sampled, and sampled voltage is stored in bemf register；
Step S3 reads the sampled voltage from the bemf register, controls and operates to electric expansion valve.
2. control method as described in claim 1, which is characterized in that in the step S2, to the sampling coil both ends
After voltage is sampled, sampled data is converted into digital signal.
3. control method as claimed in claim 1 or 2, which is characterized in that in the step S2, be stored in by sampled voltage
Current motor is saved using micro-stepping register while in bemf register and runs locating micro-stepping value, is also wrapped in the step S3
It includes and reads the micro-stepping value from the micro-stepping register.
4. control method as claimed in claim 3, which is characterized in that the step S3 includes:
Step S31 reads the sampled voltage from the bemf register, reads the micro-stepping from the micro-stepping register
Value；
Step S32, judge the micro-stepping value whether be motor step mode setting value integral multiple, if so, return step
S31。
5. control method as claimed in claim 4, which is characterized in that the step S3 further includes step S33, is judged described micro-
Step value with whether micro-stepping value in a quadrant before, if then return step S31.
6. a kind of control system of electric expansion valve, the electric expansion valve include motor, the motor includes stator coil,
It is characterized in that, the control system includes:
Coil selection and sampling hold circuit, which is connected with the motor, and the stator coil both end voltage of the motor is carried out
It samples and obtains sampled data；
The sampled data is converted to digital signal by adc circuit；
Drive control module comprising bemf register receives the digital signal and updates；The drive control module control
Generate driving signal；
Drive module receives the driving signal, and drives the motor；
Wherein,
Reference clock of the drive control module based on input, control generates the driving signal, and selects to the coil
And sampling hold circuit transmission.
7. control system as claimed in claim 6, which is characterized in that the drive control module further includes micro-stepping register,
The micro-stepping register saves the locating micro-stepping value of current motor operation.
8. control system as claimed in claim 7, which is characterized in that further include central processing module, controlled with the driving
The connection of molding block, judges the operating status of the motor.
9. control system as claimed in claim 8, which is characterized in that the central processing module includes:
Data reception module is connect with the drive control module, is received the drive control module and is deposited from the bemf
The sampled data read in device and the micro-stepping value read from the micro-stepping value register；
Micro-stepping value contrast module, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so,
Then restart signal to data reception module transmission.
10. control system as claimed in claim 9, which is characterized in that the central processing module further include: quadrant compares mould
Block is connect with the micro-stepping value contrast module, judge the micro-stepping value with micro-stepping value before whether in a quadrant, if
It is then to restart signal to described in data reception module transmission.
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| 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 |
| 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 |
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