CN108847794A

CN108847794A - Dust catcher, the rotor position detecting method of motor, device and control system

Info

Publication number: CN108847794A
Application number: CN201810296984.0A
Authority: CN
Inventors: 王浩东; 吴偏偏
Original assignee: Midea Group Co Ltd; Jiangsu Midea Cleaning Appliances Co Ltd
Current assignee: Midea Group Co Ltd; Jiangsu Midea Cleaning Appliances Co Ltd
Priority date: 2018-03-30
Filing date: 2018-03-30
Publication date: 2018-11-20
Anticipated expiration: 2038-03-30
Also published as: CN108847794B

Abstract

The invention discloses a kind of dust catcher, the rotor position detecting method of brshless DC motor, device and control systems, wherein rotor position detecting method includes the following steps：During using back-emf zero passage method to motor control, when obtaining the rotor-position of motor using back-emf zero passage method, the rotor-position of motor is also obtained using magnetic linkage method；Judge whether back-emf zero passage detection succeeds；If the rotor-position for detecting the motor successfully, obtained according to back-emf zero passage method carries out commutation control to motor, and continues to control motor using back-emf zero passage method；If the rotor-position of detection failure, the motor obtained according to magnetic linkage method carries out commutation control to motor, and starts to control motor using magnetic linkage method.To when motor speed reduces suddenly, can still guarantee that motor operates normally, the reliability of motor operation is substantially increased.

Description

Dust catcher, the rotor position detecting method of motor, device and control system

Technical field

The present invention relates to motor control technology field, in particular to the rotor-position detection side of a kind of brshless DC motor Method, a kind of detecting apparatus for rotor position of brshless DC motor, a kind of control system of brshless DC motor and a kind of dust catcher.

Background technique

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 the rotor-position that motor is obtained by detecting hanging opposite potential zero crossing. When certain phase winding back-emf zero passage of brshless DC motor, rotor d-axis is overlapped just with the phase winding axis, as long as therefore Detect each phase winding back-emf zero crossing, so that it may which the location information for knowing rotor is then based on back-emf zero crossing and prolongs backward The on-off of slow 30 degree of electrical angles control switch pipe is to carry out commutation to motor, to realize the position-sensor-free control to motor System.

But when being controlled using back-emf zero passage method motor, if load increases suddenly, corresponding motor turns Speed will become very low, and when revolving speed is lower, the back-emf very little of motor can not obtain the standard of rotor by back-emf zero passage method True position, and then not can guarantee motor normal operation.

Summary of the invention

The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention First purpose be to propose a kind of rotor position detecting method of brshless DC motor, when motor speed reduces suddenly, still It can guarantee that motor operates normally, substantially increase the reliability of motor operation.

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 detecting apparatus for rotor position of brshless DC motor.

Fourth object of the present invention is to propose a kind of control system of brshless DC motor.

5th purpose of the invention is to propose a kind of dust catcher.

To achieve the above object, first aspect present invention embodiment proposes a kind of rotor-position inspection of brshless DC motor Survey method, includes the following steps：During using back-emf zero passage method to the motor control, when using the back-emf When zero passage method obtains the rotor-position of the motor, the rotor-position of the motor is also obtained using magnetic linkage method；Judge back-emf Whether zero passage detection succeeds；If the back-emf zero passage detection success, according to back-emf zero passage method acquisition The rotor-position of motor carries out commutation control to the motor, and continues to carry out the motor using the back-emf zero passage method Control；If the back-emf zero passage detection failure, the rotor-position of the motor obtained according to the magnetic linkage method is to institute It states motor and carries out commutation control, and start to control the motor using the magnetic linkage method.

The rotor position detecting method of brshless DC motor according to an embodiment of the present invention is using back-emf zero passage method pair During motor control, when obtaining the rotor-position of motor using back-emf zero passage method, motor is also obtained using magnetic linkage method Rotor-position, and judge whether back-emf zero passage detection succeeds.If back-emf zero passage detection success, according to back-emf mistake The rotor-position for the motor that zero method obtains carries out commutation control to motor, and continues to control motor using back-emf zero passage method System；If back-emf zero passage detection fails, the rotor-position of the motor obtained according to magnetic linkage method carries out commutation control to motor, And start to control motor using magnetic linkage method.Thus when motor speed reduces suddenly, even if back-emf very little causes to adopt The rotor-position of motor can not be detected with back-emf zero passage method, can also pass through the rotor-position pair for the motor that magnetic linkage method obtains Motor carries out commutation control, guarantees that motor can continue to operate normally, substantially increases the reliability of motor operation.

In addition, the rotor position detecting method of brshless DC motor according to the above embodiment of the present invention can also have as Under additional technical characteristic：

According to one embodiment of present invention, it during using the magnetic linkage method to the motor control, also uses The back-emf zero passage method obtains the rotor-position of the motor, and judges whether the successful number of back-emf zero passage detection is greater than Whether it is more than or equal to default slope equal to the back-emf of preset times or motor climbing slope；If the back-emf mistake The zero successful number of detection is less than the preset times or back-emf climbing slope is less than the default slope, then continues The motor is controlled using the magnetic linkage method；If the successful number of back-emf zero passage detection is more than or equal to described Preset times or back-emf climbing slope are more than or equal to the default slope, then start using the back-emf zero passage method The motor is controlled.

According to one embodiment of present invention, described that the motor is controlled using the magnetic linkage method, including：Offline Obtain temperature-phase resistance table, temperature-phase inductance table and busbar voltage-phase current change rate table of the motor；In each PWM Control the period high level time in, obtain conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, Bus current instantaneous value, busbar voltage and current winding temperature；Become according to the busbar voltage and the busbar voltage-phase current Rate table obtains the phase current change rate of the motor, and according to the current winding temperature and the temperature-phase resistance table, institute State phase resistance and phase inductance that temperature-phase inductance table obtains the motor；According to the conducting phase anode voltage, the conducting phase Negative terminal voltage, the non-conduction opposite potential voltage, the bus current instantaneous value, the phase current change rate, phase electricity Resistance and the phase inductance carry out commutation control to the motor.

According to another embodiment of the invention, described that the motor is controlled using the magnetic linkage method, including：From Line obtains the temperature-phase resistance table and temperature-phase inductance table of the motor；In the high level time in each PWM control period, It obtains conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and works as front winding Temperature, and obtain the phase current of any two moment corresponding motor；According to any two moment and described any The phase current of two moment corresponding motor obtains the phase current change rate of the motor, and works as front winding temperature according to described Degree and the temperature-phase resistance table, the temperature-phase inductance table obtain the phase resistance and phase inductance of the motor；According to described Be connected phase anode voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the bus current instantaneous value, The phase current change rate, the phase resistance and the phase inductance carry out commutation control to the motor.

According to one embodiment of present invention, it is described according to the conducting phase anode voltage, the conducting phase negative terminal voltage, The non-conduction opposite potential voltage, the bus current instantaneous value, the phase current change rate, the phase resistance and the phase Inductance carries out commutation control to the motor, including：According to the conducting phase anode voltage, the conducting phase negative terminal voltage, institute State non-conduction opposite potential voltage, the bus current instantaneous value, the phase current change rate, the phase resistance and the mutually electricity Sense the slope of the magnetic linkage value for taking the motor or motors Based on Flux Linkage G (θ)；If the magnetic linkage value of the motor is greater than default magnetic linkage The slope of threshold value or the motors Based on Flux Linkage G (θ) are greater than default slope threshold value, then control the motor and carry out commutation.

According to one embodiment of present invention, in the slope for the magnetic linkage value or motors Based on Flux Linkage G (θ) for obtaining the motor Before, further include：Judge that the non-conduction opposite potential voltage controls non-in the period with a upper PWM in the current PWM control period Whether the voltage difference between conducting opposite potential voltage is in preset range；If the voltage difference is in described default In range, then the magnetic linkage value of the motor or the slope of motors Based on Flux Linkage G (θ) are obtained again.

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 rotor-position of above-mentioned brshless DC motor when being executed by processor Detection method.

Non-transitorycomputer readable storage medium according to an embodiment of the present invention, by executing above-mentioned brushless dc The rotor position detecting method of machine, when motor speed reduces suddenly, even if back-emf very little causes using back-emf zero passage method It can not detect the rotor-position of motor, commutation control can also be carried out to motor by the rotor-position for the motor that magnetic linkage method obtains System, guarantees that motor can continue to operate normally, substantially increases the reliability of motor operation.

To achieve the above object, a kind of rotor-position inspection for brshless DC motor that third aspect present invention embodiment proposes Device is surveyed, including：First acquisition unit, for obtaining the rotor-position of the motor using back-emf zero passage method；Second obtains Unit, for obtaining the rotor-position of the motor using magnetic linkage method；Control unit, for using the back-emf zero passage method During to the motor control, when obtaining the rotor-position of the motor by the first acquisition unit, also pass through The second acquisition unit obtains the rotor-position of the motor, and judges whether back-emf zero passage detection succeeds, wherein if The back-emf zero passage detection success, the rotor for the motor that described control unit is then obtained according to the first acquisition unit Position carries out commutation control to the motor, and continues to control the motor using the back-emf zero passage method；If The back-emf zero passage detection failure, the rotor for the motor that described control unit is then obtained according to the second acquisition unit Position carries out commutation control to the motor, and starts to control the motor using the magnetic linkage method.

The detecting apparatus for rotor position of brshless DC motor according to an embodiment of the present invention, control unit are using back-emf During zero passage method is to motor control, when obtaining the rotor-position of motor by first acquisition unit, also obtained by second It takes unit to obtain the rotor-position of motor, and judges whether back-emf zero passage detection succeeds, wherein if back-emf zero passage detection The rotor-position of success, the motor that control unit is then obtained according to first acquisition unit carries out commutation control to motor, and continues Motor is controlled using back-emf zero passage method；If back-emf zero passage detection fails, obtained according to second if control unit The rotor-position for the motor that unit obtains carries out commutation control to motor, and starts to control motor using magnetic linkage method.From And when motor speed reduces suddenly, even if back-emf very little leads to the rotor that can not detect motor using back-emf zero passage method Position can also carry out commutation control to motor by the rotor-position for the motor that magnetic linkage method obtains, guarantee that motor can continue to It operates normally, substantially increases the reliability of motor operation.

In addition, the detecting apparatus for rotor position of brshless DC motor according to the above embodiment of the present invention can also have as Under additional technical characteristic：

According to one embodiment of present invention, described control unit is in the mistake using the magnetic linkage method to the motor control Cheng Zhong, also obtains the rotor-position of the motor by the first acquisition unit, and judges that back-emf zero passage detection is successful Whether number is more than or equal to preset times or whether the back-emf climbing slope of the motor is more than or equal to default slope, In, if the successful number of back-emf zero passage detection is less than the preset times or back-emf climbing slope is less than The default slope, described control unit then continue to control the motor using the magnetic linkage method；If the anti-electricity The successful number of gesture zero passage detection is more than or equal to the preset times or back-emf climbing slope more than or equal to described pre- If slope, described control unit then starts to control the motor using the back-emf zero passage method.

According to one embodiment of present invention, described control unit controls the motor using the magnetic linkage method When, wherein described control unit obtains the temperature-phase resistance table, temperature-phase inductance table and busbar voltage-of the motor offline Phase current change rate table, and in the high level time in each PWM control period, obtain conducting phase anode voltage, conducting is mutually born Voltage, non-conduction opposite potential voltage, bus current instantaneous value, busbar voltage and current winding temperature are held, and according to described Busbar voltage and the busbar voltage-phase current change rate table obtain the phase current change rate of the motor, and are worked as according to described Front winding temperature and the temperature-phase resistance table, the temperature-phase inductance table obtain the phase resistance and phase inductance of the motor, And according to the conducting phase anode voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the bus Current instantaneous value, the phase current change rate, the phase resistance and the phase inductance carry out commutation control to the motor.

According to another embodiment of the invention, described control unit controls the motor using the magnetic linkage method When processed, wherein described control unit obtains the temperature-phase resistance table and temperature-phase inductance table of the motor offline, and each PWM is controlled in the high level time in period, obtains conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential electricity Pressure, bus current instantaneous value and current winding temperature, and the phase current of any two moment corresponding motor is obtained, and The phase of the motor is obtained according to the phase current at any two moment and any two moment corresponding motor Current changing rate, and institute is obtained according to the current winding temperature and the temperature-phase resistance table, the temperature-phase inductance table State the phase resistance and phase inductance of motor, and according to the conducting phase anode voltage, the conducting phase negative terminal voltage, described non-lead Logical opposite potential voltage, the bus current instantaneous value, the phase current change rate, the phase resistance and the phase inductance are to institute It states motor and carries out commutation control.

According to one embodiment of present invention, described control unit is according to the conducting phase anode voltage, the conducting phase Negative terminal voltage, the non-conduction opposite potential voltage, the bus current instantaneous value, the phase current change rate, phase electricity When resistance and the phase inductance carry out commutation control to the motor, wherein described control unit is according to the conducting phase anode electricity Pressure, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the bus current instantaneous value, the phase current become Rate, the phase resistance and the phase inductance obtain the magnetic linkage value of the motor or the slope of motors Based on Flux Linkage G (θ), wherein such as The magnetic linkage value of motor described in fruit is greater than default magnetic linkage threshold value or the slope of the motors Based on Flux Linkage G (θ) is greater than default slope threshold value, It then controls the motor and carries out commutation.

According to one embodiment of present invention, described control unit is also used in the magnetic linkage value or magnetic for obtaining the motor Before the slope of chain function G (θ), judge that the non-conduction opposite potential voltage and a upper PWM are controlled in the current PWM control period Whether the voltage difference in the period between non-conduction opposite potential voltage is in preset range, if the voltage difference is in In the preset range, then the magnetic linkage value of the motor or the slope of motors Based on Flux Linkage G (θ) are obtained again.

To achieve the above object, fourth aspect present invention embodiment proposes a kind of control system of brshless DC motor, It includes the detecting apparatus for rotor position of above-mentioned brshless DC motor.

The control system of brshless DC motor according to an embodiment of the present invention passes through the rotor of above-mentioned brshless DC motor Position detecting device, when motor speed reduces suddenly, even if back-emf very little causes not detecting using back-emf zero passage method To the rotor-position of motor, commutation control can also be carried out to motor by the rotor-position for the motor that magnetic linkage method obtains, guaranteed Motor can continue to operate normally, and substantially increase the reliability of motor operation.

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 an embodiment of the present invention, by the control system of above-mentioned brshless DC motor, in motor speed It, can also be with even if back-emf very little causes not detecting the rotor-position of motor using back-emf zero passage method when reducing suddenly The rotor-position of the motor obtained by magnetic linkage method carries out commutation control to motor, guarantees that motor can continue to operate normally, greatly The reliability of motor operation is improved greatly, and then improves dust catcher reliability of operation.

Detailed description of the invention

Fig. 1 is the flow chart of the rotor position detecting method of brshless DC motor according to an embodiment of the present invention；

Fig. 2 is the flow chart according to an embodiment of the invention when being controlled using back-emf zero passage method motor；

Fig. 3 a is the waveform diagram of back-emf in electric motor starting low speed operational process according to an embodiment of the invention；

Fig. 3 b is motor according to an embodiment of the invention with the waveform diagram of back-emf in high speed operational process；

Fig. 4 is the waveform diagram of brshless DC motor phase current according to an embodiment of the invention；

Fig. 5 is that the phase current change rate of brshless DC motor according to an embodiment of the invention is corresponding with busbar voltage Relational graph；

Fig. 6 is the phase current change rate of brshless DC motor in accordance with another embodiment of the present invention and pair of busbar voltage Answer relational graph；

Fig. 7 is the waveform diagram of brshless DC motor phase current in accordance with another embodiment of the present invention；

Fig. 8 is the waveform diagram of the line counter electromotive force of brshless DC motor according to an embodiment of the invention；

Fig. 9 is the waveform diagram of motors Based on Flux Linkage G (θ) according to an embodiment of the invention；

Figure 10 is the waveform diagram of motors Based on Flux Linkage G (θ) in accordance with another embodiment of the present invention；

Figure 11 is the flow chart according to an embodiment of the invention when being controlled using magnetic linkage method motor；

Figure 12 is the block diagram of the detecting apparatus for rotor position of brshless DC motor according to an embodiment of the present invention.

Specific embodiment

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 is used to explain the present invention, and is not considered as limiting the invention.

Below with reference to the accompanying drawings the rotor-position detection side of the brshless DC motor proposed according to embodiments of the present invention described The control of method, non-transitorycomputer readable storage medium, the detecting apparatus for rotor position of brshless DC motor, brshless DC motor System processed and dust catcher.

Fig. 1 is the flow chart of the rotor position detecting method of brshless DC motor according to an embodiment of the present invention.Such as Fig. 1 institute Show, the rotor position detecting method of the brshless DC motor of the embodiment of the present invention includes the following steps：

S1, during using back-emf zero passage method to motor control, when using back-emf zero passage method acquisition motor When rotor-position, the rotor-position of motor is also obtained using magnetic linkage method.

Wherein, the rotor-position of motor is obtained using back-emf zero passage method and obtains the rotor-position of motor using magnetic linkage method It can be achieved by the prior art.

S2, judges whether back-emf zero passage detection succeeds.

S3, if the success of back-emf zero passage detection, the rotor-position of the motor obtained according to back-emf zero passage method is to electricity Machine carries out commutation control, and continues to control motor using back-emf zero passage method.

S4, if back-emf zero passage detection fails, the rotor-position of the motor obtained according to magnetic linkage method carries out motor Commutation control, and start to control motor using magnetic linkage method.

Specifically, the rotor position of motor can be obtained using back-emf zero passage method usually when motor is run with high speed It sets, and commutation control is carried out to motor according to the rotor-position of acquisition, so that motor continuous service.But according to back-emf When zero passage method obtains the rotor-position of motor, needs to guarantee that the back-emf of motor is sufficiently large, once back-emf is too small, will lead to nothing Method obtains the rotor-position of accurate motor, for example, the back-emf of motor will reduce, to lead when the revolving speed of motor reduces Cause that the rotor-position of motor can not be obtained by back-emf zero passage method so that motor can not normal commutation, and then lead to motor not It can operate normally.

For this purpose, in an embodiment of the present invention, when obtaining the rotor-position of motor by back-emf zero passage method, also passing through Magnetic linkage method obtains the rotor-position (rotor-position only being obtained, without commutation) of motor, in this way when back-emf zero passage detection fails When, the rotor-position of the motor obtained according to magnetic linkage method carries out commutation to motor, that is, can guarantee that motor can continue to run, and cut It changes to magnetic linkage method to control motor, to guarantee the correct commutation of motor, and then guarantees that motor being capable of reliability service.

Further, in one particular embodiment of the present invention, as shown in Fig. 2, when motor is run with high speed, this The rotor position detecting method of the brshless DC motor of inventive embodiments may include following steps：

S201, into current back-emf zero passage detection process.

S202 judges whether to detect back-emf zero crossing.If so, thening follow the steps S203；If it is not, then executing step Rapid S204.

S203, set commutation delay time, and according to back-emf zero passage method obtain motor rotor-position to motor into Row commutation control.

S204 obtains the rotor-position of motor using magnetic linkage method.

S205 judges whether back-emf zero passage detection is overtime.If so, thening follow the steps S206；Work as if it is not, then exiting Preceding back-emf zero passage detection process.

The rotor-position of S206, the motor obtained according to magnetic linkage method carry out commutation control to motor.

S207 is switched to magnetic linkage method and controls motor.

As a result, during using back-emf zero passage method to motor control, the rotor position of motor is obtained by magnetic linkage method It sets and commutation is carried out to motor with the rotor-position of the motor obtained in the back-emf very little of motor according to magnetic linkage method, so that motor It can continue to operate normally.For example, in practical applications, when the above-mentioned rotor position detecting method of use is to brushless in dust catcher When direct current generator is controlled, when load increases suddenly (stall e.g., occurs or has sucked larger object), corresponding motor Revolving speed becomes very low, and when the revolving speed of motor is lower, the back-emf meeting very little of motor causes back-emf zero passage detection to fail, this When can according to magnetic linkage method obtain motor rotor-position to motor carry out commutation, to guarantee the correct commutation of motor, so that electric Machine can continue the case where operating normally, dust catcher operation irregularity is caused when effectively preventing loading unexpected increase generation, effectively Improve the stability of dust catcher operation.Further, in some embodiments of the invention, in use magnetic linkage method to motor control During system, the rotor-position of motor is also obtained using back-emf zero passage method, and judges that back-emf zero passage detection is successfully secondary Whether number is more than or equal to preset times；If the successful number of back-emf zero passage detection is less than preset times, continue using magnetic Chain method controls motor；If the successful number of back-emf zero passage detection is more than or equal to preset times, start using anti- Potential zero passage method controls motor.Wherein, preset times can be demarcated according to the actual situation.

Specifically, during electric motor starting low speed is run, the rotor-position that magnetic linkage method obtains motor, and root can be used Commutation control is carried out to motor according to the rotor-position of acquisition, so that motor Accelerating running, while back-emf mistake also is carried out to motor Zero detection (only detection back-emf zero crossing, without commutation), when the successful number of back-emf zero passage detection meets certain item When part, it can switch to back-emf zero passage method and motor controlled.That is, during motor starts starting, due to The revolving speed of motor is relatively low, and Based on Back-EMF Method can not obtain the rotor-position of accurate motor, so at this time using magnetic linkage method to electricity Machine is controlled, while also carrying out back-emf zero passage detection to motor, when the revolving speed of motor is increased to certain value, can continue to examine Back-emf zero crossing is measured, back-emf zero passage method is switched at this time and motor is controlled.In other embodiments of the invention In, during using magnetic linkage method to motor control, the rotor-position of motor is also obtained using back-emf zero passage method, and obtain The back-emf climbing slope of motor, and judge whether back-emf climbing slope is more than or equal to default slope；If back-emf is climbed Slope slope is less than default slope, then continues to control motor using magnetic linkage method；If back-emf climbing slope is more than or equal to Default slope then starts to control motor using back-emf zero passage method.Wherein, back-emf climbing slope refers to the anti-of motor Slope corresponding to the steady ascent stage of the waveform of potential or steady decline stage.

Specifically, Fig. 3 a be electric motor starting low speed operational process in back-emf waveform diagram, Fig. 3 b be motor with The waveform diagram of back-emf in high speed operational process, as shown in Figure 3a and Figure 3b shows, in the process of electric motor starting low speed operation In, back-emf climbing is gentle, and back-emf is climbed, and slope is very low, and with the raising of revolving speed, back-emf climbing slope is gradually increased, because This, the slope that can be climbed by detection back-emf judges whether that being switched to back-emf zero passage method from magnetic linkage method controls motor.

For example, electric motor starting low speed operation during, can be used magnetic linkage method obtain motor rotor-position, and according to The rotor-position of acquisition carries out commutation control to motor, so that motor Accelerating running, while back-emf zero passage also is carried out to motor Detection, and obtain the back-emf climbing slope of motor.It wherein, should if the back-emf climbing slope of motor is less than default slope Default slope is that slope corresponding to the rotor-position of accurate motor can be obtained by back-emf zero passage method, then shows current Back-emf zero passage method can't be switched to control motor, continue to control motor using magnetic linkage method at this time；If The back-emf climbing slope of motor is more than or equal to default slope, then shows that accurate motor can be obtained by back-emf zero passage method Rotor-position, switch to back-emf zero passage method at this time and motor controlled.

It as a result, in an embodiment of the present invention, not only can root during being controlled using magnetic linkage method motor Judge whether that switching to back-emf zero passage method from magnetic linkage method controls motor according to the successful number of back-emf zero passage detection, also The slope that can be climbed according to the back-emf of the motor detected judges whether to switch to back-emf zero passage method to motor from magnetic linkage method It is controlled.

According to one embodiment of present invention, motor is controlled using magnetic linkage method, including：The offline temperature for obtaining motor Degree-phase resistance table, temperature-phase inductance table and busbar voltage-phase current change rate table；In the high level in each PWM control period In time, conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value, mother are obtained Line voltage and current winding temperature；Become according to the phase current that busbar voltage and busbar voltage-phase current change rate table obtain motor Rate, and according to current winding temperature and temperature-phase resistance table, temperature-phase inductance table acquisition motor phase resistance and phase inductance； Become according to conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value, phase current Rate, phase resistance and phase inductance carry out commutation control to motor.

According to another embodiment of the invention, motor is controlled using magnetic linkage method, including：It is offline to obtain motor Temperature-phase resistance table and temperature-phase inductance table；In the high level time in each PWM control period, conducting phase anode is obtained Voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and current winding temperature, and obtain and appoint It anticipates the phase current of two moment corresponding motor；According to the phase current at any two moment and any two moment corresponding motor The phase current change rate of motor is obtained, and electricity is obtained according to current winding temperature and temperature-phase resistance table, temperature-phase inductance table The phase resistance and phase inductance of machine；According to conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus Current instantaneous value, phase current change rate, phase resistance and phase inductance carry out commutation control to motor.

Specifically, it is assumed that the three-phase windings of brshless DC motor use star-like connection, the brshless DC motor of square wave driving PM rotor be usually that face mounted structure without Damper Winding ignores magnetic hystersis loss and eddy-current loss, disregard magnetic circuit saturation Influence, and ignore rotor-position and change influence to inductance, by taking A phase as an example, then the phase voltage equation of brshless DC motor can It is expressed as：

Wherein, U_anFor the phase voltage of brshless DC motor A phase winding, R_sFor the phase resistance of brshless DC motor, i_aFor nothing The phase current of brushless motor A phase winding, L are every phase winding equivalent inductance, and θ is brushless DC motor rotor position angle, λ_ar(θ) For the rotor permanent magnet magnetic linkage of A phase winding linkage.

Since last in formula (1) is the back-emf of brshless DC motor, formula (1) redefinable For：

Wherein, k_eFor the back emf coefficient of brshless DC motor, f_ar(θ) is one related with magnetic linkage and with rotor-position The periodically variable function of angle θ.

Since brshless DC motor is generally not brought up neutral point in design, calculates, can be obtained by formula (2) for convenience Line voltage equation expression formula：

Wherein, U_abFor the line voltage of brshless DC motor, i_bFor the phase current of brshless DC motor B phase winding, ω is nothing The instantaneous angular velocity of brushless motor, f_abr(θ) is a line changed with the variation of the rotor position angle of brshless DC motor Motors Based on Flux Linkage between line.

It further, will include rotor position angle θ's in formula (3)It is newly defined as a new line line Between motors Based on Flux Linkage H (θ)_ab, that is,It is available in conjunction with formula (3)：

Wherein, U_a、U_bFor brushless dc generator terminal voltage.

Due to H_ab(θ) is therefore a function related with rotor position angle is theoretically estimated that by the function The rotor-position of motor.But according to formula (4) it is found that calculating H_abEnd when (θ), in addition to needing to obtain brshless DC motor Outside the parameter of the motors such as voltage, it is also necessary to which the instantaneous angular velocity ω for obtaining brushless DC motor rotor needs to obtain brushless straight The revolving speed of galvanic electricity machine, and in position Sensorless Control, the revolving speed of motor can not be measured by dedicated device.To understand Motors Based on Flux Linkage between two line lines of three-phase windings can be divided by by the certainly above problem, to obtain a new motors Based on Flux Linkage G (θ), That is,

It is available according to formula (4) and formula (5)：

Wherein, U_a、U_b、U_cFor brushless dc generator terminal voltage, i_aFor the phase current of brshless DC motor A phase winding, i_bFor The phase current of brshless DC motor B phase winding, i_cFor the phase current of brshless DC motor C phase winding.

It is understood that motors Based on Flux Linkage G (θ) and brushless DC motor rotor position have one-to-one relationship, and It is unrelated with the revolving speed of brshless DC motor, rotor-position letter theoretically can be obtained in the full speed range of brshless DC motor Therefore breath can obtain rotor position information in the brshless DC motor low speed operation phase according to motors Based on Flux Linkage G (θ), and control nothing Brushless motor carries out accurately commutation.

That is, it is brushless that the acquisition of magnetic linkage commutation method can be used during brushless DC electromotor start moves low speed operation The rotor-position of direct current generator simultaneously carries out accurately commutation control.However, obtaining rotor-position using magnetic linkage commutation method and carrying out It when commutation, needs to obtain the magnetic linkage value of brshless DC motor in real time, and it is judged accordingly, just can be carried out and accurately change Phase.According to formula (6) it is found that obtain the magnetic linkage value of brshless DC motor, need to obtain brushless dc generator terminal voltage (packet Include conducting phase anode voltage, conducting phase negative terminal voltage and non-conduction opposite potential voltage), the phase of each phase winding of brshless DC motor The phase inductance and brushless dc of the phase resistance of each phase winding of electric current, brshless DC motor, each phase winding of brshless DC motor The phase current change rate of each phase winding of machine.

Further, the temperature of the corresponding winding of the phase resistance of each phase winding of brshless DC motor, phase inductance exists Certain relationship, there is certain relationships for the phase current change rate and busbar voltage of each phase winding of brshless DC motor.For Simplified code operation, can first pass through a large amount of test in advance, by the phase resistance of each phase winding of brshless DC motor, phase inductance and its The corresponding bus electricity of the phase current change rate of each phase winding of relationship and brshless DC motor of the temperature of corresponding winding The relationship of pressure is recorded in the form of offline form, i.e., first passes through a large amount of test in advance, counts the temperature of brshless DC motor Degree-phase resistance table, temperature-phase inductance table and busbar voltage-phase current change rate table.

Specifically, brushless dc under several discrete temperature points (e.g., temperature interval can be 5 DEG C) of off-line measurement can be passed through The phase resistance and phase inductance of each phase winding of machine, to obtain the temperature-phase resistance table and temperature-phase inductance of brshless DC motor Table, or the temperature-phase resistance table and temperature-phase inductance table of brshless DC motor are obtained by simulation software.

Further, brushless dc can be given respectively under several different busbar voltages (e.g., voltage spaces can be 2V) Machine provides the current phasor that brshless DC motor clockwise/counterclockwise can be made to be connected, and records observation brshless DC motor The waveform of phase current, wherein the waveform of the phase current of brshless DC motor can be as shown in Figure 4.Between the time according to shown in Fig. 4 Every the phase current variation delta i of Δ t and brshless DC motor, the phase electricity of the brshless DC motor under current busbar voltage can be calculated Rheology rate di/dt.As shown in figure 5, each busbar voltage u_n(n=1,2 ..., N, and N is the integer more than or equal to 1) is corresponding The phase current change rate (di/dt) of one brshless DC motor_n(n=1,2 ..., N, and N is the integer more than or equal to 1), thus Busbar voltage-phase current change rate table can be obtained.

Specifically, power switch tube conducting during, can successively acquire by resistor voltage divider circuit be connected phase anode voltage, Phase negative terminal voltage, non-conduction opposite potential voltage and busbar voltage is connected, and it is instantaneous to acquire bus current by sampling resistor It is worth (equal to the phase current instantaneous value of brshless DC motor), and obtains working as brshless DC motor in real time by temperature sensor Front winding temperature.

According to one embodiment of present invention, changed using the phase current that linear interpolation algorithm obtains brshless DC motor Rate, the phase resistance of brshless DC motor and phase inductance.

Specifically, when the busbar voltage of the brshless DC motor of acquisition is fallen in busbar voltage-phase current change rate table When between certain two voltage value, the phase that linear interpolation algorithm calculates the corresponding brshless DC motor of current busbar voltage can be used Current changing rate.For example, as shown in figure 5, the busbar voltage u of the brshless DC motor when acquisition_xIn busbar voltage-phase Busbar voltage u in current change rate meter₁With busbar voltage u₂Between when, due to busbar voltage u₁Corresponding brshless DC motor Phase current change rate be (di/dt)₁, busbar voltage u₂The phase current change rate of corresponding brshless DC motor is (di/dt)₂, Therefore, following relationship can be obtained using linear interpolation algorithm：

Then, current busbar voltage u can be obtained according to formula (7)_xThe phase current change rate of corresponding brshless DC motor

Similarly, it when the current winding temperature of acquisition is in temperature-phase resistance table between certain two temperature, can be used Linear interpolation algorithm calculates the phase resistance of the corresponding brshless DC motor of current winding temperature, when the current winding temperature of acquisition When in temperature-phase inductance table between certain two temperature, linear interpolation algorithm can also be used and calculate current winding temperature pair The phase inductance for the brshless DC motor answered, for details, reference can be made to the acquisitions about phase current change rate, are just no longer described in detail here.

According to another embodiment of the invention, in some applications of less demanding, except through above-mentioned implementation Outside the phase current change rate for obtaining brshless DC motor in example using linear interpolation algorithm, if can also be to obtaining offline in Fig. 3 Dry discrete point carries out the linear fit of data, to obtain the phase current change rate di/dt and bus electricity of brshless DC motor Press u_nBetween relationship, as shown in Fig. 6 and formula (8)：

Di/dt=k*u_n+b (8)

Wherein, k and b is constant.

In this way, the current busbar voltage that can be will test substitutes into formula (8) during controlling brshless DC motor In, to obtain the phase current change rate of the corresponding brshless DC motor of current busbar voltage.In addition, for phase resistance and phase inductance Acquisition can also be by the way of linear fit in some occasions of less demanding, for details, reference can be made to phase current change rates It obtains, which is not described herein again.

According to still another embodiment of the invention, in no acquisition busbar voltage-phase current change rate table, can also pass through Online calculation obtains the phase current change rate di/dt of brshless DC motor.Specifically, as shown in fig. 7, to brushless straight During flowing motor control, during device for power switching conducting, the phase current line of brshless DC motor can be approximatively thought Property rise, brshless DC motor phase current rise during certain two moment phase current is sampled, while record adopt Sample moment t1 and t2 and corresponding phase current i1 and i2, i.e. sampled point C1 (t1, i1), sampled point C2 (t2, i2), according to this The phase current change rate di/dt of brshless DC motor can be calculated online in two sampled points C1 and C2, that is,

Di/dt=(i2-i1)/(t2-t1).

It should be noted that two sampled points C1 and C2 in Fig. 7 are chosen at the rising edge of pwm control signal under respectively Edge drops, however, when actually taking, any time that can be chosen between this two o'clock.

As a result, during controlling brshless DC motor, can obtain in real time brshless DC motor busbar voltage and Current winding temperature, and can according to busbar voltage-phase current change rate table, temperature-phase resistance table and temperature-phase inductance table, The parameters such as phase current change rate, phase resistance and the phase inductance of brshless DC motor are effectively obtained in conjunction with corresponding algorithm；Alternatively, The current winding temperature of brshless DC motor is obtained in real time, and according to temperature-phase resistance table and temperature-phase inductance table, in conjunction with Corresponding algorithm effectively obtains the parameters such as phase resistance and the phase inductance of brshless DC motor, while being obtained using online calculation Take the phase current change rate of the corresponding brshless DC motor of current busbar voltage.Then, according to conducting phase anode voltage, conducting phase Negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value, phase current change rate, phase resistance and phase inductance are to motor Carry out commutation control.

According to one embodiment of present invention, according to conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite electricity Gesture voltage, bus current instantaneous value, phase current change rate, phase resistance and phase inductance carry out commutation control to motor, including：According to Be connected phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value, phase current change rate, Phase resistance and phase inductance obtain the magnetic linkage value of motor or the slope of motors Based on Flux Linkage G (θ)；If the magnetic linkage value of motor is greater than default The slope of magnetic linkage threshold value or motors Based on Flux Linkage G (θ) are greater than default slope threshold value, then control motor and carry out commutation.

Specifically, conducting phase anode voltage, conducting the phase negative terminal voltage, non-conduction opposite potential above-described embodiment obtained Voltage, bus current instantaneous value (being equal to phase current instantaneous value), phase current change rate, phase resistance and phase inductance substitute into formula (6) In, the magnetic linkage value of brshless DC motor can be calculated, and motors Based on Flux Linkage G (θ) waveform can be obtained to obtain motors Based on Flux Linkage G (θ) Slope, and the magnetic linkage value of the brshless DC motor is compared with commutation threshold value, or by the oblique of motors Based on Flux Linkage G (θ) Rate is compared with default slope threshold value, carries out commutation to judge whether to control direct current generator.

It should be noted that further including before the magnetic linkage value for obtaining brshless DC motor：Judge current PWM control week Whether non-conduction opposite potential voltage and a upper PWM control the voltage difference in the period between non-conduction opposite potential voltage in phase In preset range；If voltage difference is in preset range, then obtains the magnetic linkage value of brshless DC motor.

That is, phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus electricity will be connected Flow instantaneous value, phase current change rate, phase resistance and phase inductance substitute into formula (6) calculate brshless DC motor magnetic linkage value it Before, it can first judge in the current PWM control period that non-conduction opposite potential voltage controls non-conduction opposite electricity in the period with a upper PWM Whether the voltage difference between gesture voltage is in preset range, when voltage difference is in preset range, then calculates brushless The magnetic linkage value of direct current generator increases the reliability of calculating to reduce the frequency calculated.Wherein, the size of preset range is by reality The non-conduction opposite potential voltage difference for measuring each PWM cycle is obtained plus certain surplus.

Specifically, arranging to formula (6) can obtain according to the common mathematical model of brshless DC motor：

Wherein, e_bc、e_abFor the line back-emf voltage of brshless DC motor.

By formula (9) it is found that motors Based on Flux Linkage G (θ) is equal to corresponding two line counter electromotive force is divided by.Wherein, brushless straight The line back emf waveform of galvanic electricity machine is as shown in Figure 8.Within the electric period of 0~2 π, when ω t be respectively π/6, pi/2,5 π/6,7 π/ 6, when 3 pi/2s, 11 π/6, line counter electromotive force e_ca、e_bc、e_ab、e_ca、e_bc、e_abValue be followed successively by zero, and respectively correspond a complete electricity 6 commutation moment in period.According to formula (9) it is found that determining the commutation of brshless DC motor using motors Based on Flux Linkage G (θ) Moment is essentially equivalent to two line counter electromotive force and is divided by, when the line counter electromotive force zero passage on denominator, motors Based on Flux Linkage G (θ) It will appear an infinitely great value, so as to detect the commutation moment of brshless DC motor.Due in motors Based on Flux Linkage G (θ) The speed variable of brshless DC motor is eliminated, this method is suitable for the broader range of speeds, for example, low in brshless DC motor It is used when speed operation.

When using conduction mode two-by-two (only two phase windings of control conducting, a remaining phase winding are in vacant state), In one complete electric period, motors Based on Flux Linkage G (θ) has 3 kinds of expression ways, and the brshless DC motor under conduction mode is shared two-by-two 6 kinds of commutation phase sequences.Therefore, it when carrying out commutation using magnetic linkage commutation method control brshless DC motor, needs to determine magnetic linkage in advance How corresponding the expression formula of function G (θ) is with the phase sequence of brshless DC motor.Wherein, corresponding diagram 6, different electrical angle areas Between can be as shown in table 1 with the relationship of the expression-form of motors Based on Flux Linkage G (θ).

Table 1

Electrical angle section	Motors Based on Flux Linkage G (θ)
		I/IV	G(θ)_ca/bc=H (θ)_ca/H(θ)_bc
II/V	G(θ)_bc/ab=H (θ)_bc/H(θ)_ab
		III/VI	G(θ)_ab/ca=H (θ)_ab/H(θ)_ca

When practical application motors Based on Flux Linkage G (θ) judges the commutation moment of brshless DC motor, in order to make motors Based on Flux Linkage G (θ) Calculated commutation point is more accurate, only can need to accurately be obtained using the top half of motors Based on Flux Linkage G (θ) waveform brushless straight The position of galvanic electricity machine rotor, accordingly, motors Based on Flux Linkage G (θ) waveform as shown in figure 9, the commutation moment appear in motors Based on Flux Linkage G At the peak value of (θ) waveform.

Therefore, in one embodiment of the invention, can will according to the calculated magnetic linkage value of motors Based on Flux Linkage G (θ) and in advance The commutation threshold value of setting is compared, when the magnetic linkage value at a certain moment is greater than commutation threshold value, when can determine whether that the moment is commutation It carves, and controls brshless DC motor and carry out commutation.

Wherein, commutation threshold value can be a fixed value, i.e., in entire control process, using the fixed value and calculating Magnetic linkage value be compared, to determine the commutation moment.

Certainly, commutation threshold value also may include multiple, and multiple commutation threshold values can obtain in the following manner：By brushless direct-current The range of speeds of motor is divided into multiple sections, wherein each section be correspondingly arranged on different commutation threshold values and commutation threshold value with The revolving speed of brshless DC motor is in inverse relation.

That is, the commutation threshold value in above-described embodiment may be set to a fixed value, it also may be set to multiple values, and Multiple commutation threshold values can carry out setting stepwise according to revolving speed, and revolving speed is higher, and corresponding commutation threshold value is with regard to smaller.For example, false If the range of speeds of brshless DC motor is N₀~N_x(x is the integer more than or equal to 2), can be by the revolving speed model of brshless DC motor It encloses and is divided into N₀~N₁、N₁~N₂、…、N_x-1~N_xTotal x section, when the revolving speed of brshless DC motor is in N₀~N₁In range When, corresponding commutation threshold value is M₁；When the revolving speed of brshless DC motor is in N₁~N₂When in range, corresponding commutation threshold value is M₂；…；When the revolving speed of brshless DC motor is in N_x-1~N_xWhen in range, corresponding commutation threshold value is M_x.Wherein, commutation threshold value M₁、M₂、…、M_xIt is sequentially reduced.

In practical applications, except through magnetic linkage value is compared with commutation threshold value to judge whether in above-described embodiment It controls brshless DC motor to carry out outside commutation, can also judge whether that controlling brushless motor carries out according to the slope of motors Based on Flux Linkage G (θ) Commutation.

Specifically, as shown in Figure 10, in the commutation moment close to motor, motors Based on Flux Linkage G (θ)_bc/abSlope be infinity, That is, the commutation moment always occurs in motors Based on Flux Linkage G (θ)_bc/abFrom just infinite to bearing infinite jumping moment.Therefore, in the present invention Embodiment in, the commutation point of motor can be determined by the slope using motors Based on Flux Linkage G (θ), carry out commutation to control motor, For example, control motor carries out commutation when the slope of motors Based on Flux Linkage G (θ) is greater than default slope threshold value.

Wherein, default slope threshold value may be set to a fixed value, also may be set to multiple values, and multiple default slope thresholds Value can carry out setting stepwise according to revolving speed, and revolving speed is higher, and corresponding default slope threshold value is with regard to smaller.For example, it is assumed that brushless The range of speeds of direct current generator is N₀~N_x(x is the integer more than or equal to 2), can divide the range of speeds of brshless DC motor For N₀~N₁、N₁~N₂、…、N_x-1~N_xTotal x section, when the revolving speed of brshless DC motor is in N₀~N₁It is corresponding when in range Default slope threshold value be K₁；When the revolving speed of brshless DC motor is in N₁~N₂When in range, corresponding default slope threshold value is K₂；…；When the revolving speed of brshless DC motor is in N_x-1~N_xWhen in range, corresponding default slope threshold value is K_x.Wherein, it presets Slope threshold value K₁、K₂、…、K_xIt is sequentially reduced.

As a result, in the low speed operation phase of brshless DC motor, by obtaining the relevant parameter of brshless DC motor in terms of Calculate the magnetic linkage value of brshless DC motor, and magnetic linkage value be greater than commutation threshold value (or the slope of motors Based on Flux Linkage G (θ) be greater than it is pre- If slope threshold value) when carry out commutation, can effectively avoid because the revolving speed of brshless DC motor is lower cause brshless DC motor without The correct commutation of method, meanwhile, when obtaining the relevant parameter of brshless DC motor, temperature benefit also is carried out to phase resistance and phase inductance It repays, and phase current change rate is obtained in real time according to current busbar voltage, so that commutation is more accurate, realize The accurate commutation of brshless DC motor ensure that brshless DC motor has biggish detent torque, avoid motor and lose The phenomenon that step, high reliablity.

Also, during the operation of electric motor starting low speed, when controlling motor progress commutation, back-emf zero passage is also carried out Detection, when continuous n times successfully are detected back-emf zero crossing (alternatively, back-emf climbing slope is greater than default slope), switching Motor is controlled to back-emf zero passage method.

Further, in one particular embodiment of the present invention, as shown in figure 11, when electric motor starting low speed is run, The rotor position detecting method of the brshless DC motor of the embodiment of the present invention may include following steps：

S501, flux linkage calculation.

S502, judges whether the magnetic linkage value calculated is greater than default magnetic linkage threshold value.If so, thening follow the steps S503；If It is no, then follow the steps S504.

S503 carries out commutation control to motor.

S504 carries out back-emf zero passage detection.

S505 judges whether to detect back-emf zero crossing.If so, thening follow the steps S506；If it is not, then executing step Rapid S509.

S506, the number for successfully continuously being detected back-emf zero crossing add 1.

Whether S507, the number that judgement successfully continuously is detected back-emf zero crossing are greater than N.If so, thening follow the steps S508；If it is not, then continuing to control motor using magnetic linkage method.Wherein, N indicate continuous n times back-emf zero passage detection at Function is switched to back-emf zero passage method and controls motor, can specifically be demarcated according to the actual situation.

S508 is switched to back-emf zero passage method and controls motor.

Whether S509, the number that judgement successfully continuously is detected back-emf zero crossing are more than or equal to M.If it is, executing Step S510；If it is not, then continuing to control motor using magnetic linkage method.Wherein, M is indicated when the success of back-emf zero passage detection After M times, once there is the failure of back-emf zero passage detection, then back-emf zero passage detection number of success is reset, it specifically can be according to reality Situation is demarcated, and M < N.

S510 judges whether back-emf zero passage detection is overtime.If so, thening follow the steps S511；If not, return step S504。

S511, the number for successfully continuously being detected back-emf zero crossing are reset.

As a result, during electric motor starting low speed is run, motor is controlled using magnetic linkage method, and in control process Middle progress back-emf zero passage detection, to switch to back-emf zero passage method to electricity when continuous several times detect back-emf zero crossing Machine is controlled.

The rotor position detecting method of brshless DC motor according to an embodiment of the present invention, using magnetic linkage method and back-emf mistake The mode that zero method is used in combination can guarantee that motor accurately detects the rotor-position of motor in the full range of speeds, realize electricity The correct commutation of machine, to guarantee motor reliability service in the full range of speeds.When the rotor-position of the embodiment of the present invention detects When method is applied to the brshless DC motor in dust catcher, during dust catcher starts to start low speed operation, using magnetic linkage Method control motor carry out commutation, and in commutation process carry out back-emf zero passage detection, with using back-emf zero passage method can Back-emf zero passage method is switched to when successfully being detected the rotor-position of motor to control motor, and is using back-emf zero passage Method detect motor rotor-position when carry out flux linkage calculation, with load suddenly increase when, when there is stall such as motor, using magnetic The normal commutation of rotor-position that chain calculates, and be switched to magnetic linkage method and motor is controlled, guarantee what motor speed rapidly reduced In the case of motor still can correct commutation reliability service, and when dust catcher restores to work normally, and back-emf can be switched to Zero passage method controls motor, to realize reliable fortune of the motor in the full range of speeds by the switching control of two ways Row, effectively improves the reliability of dust catcher.

In conclusion the rotor position detecting method of brshless DC motor according to an embodiment of the present invention, using anti-electricity During gesture zero passage method is to motor control, when obtaining the rotor-position of motor using back-emf zero passage method, magnetic linkage is also used Method obtains the rotor-position of motor, and judges whether back-emf zero passage detection succeeds.If the success of back-emf zero passage detection, root The rotor-position of the motor obtained according to back-emf zero passage method carries out commutation control to motor, and continues using back-emf zero passage method pair Motor is controlled；If back-emf zero passage detection fail, according to magnetic linkage method obtain motor rotor-position to motor into Row commutation control, and start to control motor using magnetic linkage method.Thus when motor speed reduces suddenly, even if back-emf Very little leads to the rotor-position that motor can not be detected using back-emf zero passage method, can also pass through the motor that magnetic linkage method obtains Rotor-position carries out commutation control to motor, guarantees that motor can continue to operate normally, substantially increases the reliable of motor operation Property.

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 rotor position detecting method of above-mentioned brshless DC motor when being executed by processor.

Figure 12 is the block diagram of the detecting apparatus for rotor position of brshless DC motor according to an embodiment of the present invention.Such as Shown in Figure 12, the detecting apparatus for rotor position of the brshless DC motor of the embodiment of the present invention includes：First acquisition unit 100, Two acquiring units 200 and control unit 300.

Wherein, first acquisition unit 100 is used to obtain the rotor-position of motor using back-emf zero passage method；Second obtains list Member 200 is for obtaining the rotor-position of motor using magnetic linkage method；Control unit 300 is used in use back-emf zero passage method to motor During control, when obtaining the rotor-position of motor by first acquisition unit 100, also pass through second acquisition unit 200 The rotor-position of motor is obtained, and judges whether back-emf zero passage detection succeeds.If the success of back-emf zero passage detection, control are single The rotor-position for the motor that member 300 is then obtained according to first acquisition unit 100 carries out commutation control to motor, and continues using anti- Potential zero passage method controls motor；If back-emf zero passage detection fails, according to second acquisition unit if control unit 300 The rotor-position of 200 motors obtained carries out commutation control to motor, and starts to control motor using magnetic linkage method.

According to one embodiment of present invention, control unit 300 is also logical during using magnetic linkage method to motor control It crosses first acquisition unit 100 and obtains the rotor-position of motor, and judge whether the successful number of back-emf zero passage detection is greater than In preset times, wherein if the successful number of back-emf zero passage detection is less than preset times, control unit 300 ifs continues to adopt Motor is controlled with magnetic linkage method；If the successful number of back-emf zero passage detection is more than or equal to preset times, control unit 300 start to control motor using back-emf zero passage method.

According to another embodiment of the invention, control unit 300 is during using magnetic linkage method to motor control, also The rotor-position of motor is obtained by first acquisition unit 100, and obtains the back-emf climbing slope of motor, and the anti-electricity of judgement Whether gesture climbing slope is more than or equal to default slope, wherein if back-emf climbing slope is less than default slope, control unit 300 are continued to control motor using magnetic linkage method；If back-emf is climbed, slope is more than or equal to default slope, control unit 300 start to control motor using back-emf zero passage method.

According to one embodiment of present invention, control unit 300 is when controlling motor using magnetic linkage method, wherein Control unit 300 obtains temperature-phase resistance table, temperature-phase inductance table and the busbar voltage-phase current change rate of motor offline Table, and in the high level time in each PWM control period, conducting phase anode voltage is obtained, phase negative terminal voltage is connected, is non-conduction Opposite potential voltage, bus current instantaneous value, busbar voltage and current winding temperature, and according to busbar voltage and bus electricity Pressure-phase current change rate table obtains the phase current change rate of motor, and according to current winding temperature and temperature-phase resistance table, temperature Degree-phase inductance table obtains the phase resistance and phase inductance of motor, and according to conducting phase anode voltage, conducting phase negative terminal voltage, non- Opposite potential voltage, bus current instantaneous value, phase current change rate, phase resistance and phase inductance is connected, commutation control is carried out to motor System.

According to another embodiment of the invention, control unit 300 using magnetic linkage method motor is controlled when, In, control unit 300 obtains the temperature-phase resistance table and temperature-phase inductance table of motor offline, and controls the period in each PWM High level time in, obtain conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current Instantaneous value and current winding temperature, and obtain the phase current of any two moment corresponding motor, and when according to any two The phase current for carving corresponding with any two moment motor obtains the phase current change rate of motor, and according to current winding temperature with Temperature-phase resistance table, temperature-phase inductance table obtain the phase resistance and phase inductance of motor, and according to conducting phase anode voltage, lead Logical phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value, phase current change rate, phase resistance and phase inductance pair Motor carries out commutation control.

According to one embodiment of present invention, control unit 300 according to conducting phase anode voltage, conducting phase negative terminal voltage, Non-conduction opposite potential voltage, bus current instantaneous value, phase current change rate, phase resistance and phase inductance carry out commutation control to motor When processed, wherein control unit 300 is according to conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, mother Line current instantaneous value, phase current change rate, phase resistance and phase inductance obtain motor magnetic linkage value or motors Based on Flux Linkage G (θ) it is oblique Rate, wherein if the magnetic linkage value of motor is greater than default magnetic linkage threshold value or the slope of motors Based on Flux Linkage G (θ) is greater than default slope threshold Value then controls motor and carries out commutation.

According to one embodiment of present invention, control unit 300 is also used in the magnetic linkage value or magnetic linkage letter for obtaining motor Before the slope of number G (θ), judge that non-conduction opposite potential voltage controls non-in the period with a upper PWM in the current PWM control period Whether the voltage difference between conducting opposite potential voltage is in preset range, wherein if voltage difference is in default model In enclosing, then the magnetic linkage value of motor or the slope of motors Based on Flux Linkage G (θ) are obtained again.

It should be noted that undisclosed thin in the detecting apparatus for rotor position of the brshless DC motor of the embodiment of the present invention Section, please refers to details disclosed in the rotor position detecting method of the brshless DC motor of the embodiment of the present invention, specifically here No longer it is described in detail.

In addition, the embodiment of the present invention also proposed a kind of control system of brshless DC motor comprising above-mentioned nothing The detecting apparatus for rotor position of brushless motor.

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.

It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system 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 column technology or their combination are realized：With for realizing the logic gates of logic function to data-signal Discrete logic, with suitable combinational logic gate circuit 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, rather than the device or element of indication or suggestion meaning must have it is specific Orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.

In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting 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；It can be mechanical connect It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary 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 in the second feature " on " or " down " can be with It is that the first and second features directly 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 First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below " One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height 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 embodiment or examples.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, modifies, replacement and variant.

Claims

1. a kind of rotor position detecting method of brshless DC motor, which is characterized in that include the following steps：

During using back-emf zero passage method to the motor control, when using the back-emf zero passage method acquisition electricity When the rotor-position of machine, the rotor-position of the motor is also obtained using magnetic linkage method；

Judge whether back-emf zero passage detection succeeds；

If the back-emf zero passage detection success, according to the rotor-position for the motor that the back-emf zero passage method obtains Commutation control is carried out to the motor, and continues to control the motor using the back-emf zero passage method；

If the back-emf zero passage detection failure, the rotor-position of the motor obtained according to the magnetic linkage method is to described Motor carries out commutation control, and starts to control the motor using the magnetic linkage method.

2. the rotor position detecting method of brshless DC motor as described in claim 1, which is characterized in that

During using the magnetic linkage method to the motor control, the motor is also obtained using the back-emf zero passage method Rotor-position, and judge whether the successful number of back-emf zero passage detection is more than or equal to the anti-of preset times or the motor Whether potential climbing slope is more than or equal to default slope；

If the successful number of back-emf zero passage detection is less than the preset times or back-emf climbing slope is small In the default slope, then continue to control the motor using the magnetic linkage method；

If the successful number of back-emf zero passage detection is more than or equal to the preset times or back-emf climbing is oblique Rate is more than or equal to the default slope, then starts to control the motor using the back-emf zero passage method.

3. the rotor position detecting method of brshless DC motor as claimed in claim 2, which is characterized in that described in the use Magnetic linkage method controls the motor, including：

Temperature-phase resistance table, temperature-phase inductance table and busbar voltage-phase current change rate table of the motor are obtained offline；

In the high level time in each PWM control period, conducting phase anode voltage is obtained, phase negative terminal voltage is connected, is non-conduction Opposite potential voltage, bus current instantaneous value, busbar voltage and current winding temperature；

The phase current change rate of the motor is obtained according to the busbar voltage and the busbar voltage-phase current change rate table, And the mutually electric of the motor is obtained with the temperature-phase resistance table, the temperature-phase inductance table according to the current winding temperature Resistance and phase inductance；

According to the conducting phase anode voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the bus Current instantaneous value, the phase current change rate, the phase resistance and the phase inductance carry out commutation control to the motor.

4. the rotor position detecting method of brshless DC motor as claimed in claim 2, which is characterized in that described in the use Magnetic linkage method controls the motor, including：

Temperature-phase resistance the table and temperature-phase inductance table of the motor are obtained offline；

In the high level time in each PWM control period, conducting phase anode voltage is obtained, phase negative terminal voltage is connected, is non-conduction Opposite potential voltage, bus current instantaneous value and current winding temperature, and obtain any two moment corresponding motor Phase current；

The motor is obtained according to the phase current of any two moment and any two moment corresponding motor Phase current change rate, and obtained according to the current winding temperature and the temperature-phase resistance table, the temperature-phase inductance table Take the phase resistance and phase inductance of the motor；

5. the rotor position detecting method of brshless DC motor as described in claim 3 or 4, which is characterized in that the basis The conducting phase anode voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the bus current are instantaneous Value, the phase current change rate, the phase resistance and the phase inductance carry out commutation control to the motor, including：

According to the conducting phase anode voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the bus Current instantaneous value, the phase current change rate, the phase resistance and the phase inductance obtain the magnetic linkage value or magnetic of the motor The slope of chain function G (θ)；

If the magnetic linkage value of the motor is greater than default magnetic linkage threshold value or the slope of the motors Based on Flux Linkage G (θ) is oblique greater than default Rate threshold value then controls the motor and carries out commutation.

6. the rotor position detecting method of brshless DC motor as claimed in claim 5, which is characterized in that obtaining the electricity Before the magnetic linkage value of machine or the slope of motors Based on Flux Linkage G (θ), further include：

Judge that the non-conduction opposite potential voltage is non-conduction opposite in the upper PWM control period in the current PWM control period Whether the voltage difference between potential voltage is in preset range；

If the voltage difference is in the preset range, then obtains the magnetic linkage value or motors Based on Flux Linkage G of the motor The slope of (θ).

7. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt The rotor position detecting method such as brshless DC motor of any of claims 1-6 is realized when processor executes.

8. a kind of detecting apparatus for rotor position of brshless DC motor, which is characterized in that including：

First acquisition unit, for obtaining the rotor-position of the motor using back-emf zero passage method；

Second acquisition unit, for obtaining the rotor-position of the motor using magnetic linkage method；

Control unit, for using the back-emf zero passage method to the motor control during, when pass through described first When acquiring unit obtains the rotor-position of the motor, the rotor position of the motor is also obtained by the second acquisition unit It sets, and judges whether back-emf zero passage detection succeeds, wherein

If back-emf zero passage detection success, the electricity that described control unit if obtains according to the first acquisition unit The rotor-position of machine carries out commutation control to the motor, and continues to control the motor using the back-emf zero passage method System；

If back-emf zero passage detection failure, the electricity that described control unit if obtains according to the second acquisition unit The rotor-position of machine carries out commutation control to the motor, and starts to control the motor using the magnetic linkage method.

9. the detecting apparatus for rotor position of brshless DC motor as claimed in claim 8, which is characterized in that

Described control unit also passes through the first acquisition unit during using the magnetic linkage method to the motor control Obtain the rotor-position of the motor, and judge the successful number of back-emf zero passage detection whether be more than or equal to preset times or Whether the back-emf climbing slope of the motor is more than or equal to default slope, wherein

If the successful number of back-emf zero passage detection is less than the preset times or back-emf climbing slope is small In the default slope, described control unit then continues to control the motor using the magnetic linkage method；

If the successful number of back-emf zero passage detection is more than or equal to the preset times or back-emf climbing is oblique Rate is more than or equal to the default slope, and described control unit then starts to control the motor using the back-emf zero passage method System.

10. the detecting apparatus for rotor position of brshless DC motor as claimed in claim 9, which is characterized in that the control is single Member is when controlling the motor using the magnetic linkage method, wherein described control unit obtains the temperature of the motor offline Degree-phase resistance table, temperature-phase inductance table and busbar voltage-phase current change rate table, and in the height electricity in each PWM control period Usually in, obtain conducting phase anode voltage, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value, Busbar voltage and current winding temperature, and obtained according to the busbar voltage and the busbar voltage-phase current change rate table The phase current change rate of the motor, and according to the current winding temperature and the temperature-phase resistance table, the temperature-phase Secohmmeter obtains the phase resistance and phase inductance of the motor, and according to the conducting phase anode voltage, the conducting phase negative terminal Voltage, the non-conduction opposite potential voltage, the bus current instantaneous value, the phase current change rate, the phase resistance and The phase inductance carries out commutation control to the motor.

11. the detecting apparatus for rotor position of brshless DC motor as claimed in claim 9, which is characterized in that the control is single Member is when controlling the motor using the magnetic linkage method, wherein described control unit obtains the temperature of the motor offline Degree-phase resistance table and temperature-phase inductance table, and in the high level time in each PWM control period, obtain conducting phase anode electricity Pressure, conducting phase negative terminal voltage, non-conduction opposite potential voltage, bus current instantaneous value and current winding temperature, and obtain any The phase current of two moment corresponding motor, and it is corresponding according to any two moment and any two moment The phase current of the motor obtain the phase current change rate of the motor, and according to the current winding temperature and the temperature Degree-phase resistance table, the temperature-phase inductance table obtain the phase resistance and phase inductance of the motor, and according to the conducting phase Anode voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the bus current instantaneous value, the phase Current changing rate, the phase resistance and the phase inductance carry out commutation control to the motor.

12. the detecting apparatus for rotor position of brshless DC motor as described in claim 10 or 11, which is characterized in that the control Unit processed is according to the conducting phase anode voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential voltage, the mother When line current instantaneous value, the phase current change rate, the phase resistance and the phase inductance carry out commutation control to the motor, Wherein,

Described control unit is according to the conducting phase anode voltage, the conducting phase negative terminal voltage, the non-conduction opposite potential Voltage, the bus current instantaneous value, the phase current change rate, the phase resistance and the phase inductance obtain the motor The slope of magnetic linkage value or motors Based on Flux Linkage G (θ), wherein

13. the detecting apparatus for rotor position of brshless DC motor as claimed in claim 12, which is characterized in that the control is single Member is also used to before obtaining the slope of magnetic linkage value or motors Based on Flux Linkage G (θ) of the motor, judges the current PWM control period The interior non-conduction opposite potential voltage and the voltage difference in the upper PWM control period between non-conduction opposite potential voltage are It is no to be in preset range, if the voltage difference is in the preset range, then obtain the magnetic linkage value of the motor Or the slope of motors Based on Flux Linkage G (θ).

14. a kind of control system of brshless DC motor, which is characterized in that including as described in any one of claim 8-13 The detecting apparatus for rotor position of brshless DC motor.

15. a kind of dust catcher, which is characterized in that the control system including brshless DC motor as claimed in claim 14.