CN108631658A - 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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- CN108631658A CN108631658A CN201810294383.6A CN201810294383A CN108631658A CN 108631658 A CN108631658 A CN 108631658A CN 201810294383 A CN201810294383 A CN 201810294383A CN 108631658 A CN108631658 A CN 108631658A
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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 default duty ratio；If duty ratio is more than the first default duty ratio, then pass through ADC (Analog to Digital Converter in the high level time of PWM controlling cycles, A/D converter) module FIFO (First In First Out, first in, first out) multi-channel sampling function carries out multiple repairing weld to the back-emf of brshless DC motor, and after the completion of sampling according to 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 default more than first and accounts for
Empty 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
Interior FIFO (First In First Out, first in, first out) multi-channel sampling function by ADC module is to the brushless direct-current
The back-emf of motor carries out multiple repairing weld, and after the completion of sampling according to sampled 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
Multiple repairing weld is carried out to the back-emf of brshless DC motor by the FIFO multi-channel samplings function of ADC module in usually, and
After the completion of sampling according to sampled result judge back-emf whether zero passage.To detect anti-electricity accurately and in time
Gesture zero crossing ensures that motor stabilizing operates in high rotating speed, and increases comparator without additional, can reduce cost.
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 configure currently the M1 channel of the FIFO to
The hanging corresponding channels AD of phase terminal voltage, after configuration is complete, the ADC module carry out the M1 channel of the FIFO continuous
Sampling to the back-emf of the brshless DC motor to carry out multiple repairing weld, wherein M1 is less than or equal to the overall channel of the FIFO
Number；After the completion of the back-emf to the brshless DC motor carries out multiple repairing weld, adopting for the M1 channel of the FIFO is obtained
Sample as a result, and according to sampled result and the busbar voltage judge the back-emf whether zero passage；If the back-emf zero passage,
Then exit the back-emf zero passage detection stage.
According to one embodiment of present invention, if the non-zero passage of the back-emf, according to the height of the PWM controlling cycles
Level time configures the M2 channel of the FIFO, and is continued to described brushless straight by the M2 channel of the FIFO
The back-emf of galvanic electricity machine carries out multiple repairing weld, and after the completion of sampling according to sampled result and the busbar voltage judge it is described instead
Potential whether zero passage, wherein M2 is integer less than or equal to M1.
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 default duty ratio；Sampling unit is used for when the duty ratio is more than the first default duty ratio, in the PWM
By the FIFO multi-channel samplings function of ADC module to the anti-electricity of the brshless DC motor in the high level time of controlling cycle
Gesture carries out multiple repairing weld, and after the completion of each sampling according to 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 default duty ratio, and it is big in duty ratio by sampling unit
When the first default duty ratio, pass through the FIFO multi-channel sampling functions of ADC module in the high level time of PWM controlling cycles
Multiple repairing weld carried out to the back-emf of brshless DC motor, and after the completion of sampling according to sampled result judge back-emf whether mistake
Zero.To detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high rotating speed, and
Without additionally increasing comparator, cost can be reduced.
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 the M1 channel of the FIFO is configured to work as
The corresponding channels AD of front overhang Kongxiang terminal voltage, after configuration is complete, the ADC module connects the M1 channel of the FIFO
Continuous sampling to the back-emf of the brshless DC motor to carry out multiple repairing weld, wherein M1 is total logical less than or equal to the FIFO
Road number；After the completion of the back-emf to the brshless DC motor carries out multiple repairing weld, the sampling unit is additionally operable to obtain institute
State the sampled result in the M1 channel of FIFO, and according to sampled result and the busbar voltage judge the back-emf whether mistake
Zero, if the back-emf zero passage, exit the back-emf zero passage detection stage.
According to one embodiment of present invention, if the non-zero passage of the back-emf, the sampling unit are additionally operable to, according to institute
The high level time for stating PWM controlling cycles configures the M2 channel of the FIFO, and logical by the M2 of the FIFO
Road continues to carry out multiple repairing weld to the back-emf of the brshless DC motor, and according to sampled result and described after the completion of sampling
Busbar voltage judge the back-emf whether zero passage, wherein M2 is integer less than or equal to M1.
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.
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 is the schematic diagram of the back-emf zero passage detection of brshless DC motor according to an embodiment of the invention；
Fig. 5 is the flow of the back-emf zero passage detection method of brshless DC motor accord to a specific embodiment of that present invention
Figure；
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 default duty ratio.
S2 passes through ADC if duty ratio is more than the first default duty ratio in the high level time of PWM controlling cycles
The FIFO multi-channel samplings function of module carries out multiple repairing weld to the back-emf of brshless DC motor, and after the completion of sampling according to
Sampled result judge back-emf whether 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) is adopted at this time in the high level time of each PWM controlling cycles using the FIFO multichannels of ADC module
Sample function carries out multiple repairing weld to the back-emf of brshless DC motor, and judges back-emf according to sampled result after the completion of sampling
Whether zero passage.When duty ratio is decreased below the second default duty ratio again, the conventional back-emf method of sampling is reused,
In, the second default duty ratio is less than the first default 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, by using the FIFO multi-channel sampling functions of ADC module, and in the high period of each PWM controlling cycles
Between carry out continuous several times and sample back-emf, thus can ensure the promptness and accuracy of back-emf zero passage detection, can support nothing
Brushless motor stable operation increases comparator in the high range of speeds, and without additional, can reduce cost, reduce control
The size of device PCB processed.
With reference to Fig. 4-Fig. 6 come be described in detail how in the high level time of PWM controlling cycles by ADC module
FIFO multi-channel samplings function carries out multiple repairing weld to the back-emf of brshless DC motor, and is tied according to sampling after the completion of sampling
Fruit 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 configure the M1 channel of FIFO to current hanging phase terminal voltage
The corresponding channels AD, after configuration is complete, ADC module carry out continuous sampling with to brshless DC motor to the M1 channel of FIFO
Back-emf carry out multiple repairing weld, wherein M1 be less than or equal to FIFO overall channel number；To the back-emf of brshless DC motor into
After the completion of row multiple repairing weld, the sampled result in the M1 channel of FIFO is obtained, and judge instead according to sampled result and busbar voltage
Potential whether zero passage；If back-emf zero passage, the back-emf zero passage detection stage is exited.
According to one embodiment of present invention, if the non-zero passage of back-emf, according to the high level time of PWM controlling cycles
The M2 channel of FIFO is configured, and by the M2 channel of FIFO continues to carry out the back-emf of brshless DC motor more
Secondary sampling, and after the completion of sampling according to sampled result and busbar voltage judge back-emf whether zero passage, wherein M2 be less than etc.
In the integer of M1.
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, refering to what is shown in Fig. 4, during being controlled brshless DC motor using pwm control signal, it can be with
By the counting unit of PWM come judge current time whether be PWM controlling cycles the high level time started, if it is,
First preset time that is delayed (length of time is configured by software program, such as 4us) triggers busbar voltage AD sampling (busbar electricity afterwards
1/2 reference voltage as back-emf zero passage detection of pressure).Wherein, it is arranged after the first preset time and busbar voltage is carried out
AD samplings are to be influenced to cause busbar voltage sampling inaccurate in order to avoid being switched by power switch tube.And in the first preset time
It is interior, judgement can be compared to the duty ratio of pwm control signal, if duty ratio is less than the second default duty ratio, using normal
The rule back-emf method of sampling judges whether zero passage e.g. enters back-emf zero passage to back-emf after the completion of to busbar voltage AD samplings
Detection-phase uses the single channel of ADC module once to sample hanging phase terminal voltage at this time, and by sampled result and busbar
Voltage is compared, with judge back-emf whether zero passage；If duty ratio is more than the first default duty ratio, to busbar voltage
Enter the back-emf zero passage detection stage after the completion of AD samplings, at this time by the FIFO multi-channel sampling functions of ADC module to brushless
The back-emf of direct current generator carries out multiple repairing weld, and after the completion of sampling according to sampled result judge back-emf whether zero passage.
Specifically, with continued reference to shown in Fig. 4, AD interruptions are automatically generated after (about 1us) is completed in busbar voltage AD samplings,
The interruption can be described as the interruption of first time AD.After entering first time AD and interrupting, the AD sampled results of busbar voltage are read, and will
8 channels of FIFO are configured to the current hanging corresponding channels AD of phase terminal voltage, are then log out the interruption of first time AD.It is configuring
Cheng Hou, ADC module will carry out continuous sampling to 8 channels of the FIFO configured automatically, i.e., within one section of sampling time, continuously
The value for acquiring 8 hanging phase terminal voltages, to carry out multiple repairing weld to the back-emf of brshless DC motor.When ADC module has sampled
Cheng Houhui generates AD interruptions again, which can be described as second of AD and interrupt.After entering second of AD and interrupting, read FIFO's
The sampled result in 8 channels, i.e., the value of 8 hanging phase terminal voltages, and by the value of 8 hanging phase terminal voltages respectively with busbar voltage
Be compared, with judge back-emf whether zero passage.If back-emf zero passage, exits second of AD and interrupt, current PWM controls week
The back-emf zero passage detection of phase terminates.
If the non-zero passage of back-emf, according to the high level time of current PWM controlling cycles (that is, pwm control signal accounts for
Empty ratio) come determine to back-emf carry out again detect when required FIFO channel number, to ensure the height in PWM controlling cycles
The back-emf of brshless DC motor is acquired in level time as much as possible.For example, as shown in figure 4, controlling week according to current PWM
The high level remaining time of phase, which can determine, needs M2 (e.g., 3) a channel, then configures M2 channel to current hanging phase end electricity
The corresponding channels AD are pressed, second of AD is then log out and interrupts.After configuration is complete, ADC module is by the FIFO automatically to having configured
M2 channel carry out continuous sampling, i.e., within one section of sampling time, the value of continuous acquisition M2 hanging phase terminal voltages, with to nothing
The back-emf of brushless motor is sampled again.AD can be generated again after the completion of ADC module sampling to interrupt, which can claim
It is interrupted for third time AD.After entering third time AD and interrupting, the sampled result in the M2 channel of FIFO, i.e. M2 hanging phases are read
The value of terminal voltage, and the value of the hanging phase terminal voltages of M2 is compared with busbar voltage respectively, with judge back-emf whether mistake
Zero, so far, the back-emf zero passage detection stage of current PWM controlling cycles terminates.When next PWM controlling cycles start, weight
The multiple above process.
As shown in figure 5, the back-emf zero passage detection method of the brshless DC motor may include following steps：
S201 judges current whether interrupted in first time AD.If so, thening follow the steps S202；If it is not, then executing
Step S203.
S202 reads busbar voltage AD sampled results, and configures 8 channel FIFO AD samplings, with to be interrupted into second
It prepares.
S203 judges whether to interrupt in second of AD.If so, thening follow the steps S204；If not, thening follow the steps
S208。
S204 reads 8 channel FIFO AD sampled results.
S205, according to 8 channel FIFO AD sampled results judge back-emf whether zero passage.If so, thening follow the steps
S206；If not, thening follow the steps S207.
S206 is prepared to enter into the interruption of first time AD, to carry out zero passage detection for the back-emf in next PWM controlling cycles.
S207 configures the corresponding channels M2 FIFO AD according to current PWM duty cycle and samples, interrupted to enter third time AD
It prepares.Wherein, M2 is the integer less than or equal to 8.
S208 judges current whether interrupted in third time AD.If so, thening follow the steps S209；If it is not, then exiting
Current AD is interrupted.
S209, reads M2 channels FIFO AD sampled results, and according to sampled result judge back-emf whether zero passage.
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, realizing the high level time in a PWM controlling cycle using the FIFO multi-channel sampling functions of ADC module
The interior back-emf to brshless DC motor carries out continuous several times acquisition, can accurately detect back-emf zero crossing in time, from
And ensure brshless DC motor can stable operation under high rotating speed, while not needing additional comparator, reduce cost.
It should be noted that in the above-described embodiments, the value of M1 is 8, and in practical applications, M1 could be provided as 4,
5, any one FIFO depth in 6,7 and 8, can control according to the duty ratio of actual pwm control signal in a PWM in this way
Back-emf Sampling interrupt is repeatedly triggered in period, for example, the value of M1 can be 4, then relative to above-mentioned specific example, so that it may
It is primary to trigger so that the back-emf zero passage detection of brshless DC motor is accurate much sooner more.
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
The back-emf of brshless DC motor is carried out by the FIFO multi-channel samplings function of ADC module in the high level time in period processed
Multiple repairing weld, and after the completion of sampling according to sampled result judge back-emf whether zero passage.Thus can not only be accurately and in time
It detects back-emf zero crossing, ensures that motor stabilizing operates in high rotating speed, and increase 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
The interior FIFO multi-channel samplings function by ADC module carries out multiple repairing weld to the back-emf of brshless DC motor, and is adopting
After the completion of sample according to sampled result 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 configures the M1 channel of FIFO to current hanging phase end
The corresponding channels AD of voltage, after configuration is complete, ADC module carry out continuous sampling with to brushless direct-current to the M1 channel of FIFO
The back-emf of motor carries out multiple repairing weld, wherein M1 is less than or equal to the overall channel number of FIFO；In the anti-electricity to brshless DC motor
After the completion of gesture carries out multiple repairing weld, sampling unit 300 is additionally operable to obtain the sampled result in the M1 channel of FIFO, and according to sampling
As a result judge whether zero passage exits the back-emf zero passage detection stage to back-emf if back-emf zero passage with busbar voltage.
According to one embodiment of present invention, if the non-zero passage of back-emf, sampling unit 300 are additionally operable to, are controlled according to PWM
The high level time in period configures the M2 channel of FIFO, and is continued to brushless dc by the M2 channel of FIFO
The back-emf of machine carries out multiple repairing weld, and after the completion of sampling according to sampled result and busbar voltage judge back-emf whether mistake
Zero, wherein M2 is the integer less than or equal to M1.
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 default duty ratio, and it is big in duty ratio by sampling unit
When the first default duty ratio, pass through the FIFO multi-channel sampling functions of ADC module in the high level time of PWM controlling cycles
Multiple repairing weld carried out to the back-emf of brshless DC motor, and after the completion of sampling according to sampled result judge back-emf whether mistake
Zero.To detect back-emf zero crossing accurately and in time, ensure that motor stabilizing operates in high rotating speed, and
Without additionally increasing comparator, cost can be reduced.
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 default 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
Multiple repairing weld is carried out to the back-emf of the brshless DC motor by the FIFO multi-channel samplings function of ADC module, and is being adopted
After the completion of sample according to 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 configure currently the M1 channel of the FIFO to
The hanging corresponding channels AD of phase terminal voltage, after configuration is complete, the ADC module carry out the M1 channel of the FIFO continuous
Sampling to the back-emf of the brshless DC motor to carry out multiple repairing weld, wherein M1 is less than or equal to the overall channel of the FIFO
Number；
After the completion of the back-emf to the brshless DC motor carries out multiple repairing weld, adopting for the M1 channel of the FIFO is obtained
Sample as a result, and according to sampled result and 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 then configures the M2 channel of the FIFO according to the high level time of the PWM controlling cycles, and leads to
M2 channel for crossing the FIFO continues to carry out multiple repairing weld to the back-emf of the brshless DC motor, and after the completion of sampling
According to sampled result and the busbar voltage judge the back-emf whether zero passage, wherein M2 is integer less than or equal to M1.
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 default 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
The back-emf of the brshless DC motor is repeatedly adopted by the FIFO multi-channel samplings function of ADC module in usually
Sample, and after the completion of sampling according to 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 configure the M1 channel of the FIFO to the current hanging corresponding channels AD of phase terminal voltage, after configuration is complete, institute
It states ADC module and continuous sampling is carried out to be carried out repeatedly to the back-emf of the brshless DC motor to the M1 channel of the FIFO
Sampling, wherein M1 is less than or equal to the overall channel number of the FIFO；
After the completion of the back-emf to the brshless DC motor carries out multiple repairing weld, the sampling unit is additionally operable to described in acquisition
The sampled result in the M1 channel of FIFO, and according to sampled result and the busbar voltage judge the back-emf whether zero passage,
If the back-emf zero passage 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, according to the high level time of the PWM controlling cycles to M2 of the FIFO
Channel is configured, and continues repeatedly to adopt the back-emf of the brshless DC motor by the M2 channel of the FIFO
Sample, and after the completion of sampling according to sampled result and the busbar voltage judge the back-emf whether zero passage, wherein M2 be it is small
In the integer equal to M1.
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)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810294383.6A CN108631658A (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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| CN201810294383.6A CN108631658A (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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