CN108448954A - The back-emf zero passage detection method, apparatus and control system of dust catcher, motor - Google Patents
The back-emf zero passage detection method, apparatus and control system of dust catcher, motor Download PDFInfo
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- CN108448954A CN108448954A CN201810296965.8A CN201810296965A CN108448954A CN 108448954 A CN108448954 A CN 108448954A CN 201810296965 A CN201810296965 A CN 201810296965A CN 108448954 A CN108448954 A CN 108448954A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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Abstract
The invention discloses the back-emf zero passage detection method, apparatus and control system of a kind of dust catcher, brshless DC motor, wherein the back-emf zero passage detection method of brshless DC motor includes the following steps：During controlling brshless DC motor, the duty ratio of the pwm control signal of brshless DC motor is obtained in each PWM controlling cycles, and judges whether duty ratio is more than the first duty ratio；If duty ratio is more than the first default duty ratio, then first judge whether the time of afterflow of brshless DC motor terminates in the high level time of PWM controlling cycles, if time of afterflow terminates, continuous several times sampling is then carried out to the back-emf of brshless DC motor by the single channel of ADC module again, and during sampling according to upper primary sampled result judge back-emf whether zero passage.This method can not only detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high rotating speed, and increase comparator without additional, can reduce cost.
Description
Technical field
The present invention relates to motor control technology field, more particularly to the back-emf zero passage detection side of a kind of brshless DC motor
Method, a kind of back-emf zero crossing detection device of brshless DC motor, a kind of control system of brshless DC motor and a kind of dust suction
Device.
Background technology
Currently, in brshless DC motor sensorless drive control technology field, the rotor position detecting method of motor
There are many, wherein simply, being effectively widely used with back-emf zero passage method.The basic principle of back-emf zero passage method is when brushless
When the back-emf zero passage of certain phase winding of direct current generator, rotor d-axis overlaps just with the phase winding axis, as long as therefore judging
The back-emf zero crossing for going out each phase winding just would know that the rotor-position of motor.
In the related technology, there are two ways to back-emf zero passage detection：One, using ADC (Analog-to-Digital
Converter, A/D converter) module is in each PWM (Pulse Width Modulation, pulse width modulation) controls
The terminal voltage of hanging phase of brshless DC motor of periodic sampling, sampled result is then compared judgement with reference voltage is
No generation zero passage；Two, increase external comparator, the terminal voltage and reference voltage of the hanging phase of brshless DC motor are compared using hardware
Magnitude relationship, realize back-emf zero passage detection.
However, above-mentioned detection method has the following disadvantages：1) when carrying out back-emf zero passage detection using method one, detection
To back-emf zero-acrross ing moment to lag practical back-emf zero-acrross ing moment be about a PWM cycle, in turning for brshless DC motor
Speed is relatively low, when the duty of pwm control signal is smaller, there is multiple PWM cycles, stagnant the latter PWM cycle in a commutation interval
Influence to brshless DC motor commutation is smaller, still, when the rotating speed of brshless DC motor is higher, in a commutation interval
The number of PWM cycle is less, and back-emf zero passage detection lag may result in brshless DC motor commutation lag, to influence nothing
The stability of brushless motor；2) when using method two to carry out back-emf zero passage detection, due to increasing external comparator,
Cost can be caused higher.
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, the present invention
First purpose is to propose a kind of back-emf zero passage detection method of brshless DC motor, can not only examine accurately and in time
Back-emf zero crossing is measured, ensures that motor stabilizing operates in high rotating speed, and increase comparator without additional, can reduce into
This.
Second object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
Third object of the present invention is to propose a kind of back-emf zero crossing detection device of brshless DC motor.
Fourth object of the present invention is to propose a kind of control system of brshless DC motor.
The 5th purpose of the present invention is to propose a kind of dust catcher.
To achieve the above object, first aspect present invention embodiment proposes a kind of back-emf zero passage of brshless DC motor
Detection method includes the following steps：S1, during controlling the brshless DC motor, in each PWM controlling cycles
The duty ratio of the pwm control signal of the brshless DC motor is obtained, and judges whether the duty ratio is more than the first duty ratio；
S2 first sentences if the duty ratio is more than the described first default duty ratio in the high level time of the PWM controlling cycles
Whether the time of afterflow of the disconnected brshless DC motor terminates, if the time of afterflow terminates, then the list for passing through ADC module
Channel carries out continuous several times sampling to the back-emf of the brshless DC motor, and according to upper primary sampling during sampling
As a result judge the back-emf whether zero passage.
The back-emf zero passage detection method of brshless DC motor according to the ... of the embodiment of the present invention, to brshless DC motor control
During system, the duty ratio of the pwm control signal of brshless DC motor is obtained in each PWM controlling cycles, and judges to account for
Whether sky is than being more than the first default duty ratio, if duty ratio is more than the first default duty ratio, in the height electricity of PWM controlling cycles
First judge whether the time of afterflow of brshless DC motor terminates in usually, if time of afterflow terminates, then passes through ADC module
Single channel continuous several times sampling is carried out to the back-emf of brshless DC motor, and according to upper primary sampling during sampling
As a result judge back-emf whether zero passage.To detect back-emf zero crossing accurately and in time, ensure motor stabilizing
High rotating speed is operated in, and increases comparator without additional, cost can be reduced.
In addition, the back-emf zero passage detection method of brshless DC motor according to the above embodiment of the present invention can also have
Following additional technical characteristic：
According to one embodiment of present invention, the step S2 is specifically included：Judge whether to enter back-emf zero passage detection
Stage；If it is, obtaining the busbar voltage of the brshless DC motor, and judge whether the time of afterflow terminates；If
The time of afterflow terminates, then is the current hanging corresponding channels AD of phase terminal voltage by the single channel configuration of the ADC module, and
The single channel for triggering the ADC module carries out first time sampling to the back-emf of the brshless DC motor；It is sampled in first time
After the completion, first time sampled result is obtained, while triggering anti-electricity of the single channel to the brshless DC motor of the ADC module
Gesture carries out second and samples, and is sentenced according to the first time sampled result and the busbar voltage during sampling for second
Break the back-emf whether zero passage；If the back-emf zero passage exits the back-emf zero passage detection stage.
According to one embodiment of present invention, it if the non-zero passage of the back-emf, after the completion of sampling at (i-1)-th time, obtains
(i-1)-th sampled result is taken, while triggering the single channel of the ADC module and the is carried out to the back-emf of the brshless DC motor
I times sampling, and during ith sample according to (i-1)-th sampled result and the busbar voltage judge it is described instead
Potential whether zero passage, until judge that the back-emf zero passage or sampling number exit the anti-electricity more than or equal to preset times
The gesture zero passage detection stage, wherein i is the integer more than or equal to 3.
According to one embodiment of present invention, the step S2 further includes：Judge whether current time is the PWM controls
The high level time started in period；If the current time is the high level time started of the PWM controlling cycles, prolonging
When the first preset time after triggering busbar voltage AD sampling, and enter the back-emf after the completion of busbar voltage AD samplings
The zero passage detection stage.
According to one embodiment of present invention, it if the duty ratio is less than the second default duty ratio, is controlled in the PWM
The back-emf of the brshless DC motor is carried out once by the conventional back-emf method of sampling in the high level time in period processed
Sampling, and according to sampled result judge the back-emf whether zero passage, wherein the second default duty ratio is less than described first
Default duty ratio.
To achieve the above object, second aspect of the present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, which realizes the back-emf mistake of above-mentioned brshless DC motor when being executed by processor
Zero detection method.
Non-transitorycomputer readable storage medium according to the ... of the embodiment of the present invention, by executing above-mentioned brushless dc
The back-emf zero passage detection method of machine can not only detect back-emf zero crossing accurately and in time, ensure motor stabilizing operation
Increase comparator in high rotating speed, and without additional, cost can be reduced.
To achieve the above object, a kind of back-emf zero passage for brshless DC motor that third aspect present invention embodiment proposes
Detection device, including：Acquiring unit is used for during controlling the brshless DC motor, in each PWM controlling cycles
The duty ratio of the interior pwm control signal for obtaining the brshless DC motor；Judging unit, for judging whether the duty ratio is big
In the first duty ratio；Sampling unit, for when the duty ratio is more than the first default duty ratio, being controlled in the PWM
First judge whether the time of afterflow of the brshless DC motor terminates in the high level time in period, if the time of afterflow knot
Beam then carries out continuous several times sampling to the back-emf of the brshless DC motor by the single channel of ADC module again, and is sampling
During according to last sampled result judge the back-emf whether zero passage.
The back-emf zero crossing detection device of brshless DC motor according to the ... of the embodiment of the present invention, by acquiring unit to nothing
During brushless motor controls, the duty of the pwm control signal of brshless DC motor is obtained in each PWM controlling cycles
Than, and by judging unit judge whether duty ratio is more than the first duty ratio, and it is more than the in duty ratio by sampling unit
When one default duty ratio, first judge whether the time of afterflow of brshless DC motor is tied in the high level time of PWM controlling cycles
Beam if time of afterflow terminates, then carries out continuous several times by the single channel of ADC module to the back-emf of brshless DC motor
Sampling, and during sampling according to upper primary sampled result judge back-emf whether zero passage.Thus can not only be timely, accurate
It really detects back-emf zero crossing, ensures that motor stabilizing operates in high rotating speed, and increase comparator without additional, it can
Reduce cost.
In addition, the back-emf zero crossing detection device of brshless DC motor according to the above embodiment of the present invention can also have
Following additional technical characteristic：
According to one embodiment of present invention, the sampling unit is specifically used for, and judges whether that entering back-emf zero passage examines
The survey stage if it is, obtaining the busbar voltage of the brshless DC motor, and judges whether the time of afterflow terminates, such as
Time of afterflow described in fruit terminates, then is the current hanging corresponding channels AD of phase terminal voltage by the single channel configuration of the ADC module,
And the single channel for triggering the ADC module carries out first time sampling to the back-emf of the brshless DC motor, and first
After the completion of secondary sampling, first time sampled result is obtained, while triggering the single channel of the ADC module to the brshless DC motor
Back-emf carry out second and sample, and according to the first time sampled result and the busbar during sampling for second
Voltage judges whether zero passage exits the back-emf zero passage detection stage to the back-emf if the back-emf zero passage.
According to one embodiment of present invention, if the non-zero passage of the back-emf, the sampling unit is additionally operable to, i-th-
After the completion of 1 sampling, (i-1)-th sampled result is obtained, while triggering the single channel of the ADC module to the brushless dc
The back-emf of machine carries out ith sampling, and according to (i-1)-th sampled result and the mother during ith samples
Line voltage judge the back-emf whether zero passage, until it is default to judge that the back-emf zero passage or sampling number are more than or equal to
Number exits the back-emf zero passage detection stage, wherein i is the integer more than or equal to 3.
According to one embodiment of present invention, the sampling unit is additionally operable to, and judges whether current time is the PWM controls
The high level time started in period processed, if the current time is the high level time started of the PWM controlling cycles,
Busbar voltage AD samplings are triggered after first preset time that is delayed, and enter the anti-electricity after the completion of busbar voltage AD samplings
The gesture zero passage detection stage.
According to one embodiment of present invention, the sampling unit is additionally operable to, and is preset and is accounted for less than second in the duty ratio
Sky than when, by the conventional back-emf method of sampling to the brushless dc in the high level time of the PWM controlling cycles
The back-emf of machine is once sampled, and according to sampled result judge the back-emf whether zero passage, wherein described second is default
Duty ratio is less than the described first default duty ratio.
To achieve the above object, fourth aspect present invention embodiment proposes a kind of control system of brshless DC motor,
It includes the back-emf zero crossing detection device of above-mentioned brshless DC motor.
The control system of brshless DC motor according to the ... of the embodiment of the present invention passes through the anti-electricity of above-mentioned brshless DC motor
Gesture zero crossing detection device can not only detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high turn
Speed, and increase comparator without additional, cost can be reduced.
To achieve the above object, fifth aspect present invention embodiment proposes a kind of dust catcher comprising above-mentioned is brushless
The control system of direct current generator.
Dust catcher according to the ... of the embodiment of the present invention, by the control system of above-mentioned brshless DC motor, can not only and
When, be accurately detected back-emf zero crossing, ensure that motor stabilizing operates in high rotating speed, and compare without additional increase
Device can reduce cost.
Description of the drawings
Fig. 1 is the flow chart of the back-emf zero passage detection method of brshless DC motor according to the ... of the embodiment of the present invention；
Fig. 2 a are the terminal voltage oscillograms of A phase a cycles；
Fig. 2 b are the terminal voltage oscillograms of A phase overhead phases；
Fig. 3 is the schematic diagram of the back-emf zero passage detection of brshless DC motor in the related technology；
Fig. 4 a are the schematic diagrames of the back-emf zero passage detection of brshless DC motor according to an embodiment of the invention；
Fig. 4 b are the schematic diagrames of the back-emf zero passage detection of brshless DC motor in accordance with another embodiment of the present invention；
Fig. 5 a- Fig. 5 c are the back-emf zero passage detection methods of brshless DC motor accord to a specific embodiment of that present invention
Flow chart；
Fig. 6 is that the back-emf zero passage detection of brshless DC motor is shown under high rotating speed according to an embodiment of the invention
It is intended to；
Fig. 7 is the block diagram of the back-emf zero crossing detection device of brshless DC motor according to the ... of the embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the back-emf zero passage detection of the brshless DC motor proposed according to embodiments of the present invention described
Back-emf zero crossing detection device, the brshless DC motor of method, non-transitorycomputer readable storage medium, brshless DC motor
Control system and dust catcher.
Fig. 1 is the flow chart of the back-emf zero passage detection method of brshless DC motor according to the ... of the embodiment of the present invention.Such as Fig. 1
Shown, the back-emf zero passage detection method of the brshless DC motor of the embodiment of the present invention includes the following steps：
S1 obtains brshless DC motor during controlling brshless DC motor in each PWM controlling cycles
The duty ratio of pwm control signal, and judge whether duty ratio is more than the first duty ratio.
S2 first judges nothing if duty ratio is more than the first default duty ratio in the high level time of PWM controlling cycles
Whether the time of afterflow of brushless motor terminates, if time of afterflow terminates, then by the single channel of ADC module to brushless straight
The back-emf of galvanic electricity machine carries out continuous several times sampling, and judges that back-emf is according to upper primary sampled result during sampling
No zero passage.
According to one embodiment of present invention, if duty ratio is less than the second default duty ratio, in PWM controlling cycles
The back-emf of brshless DC motor is once sampled by the conventional back-emf method of sampling in high level time, and according to adopting
Sample result judge back-emf whether zero passage, wherein the second default duty ratio be less than the first default duty ratio, specifically can be according to reality
Situation is demarcated.
Specifically, at present back-emf zero passage detection be comparison hanging phase terminal voltage and reference voltage relationship.It is with A phases
Example, A phase windings terminal voltage waveform is as shown in Figure 2 a in one cycle, wherein during BC and CB, A phases are hanging, terminal voltage
Waveform is as shown in Figure 2 b.During PWM is opened, A phase terminal voltages UA=eA+1/2UDC, work as UA=1/2UDCWhen, eA=0, as A phases
Back-emf zero-acrross ing moment；During PWM is turned off, A phase terminal voltages UA=eA, work as UAWhen=0, as A opposite potentials zero-acrross ing moment.
Therefore, back-emf zero passage detection is carried out during PWM is opened, reference voltage selects 1/2UDC, anti-electricity is carried out during PWM is turned off
Gesture zero passage detection, reference voltage select 0V.
In the related technology, when the terminal voltage for sampling primary hanging phase in each PWM controlling cycles using ADC module, and
Sampled result is compared with reference voltage, with judge back-emf whether zero passage when, with PWM open during detect back-emf
For zero passage.As shown in Fig. 2, during BC is connected, A phase terminal voltages are in rising trend, held to A phases during each PWM is opened
Voltage is once sampled, and is compared with reference voltage, the a1 moment in figure 2b, UA＜ 1/2UDC, the non-mistake of back-emf
Zero, at the a2 moment of next PWM controlling cycles, UA＞ 1/2UDC, back-emf zero passage is detected at this time；Similarly, the phase is connected in CB
Between, A phase terminal voltages are on a declining curve, at the b2 moment, UA＞ 1/2UDC, the non-zero passage of back-emf, and in b3 moment, UA＜ 1/2UDC,
Back-emf zero passage is detected at this time.
The above-mentioned back-emf zero-acrross ing moment detected lags about PWM control week of actual back-emf zero-acrross ing moment
There are multiple PWM controlling cycles in phase, therefore lag one in the case of rotating speed relatively low (duty is relatively low) in one commutation interval
A PWM controlling cycles influence commutation smaller.But when brshless DC motor is run with high rotating speed, such as 100000RPM (1
To pole), the time of a phase sector is 100us at this time, and a PWM controlling cycle is 50us (i.e. 20KHz, brushless direct-current
The frequency of the pwm control signal of motor is generally within the scope of 5~30KHz, then improves switching loss, effect of the meeting to power switch tube
It is unfavorable that rate and heat dissipation etc. cause), 2 PWM controlling cycles are up in a commutation interval at this time, and each PWM controls are all
Phase only carries out the sampling of back-emf zero passage, thus can not know in time back-emf whether zero passage, to be easy to because of back-emf
Zero passage detection lag is larger to cause brshless DC motor step-out.
Specifically, as shown in figure 3, when brshless DC motor is run with high rotating speed, there was only 2 in a commutation interval
If a PWM controlling cycles carry out primary anti-according to the conventional back-emf method of sampling that is, in the two PWM controlling cycles
Potential A D samplings, correspond to c1, c2 moment respectively, and practical back-emf zero passage was happened at after the c1 moment, therefore can not be first
Back-emf zero passage is detected in time in a PWM controlling cycles, can only detect anti-electricity at the c2 moment of second PWM controlling cycle
Gesture zero passage, and the c2 moment lags about 1 PWM controlling cycle of real back-emf zero crossing (about 1/2 commutation interval), causes anti-
Potential zero passage detection lags, and then commutation is caused to lag, and causes big even step-out etc. the undesirable conditions of pulsation of current.
Therefore, in an embodiment of the present invention, the operation of brshless DC motor can be divided into two stages, it is respectively low
Fast stage and high speed stage according to the duty ratio of pwm control signal, can further divide the operation of brshless DC motor
For low duty ratio stage and high duty ratio stage.Wherein, at low duty ratio stage (that is, low-speed stage), conventional anti-electricity is still used
The gesture method of sampling, for example, carry out a back-emf AD sampling in the high level time of each PWM controlling cycles, and according to adopting
Sample result judge back-emf whether zero passage.And when duty ratio rises to over the first default duty ratio, into high duty ratio rank
Section (that is, high speed stage), it is interior at this stage, since there are an afterflow processes after brshless DC motor commutation, in the afterflow period
Between hanging phase terminal voltage moved to busbar voltage or power ground by force, cause part counter potential waveform annihilated, therefore continuous
It is invalid that back-emf sampling is carried out during stream, is connected again to the back-emf of brshless DC motor after can waiting time of afterflow
Continuous multiple repairing weld, can save cpu resource in this way.Therefore, in the high duty ratio stage, in the high level of each PWM controlling cycles
In time, time of afterflow is avoided, continuous several times then are carried out to the back-emf of brshless DC motor using the single channel of ADC module
Sampling, and during sampling according to upper primary sampled result judge back-emf whether zero passage.When duty ratio drops to again
When less than the second default duty ratio, the conventional back-emf method of sampling is reused, wherein it is default that the second default duty ratio is less than first
Duty ratio.
Since the back-emf zero passage detection lag in low duty ratio stage has little effect the commutation of brshless DC motor,
So in the brshless DC motor low speed operation phase, demand for control can be met using the conventional back-emf method of sampling, and in height
The duty ratio stage in the high level time of each PWM controlling cycles and can avoid afterflow by using the single channel of ADC module
Time Continuous multiple repairing weld back-emf, thus can ensure the promptness and accuracy of back-emf zero passage detection, it can support brushless
Direct current generator stable operation increases comparator in the high range of speeds, and without additional, can reduce cost, reduce control
The size of device PCB.
With reference to Fig. 4-Fig. 6 how time of afterflow is avoided to be described in detail in the high level time of PWM controlling cycles
Continuous several times sampling, and root during sampling are carried out to the back-emf of brshless DC motor by the single channel of ADC module
According to last sampled result judge back-emf whether zero passage.
According to one embodiment of present invention, step S2 is specifically included：Judge whether to enter the back-emf zero passage detection stage；
If it is, obtaining the busbar voltage of brshless DC motor, and judge whether time of afterflow terminates；If time of afterflow terminates,
It is then the current hanging corresponding channels AD of phase terminal voltage by the single channel configuration of ADC module, and triggers the single channel pair of ADC module
The back-emf of brshless DC motor carries out first time sampling；After the completion of sampling first time, first time sampled result is obtained, simultaneously
The single channel for triggering ADC module carries out second of sampling, and the process of the sampling at second to the back-emf of brshless DC motor
It is middle according to first time sampled result and busbar voltage judge back-emf whether zero passage；If back-emf zero passage, exits back-emf
The zero passage detection stage.
According to one embodiment of present invention, if the non-zero passage of back-emf, after the completion of sampling at (i-1)-th time, the is obtained
I-1 sampled result, while back-emf progress ith sampling of the single channel to brshless DC motor of ADC module is triggered, and
Ith sample during according to (i-1)-th sampled result and busbar voltage judge back-emf whether zero passage, until judge instead
Potential zero passage or sampling number exit the back-emf zero passage detection stage more than or equal to preset times, wherein i is more than or equal to 3
Integer.
According to one embodiment of present invention, step S2 further includes：Judge current time whether be PWM controlling cycles height
The level time started；If current time is the high level time started of PWM controlling cycles, after being delayed the first preset time
Busbar voltage AD samplings are triggered, and enter the back-emf zero passage detection stage after the completion of busbar voltage AD samplings.
Specifically, with reference to shown in figure 4a- Fig. 4 b, in the process controlled brshless DC motor using pwm control signal
In, can by the counting unit of PWM come judge current time whether be PWM controlling cycles the high level time started, if
It is then to trigger busbar voltage AD samplings afterwards in the first preset time (length of time is configured by software program, such as 4us) that is delayed
(reference voltage of the 1/2 of busbar voltage as back-emf zero passage detection).Wherein, it is arranged after the first preset time to busbar electricity
It is to be influenced to cause busbar voltage sampling inaccurate in order to avoid being switched by power switch tube that pressure, which carries out AD samplings,.And it is pre- first
If in the time, judgement can be compared to the duty ratio of pwm control signal, if duty ratio is less than the second default duty ratio,
Judge whether zero passage e.g. enters anti-electricity to back-emf after the completion of to busbar voltage AD samplings using the conventional back-emf method of sampling
The gesture zero passage detection stage uses the single channel of ADC module once to sample hanging phase terminal voltage at this time, and by sampled result
Be compared with busbar voltage, with judge back-emf whether zero passage；If duty ratio is more than the first default duty ratio, to mother
Enter the back-emf zero passage detection stage after the completion of line voltage AD samplings, it is interior at this stage, time of afterflow is first avoided, is then passed through again
The single channel of ADC module carries out continuous several times sampling to the back-emf of brshless DC motor, and according to upper during sampling
Sampled result judge back-emf whether zero passage.
Specifically, it with continued reference to shown in Fig. 4 a- Fig. 4 b, is automatically generated after (about 1us) is completed in busbar voltage AD samplings
AD is interrupted, and after entering AD and interrupting, reads the AD sampled results of busbar voltage, and be current by the single channel configuration of ADC module
The hanging corresponding channels AD of phase terminal voltage are done accurately for the single channel back-emf AD samplings of follow-up continuous several times.Then, according to continuous
The stream time interrupts the context occurred with AD and is divided into two kinds of situations.
The first situation, as shown in fig. 4 a, time of afterflow is over (corresponding time of afterflow after entering AD and interrupting
End mark position has been set), then the single channel back-emf AD samplings of continuous several times are carried out in AD interruptions.Specifically sampled
Cheng Shi：First the single channel of triggering ADC module carries out first time sampling to the back-emf of brshless DC motor, and has been sampled first
Cheng Hou reads first time sampled result, while the single channel for triggering ADC module carries out second to the back-emf of brshless DC motor
Secondary sampling, and be compared according to first time sampled result and busbar voltage to judge back-emf during sampling for second
Whether zero passage exits AD interruptions if back-emf zero passage, and the back-emf zero passage detection of current PWM controlling cycles terminates.If
The non-zero passage of back-emf reads second of sampled result, and trigger the single channel pair of ADC module then after sampling for second
The back-emf of brshless DC motor carries out third time sampling, and during third time samples according to second of sampled result and
Busbar voltage judges whether zero passage exits AD interruptions to back-emf if back-emf zero passage；If the non-zero passage of back-emf,
After third time samples, third time sampled result is read, and trigger anti-electricity of the single channel to brshless DC motor of ADC module
Gesture carries out the 4th sampling ..., after the completion of sampling at (i-1)-th time, obtains (i-1)-th sampled result, while triggering ADC module
Single channel carries out ith sampling to the back-emf of brshless DC motor, and is adopted according to (i-1)-th time during ith samples
Sample result and busbar voltage judge back-emf whether zero passage, until it is pre- to judge that back-emf zero passage or sampling number are more than or equal to
If number, AD interruptions are exited.
In the above-described embodiments, it is sampled at (i-1)-th time and obtains (i-1)-th sampled result when completing, while it is anti-to trigger ith
The sampling of potential, in this way while being judged using (i-1)-th sampled result progress back-emf zero passage, ith back-emf is adopted
Sample and conversion are also carrying out automatically, are conducive to the acquisition back-emf as much as possible in the high level time of PWM controlling cycles, this
The single channel back-emf AD samplings of kind continuous several times, can just carry out back-emf when each single channel back-emf AD samples completion
Zero passage judges, it is thus possible to back-emf zero passage is detected in time, so that commutation is more accurate, so that brushless dc
Machine can stable operation increase comparator in high rotating speed, and without additional, cost can be reduced.
It should be noted that the preset times in above-described embodiment are related to the current high level time of PWM controlling cycles,
The high level time that N represents current PWM controlling cycles terminates to carry out most numbers of back-emf AD samplings before.
The second situation, as shown in Figure 4 b, time of afterflow not yet terminates (corresponding time of afterflow after entering AD and interrupting
The non-set in end mark position), then AD interruptions are exited, once time of afterflow terminates, then automatically into avoiding afterflow delayed interrupt TF,
And the first set time of afterflow end mark position in afterflow delayed interrupt TF, then carry out the single channel back-emf AD of continuous several times
Sampling, specific sampling process can be found in aforementioned, just no longer be described in detail here.To keep those skilled in the art clearer
Understand the present invention, the back-emf zero passage detection method of brshless DC motor is done into one with reference to the specific example of the present invention
Walk explanation.
Specifically, as shown in Figure 5 a, the back-emf zero passage detection method of brshless DC motor may include following steps：
S501, judges whether time of afterflow terminates.If so, thening follow the steps S502；If it is not, then exiting AD interruptions.
S502, the AD samplings of triggering single channel back-emf.
S503, judges whether current back-emf AD samplings terminate.If so, thening follow the steps S504；If it is not, then continuing
Execute step S503.
S504 reads back-emf AD sampled results.
S505, according to back-emf AD sampled results judge back-emf whether zero passage.If so, thening follow the steps S507；Such as
Fruit is no, thens follow the steps S506.
S506, judges whether the high level time of current PWM controlling cycles terminates.If it is, exiting AD interruptions；If
It is no, then return to step S502.
S507 exits AD samplings and handles back-emf zero-crossing timing.
S508 by zero passage detection Success Flag position position, and removes afterflow end mark position.
TP is interrupted in S509, setting delay commutation.
Further, after detecting back-emf zero passage, into delay commutation interrupt TP, with control brshless DC motor into
Row commutation, as shown in Figure 5 b, specific method may include following steps：
S601, judges whether zero passage detection Success Flag position is set.If so, thening follow the steps S602；If it is not, then
It exits delay commutation and interrupts TP.
S602, control brshless DC motor carry out commutation operation.
S603, more new phase.
S604 removes zero passage detection Success Flag position.
Afterflow delayed interrupt TF is avoided in S605, setting.
As shown in Figure 5 c, in the back-emf zero passage inspection for not yet terminating brshless DC motor into time of afterflow after AD interruptions
Survey method may include following steps：
S701, setting time of afterflow end mark position.
Afterflow delayed interrupt TF is avoided in S702, stopping.
S703 judges whether in the high level time in PWM controlling cycles.If so, thening follow the steps S704；If
It is no, then it exits and avoids afterflow delayed interrupt TF.
S704, the AD samplings of triggering single channel back-emf.
S705, judges whether current back-emf AD samplings terminate.If so, thening follow the steps S706；If it is not, then continuing
Execute step S705.
S706 reads back-emf AD sampled results.
S707, according to back-emf AD sampled results judge back-emf whether zero passage.If so, thening follow the steps S709.Such as
Fruit is no, thens follow the steps S708.
S708, judges whether the high level time of current PWM controlling cycles terminates.Prolong if it is, exiting and avoiding afterflow
When interrupt TF；If it is not, then return to step S704.
S709 exits AD samplings and handles back-emf zero-crossing timing.
S710 by zero passage detection Success Flag position position, and removes afterflow end mark position.
TP is interrupted in S711, setting delay commutation.
It, can be according to afterflow end time and the front and back pass for generating the time that AD is interrupted as a result, in each PWM controlling cycles
System judge generate AD interrupt after time of afterflow whether terminate, then according to judging result by above-mentioned different mode to it is brushless directly
Galvanic electricity machine carries out back-emf zero passage detection, to realize the purpose avoided time of afterflow and carry out back-emf zero passage judgement.
Fig. 6 is the signal of the back-emf zero passage detection of brshless DC motor under high rotating speed according to the ... of the embodiment of the present invention
Figure, as shown in fig. 6, during brshless DC motor actual motion, there are an afterflow processes after each commutation, at this
Hanging phase terminal voltage is moved to busbar voltage or power ground by force during afterflow, causes part counter potential waveform annihilated, because
It is invalid that this carries out back-emf sampling during afterflow, can be waited after time of afterflow immediately to the anti-electricity of brshless DC motor
Gesture carries out continuous several times sampling, can either save cpu resource in this way, and can ensure timely and accurately to detect back-emf zero passage
Point, to ensure brshless DC motor can stable operation under high rotating speed, while not needing additional comparator, reduce into
This.
In conclusion the back-emf zero passage detection method of brshless DC motor according to the ... of the embodiment of the present invention, to brushless
During DC MOTOR CONTROL, the duty of the pwm control signal of brshless DC motor is obtained in each PWM controlling cycles
Than, and judge whether duty ratio is more than the first default duty ratio, if duty ratio is more than the first default duty ratio, controlled in PWM
First judge whether the time of afterflow of brshless DC motor terminates in the high level time in period processed, if time of afterflow terminates,
Continuous several times sampling is carried out to the back-emf of brshless DC motor by the single channel of ADC module again, and during sampling
According to last sampled result judge back-emf whether zero passage.To detect back-emf zero passage accurately and in time
Point ensures that motor stabilizing operates in high rotating speed, and increases comparator without additional, can reduce cost.
In addition, the embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium, it is stored thereon with
Computer program, the program realize the back-emf zero passage detection method of above-mentioned brshless DC motor when being executed by processor.
Non-transitorycomputer readable storage medium according to the ... of the embodiment of the present invention, by executing above-mentioned brushless dc
The back-emf zero passage detection method of machine can not only detect back-emf zero crossing accurately and in time, ensure motor stabilizing operation
Increase comparator in high rotating speed, and without additional, cost can be reduced.
Fig. 7 is the block diagram of the back-emf zero crossing detection device of brshless DC motor according to the ... of the embodiment of the present invention.
As shown in fig. 7, the back-emf zero crossing detection device of the brshless DC motor of the embodiment of the present invention includes：Acquiring unit 100 judges
Unit 200 and sampling unit 300.
Wherein, acquiring unit 100 is used for during controlling brshless DC motor, in each PWM controlling cycles
Obtain the duty ratio of the pwm control signal of brshless DC motor；Judging unit 200 is for judging it is pre- whether duty ratio is more than first
If duty ratio；Sampling unit 300 is used for when duty ratio is more than the first default duty ratio, in the high level of PWM controlling cycles
It is interior first to judge whether the time of afterflow of brshless DC motor terminates, if time of afterflow terminates, then the list for passing through ADC module
Channel carries out continuous several times sampling to the back-emf of brshless DC motor, and according to upper primary sampled result during sampling
Judge back-emf whether zero passage.
According to one embodiment of present invention, sampling unit 300 is specifically used for, and judges whether to enter back-emf zero passage detection
Stage if it is, obtaining the busbar voltage of brshless DC motor, and judges whether time of afterflow terminates, if time of afterflow
Terminate, is then the current hanging corresponding channels AD of phase terminal voltage by the single channel configuration of ADC module, and trigger the list of ADC module
Channel carries out first time sampling to the back-emf of brshless DC motor, and after the completion of sampling first time, obtains and adopts for the first time
Sample samples as a result, triggering the single channel of ADC module simultaneously and carrying out second to the back-emf of brshless DC motor, and at second
During sampling according to first time sampled result and busbar voltage judge back-emf whether zero passage, if back-emf zero passage,
Exit the back-emf zero passage detection stage.
According to one embodiment of present invention, it if the non-zero passage of back-emf, sampling unit 300 are additionally operable to, is adopted at (i-1)-th time
After the completion of sample, obtain (i-1)-th sampled result, at the same trigger the single channel of ADC module to the back-emf of brshless DC motor into
Row ith samples, and whether judges back-emf according to (i-1)-th sampled result and busbar voltage during ith samples
Zero passage, until judge that back-emf zero passage or sampling number exit the back-emf zero passage detection stage more than or equal to preset times,
Wherein, i is the integer more than or equal to 3.
According to one embodiment of present invention, sampling unit 300 is additionally operable to, and judges whether current time is PWM control weeks
It is the high level time started of phase, default in delay first if current time is the high level time started of PWM controlling cycles
Busbar voltage AD samplings are triggered after time, and enter the back-emf zero passage detection stage after the completion of busbar voltage AD samplings.
According to one embodiment of present invention, sampling unit 300 is additionally operable to, and is less than the second default duty ratio in duty ratio
When, in the high level time of PWM controlling cycles by the conventional back-emf method of sampling to the back-emf of brshless DC motor into
The primary sampling of row, and according to sampled result judge back-emf whether zero passage, wherein the second default duty ratio, which is less than first, to be preset and accounts for
Empty ratio.
It should be noted that undisclosed in the back-emf zero crossing detection device of the brshless DC motor of the embodiment of the present invention
Details please refers to the details disclosed in the back-emf zero passage detection method of the brshless DC motor of the embodiment of the present invention, specifically
I will not elaborate.
The back-emf zero crossing detection device of brshless DC motor according to the ... of the embodiment of the present invention, by acquiring unit to nothing
During brushless motor controls, the duty of the pwm control signal of brshless DC motor is obtained in each PWM controlling cycles
Than, and by judging unit judge whether duty ratio is more than the first duty ratio, and it is more than the in duty ratio by sampling unit
When one default duty ratio, first judge whether the time of afterflow of brshless DC motor is tied in the high level time of PWM controlling cycles
Beam if time of afterflow terminates, then carries out continuous several times by the single channel of ADC module to the back-emf of brshless DC motor
Sampling, and during sampling according to upper primary sampled result judge back-emf whether zero passage.Thus can not only be timely, accurate
It really detects back-emf zero crossing, ensures that motor stabilizing operates in high rotating speed, and increase comparator without additional, it can
Reduce cost.
In addition, the embodiment of the present invention also proposed a kind of control system of brshless DC motor comprising above-mentioned nothing
The back-emf zero crossing detection device of brushless motor.
The control system of brshless DC motor according to the ... of the embodiment of the present invention passes through the anti-electricity of above-mentioned brshless DC motor
Gesture zero crossing detection device can not only detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high turn
Speed, and increase comparator without additional, cost can be reduced.
In addition, the embodiment of the present invention also proposed a kind of dust catcher comprising the control of above-mentioned brshless DC motor
System.
Dust catcher according to the ... of the embodiment of the present invention, by the control system of above-mentioned brshless DC motor, can not only and
When, be accurately detected back-emf zero crossing, ensure that motor stabilizing operates in high rotating speed, and compare without additional increase
Device can reduce cost.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In addition, in the description of the present invention, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ",
"upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " clockwise ", " inverse time
The orientation or positional relationship of the instructions such as needle ", " axial direction ", " radial direction ", " circumferential direction " is to be based on the orientation or positional relationship shown in the drawings,
Be merely for convenience of description of the present invention and simplification of the description, do not indicate or imply the indicated device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (13)
1. a kind of back-emf zero passage detection method of brshless DC motor, which is characterized in that include the following steps：
S1 obtains the brushless dc during controlling the brshless DC motor in each PWM controlling cycles
The duty ratio of the pwm control signal of machine, and judge whether the duty ratio is more than the first duty ratio；
S2, if the duty ratio is more than the described first default duty ratio, in the high level time of the PWM controlling cycles
First judge whether the time of afterflow of the brshless DC motor terminates, if the time of afterflow terminates, then passes through ADC module
Single channel continuous several times sampling is carried out to the back-emf of the brshless DC motor, and according to upper primary during sampling
Sampled result judge the back-emf whether zero passage.
2. the back-emf zero passage detection method of brshless DC motor as described in claim 1, which is characterized in that the step S2
It specifically includes：
Judge whether to enter the back-emf zero passage detection stage；
If it is, obtaining the busbar voltage of the brshless DC motor, and judge whether the time of afterflow terminates；
It is that current hanging phase terminal voltage is corresponding by the single channel configuration of the ADC module if the time of afterflow terminates
The channels AD, and the single channel for triggering the ADC module carries out first time sampling to the back-emf of the brshless DC motor；
After the completion of sampling first time, first time sampled result is obtained, while triggering the single channel of the ADC module to the nothing
The back-emf of brushless motor carries out second and samples, and according to the first time sampled result during sampling for second
With the busbar voltage judge the back-emf whether zero passage；
If the back-emf zero passage exits the back-emf zero passage detection stage.
3. the back-emf zero passage detection method of brshless DC motor as claimed in claim 2, which is characterized in that if described anti-
The non-zero passage of potential after the completion of then sampling at (i-1)-th time, obtains (i-1)-th sampled result, while triggering the list of the ADC module
Channel carries out ith sampling to the back-emf of the brshless DC motor, and according to described i-th-during ith samples
1 sampled result and the busbar voltage judge the back-emf whether zero passage, until judge the back-emf zero passage or
Sampling number exits the back-emf zero passage detection stage more than or equal to preset times, wherein i is the integer more than or equal to 3.
4. the back-emf zero passage detection method of brshless DC motor as claimed in claim 2, which is characterized in that the step S2
Further include：
Judge current time whether be the PWM controlling cycles the high level time started；
If the current time is the high level time started of the PWM controlling cycles, after being delayed the first preset time
Busbar voltage AD samplings are triggered, and enter the back-emf zero passage detection stage after the completion of busbar voltage AD samplings.
5. the back-emf zero passage detection method of the brshless DC motor as described in any one of claim 1-4, which is characterized in that
If the duty ratio is less than the second default duty ratio, by conventional anti-in the high level time of the PWM controlling cycles
The potential method of sampling once samples the back-emf of the brshless DC motor, and judges the anti-electricity according to sampled result
Gesture whether zero passage, wherein the second default duty ratio be less than the described first default duty ratio.
6. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
The back-emf zero passage detection method of the brshless DC motor as described in any one of claim 1-5 is realized when processor executes.
7. a kind of back-emf zero crossing detection device of brshless DC motor, which is characterized in that including：
Acquiring unit, described in during controlling the brshless DC motor, being obtained in each PWM controlling cycles
The duty ratio of the pwm control signal of brshless DC motor；
Judging unit, for judging whether the duty ratio is more than the first duty ratio；
Sampling unit is used for when the duty ratio is more than the first default duty ratio, in the height electricity of the PWM controlling cycles
First judge whether the time of afterflow of the brshless DC motor terminates in usually, if the time of afterflow terminates, then leads to
The single channel for crossing ADC module carries out continuous several times sampling to the back-emf of the brshless DC motor, and during sampling
According to last sampled result judge the back-emf whether zero passage.
8. the back-emf zero crossing detection device of brshless DC motor as claimed in claim 7, which is characterized in that the sampling is single
Member is specifically used for, and judges whether to enter the back-emf zero passage detection stage, if it is, obtaining the busbar of the brshless DC motor
Voltage, and judge whether the time of afterflow terminates, if the time of afterflow terminates, by the single channel of the ADC module
The current hanging corresponding channels AD of phase terminal voltage are configured to, and trigger the single channel of the ADC module to the brushless dc
The back-emf of machine carries out first time sampling, and after the completion of sampling first time, obtains first time sampled result, while triggering institute
The single channel for stating ADC module carries out second of mistake for sampling, and being sampled at second to the back-emf of the brshless DC motor
In journey according to the first time sampled result and the busbar voltage judge the back-emf whether zero passage, if the back-emf
Zero passage then exits the back-emf zero passage detection stage.
9. the back-emf zero crossing detection device of brshless DC motor as claimed in claim 8, which is characterized in that if described anti-
The non-zero passage of potential, the sampling unit are additionally operable to, and after the completion of sampling at (i-1)-th time, are obtained (i-1)-th sampled result, are touched simultaneously
The single channel for sending out ADC module described carries out ith sampling to the back-emf of the brshless DC motor, and in ith sampling
In the process according to (i-1)-th sampled result and the busbar voltage judge the back-emf whether zero passage, until judge
The back-emf zero passage or sampling number exit the back-emf zero passage detection stage more than or equal to preset times, wherein i is
Integer more than or equal to 3.
10. the back-emf zero crossing detection device of brshless DC motor as claimed in claim 8, which is characterized in that the sampling
Unit is additionally operable to, judge current time whether be the PWM controlling cycles the high level time started, if the current time
For the high level time started of the PWM controlling cycles, then busbar voltage AD samplings are triggered after first preset time that is delayed, and
Enter the back-emf zero passage detection stage after the completion of busbar voltage AD samplings.
11. the back-emf zero crossing detection device of the brshless DC motor as described in any one of claim 7-10, feature exist
In the sampling unit is additionally operable to, when the duty ratio is less than the second default duty ratio, in the height of the PWM controlling cycles
The back-emf of the brshless DC motor is once sampled by the conventional back-emf method of sampling in level time, and according to
Sampled result judge the back-emf whether zero passage, wherein the second default duty ratio be less than the described first default duty ratio.
12. a kind of control system of brshless DC motor, which is characterized in that include as described in any one of claim 7-11
The back-emf zero crossing detection device of brshless DC motor.
13. a kind of dust catcher, which is characterized in that include the control system of brshless DC motor as claimed in claim 12.
Priority Applications (2)
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| CN201810296965.8A CN108448954A (en) | 2018-03-30 | 2018-03-30 | The back-emf zero passage detection method, apparatus and control system of dust catcher, motor |
| PCT/CN2019/080423 WO2019185018A1 (en) | 2018-03-30 | 2019-03-29 | Vacuum cleaner, and counter electromotive force zero-cross detection method, apparatus and control system of motor |
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| CN201810296965.8A CN108448954A (en) | 2018-03-30 | 2018-03-30 | The back-emf zero passage detection method, apparatus and control system of dust catcher, motor |
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Application publication date: 20180824 |