CN109347375A - A kind of sensorless start-up method and device of brushless motor - Google Patents
A kind of sensorless start-up method and device of brushless motor Download PDFInfo
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- CN109347375A CN109347375A CN201811354398.3A CN201811354398A CN109347375A CN 109347375 A CN109347375 A CN 109347375A CN 201811354398 A CN201811354398 A CN 201811354398A CN 109347375 A CN109347375 A CN 109347375A
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Classifications
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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
- H02P6/20—Arrangements for starting
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The present invention relates to a kind of sensorless start-up methods of brushless motor, the PWM drive signal of any setting is provided by two windings to motor, to forced motor commutation after obtaining the voltage, and continue to acquire the voltage generated on the winding that driving signal is not provided, characteristic according to the acquirement voltage carries out commutation to the motor, and compare after multiple commutation acquirement voltage and busbar voltage and obtain the electrical angle parameter of motor, the self synchronous commutation moment and commutation duration of the motor are obtained with this, so that the motor enters motor synchronizing state.The invention further relates to a kind of devices for realizing the above method.The sensorless start-up method and device for implementing a kind of brushless motor of the invention has the advantages that its adaptability is stronger.
Description
Technical field
The present invention relates to electromechanical control fields, more specifically to a kind of sensorless start-up method of brushless motor
And device.
Background technique
The sensorless start-up problem of brushless motor is the unavoidable technological difficulties of motor driven industry, how to guarantee electricity
In heavy duty, and in start-up course, load is always the emphasis and technology hardly possible in the field in the presence of reliably starting under the operating condition of mutation to machine
Point.It is well known that brushless motor will be as brush motor, by simple if sometime knowing clearly rotor-position
Commutation driving can be realized, still, have no idea have sensor in assembled in motor under many applications, for example temperature is excessively high
Or under other adverse circumstances, and at this time, it is necessary to which no mode sensor carries out driving motor.At this without under sensing modes, clearly
Chu is accurately obtained rotor-position, it appears particularly important.It, can be easy by the back-emf of motor when motor runs well
Rotor-position is obtained, still, how to allow motor from static to certain speed (this speed accurately obtains rotor-position), herein
In the process, motor is in heavy duty, and loads under irregular variation, how reliably to start motor, and then be cut into motor synchronizing shape
State, it appears particularly important.In the prior art, the brushless electric machine starting of no sensor it is general there is several methods that: three-stage starting,
Pulse current method starting, back-emf integral starting, frequency and voltage boosting starting etc..In these methods, three-stage starting and raising frequency liter
Pressure starting, which can not can guarantee, accurately knows rotor-position in the open-loop start-up stage, it cannot be guaranteed that whether boost phase rotor has arrived finger
Fixed position；Back-emf integration method is exactly, with certain speed open loop driving motor, to be acquired by AD hanging after the completion of being pre-positioned
The back-emf of phase, the value acquired every time add up, and after reaching certain threshold value, force commutation, hence into arriving motor synchronizing shape
State, the method, if load has mutation, will cause the shake of back-emf, and then influence integral the disadvantage is that during Acceleration of starting
As a result, influence rotor force commutation point, will cause starting fail once in a while；Pulse current method starting advantage first is static turn
The determination of sub- position, but also need to inject high-frequency current pulse in forcing accelerator and judge rotor-position, it will cause one
Fixed starting noise and loss, while also having higher requirement to main control singlechip.To sum up, existing brushless motor is without sensor
Starting method has the following disadvantages: that adaptability is not strong, different motors, and starting needs to readjust parameter；Even identical electricity
Machine, parameter is also required to adjust under different loading conditions；In addition, during startup, if there is load sudden change, starting can also be lost
It loses.
Summary of the invention
The technical problem to be solved in the present invention is that the defect not strong for the above-mentioned adaptability of the prior art, provides one
A kind of kind stronger sensorless start-up method and device of brushless motor of adaptability.
The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of sensorless start-up of brushless motor
Method, comprising:
The PWM drive signal of any setting is provided by two windings to motor, does not provide driving signal in motor
Winding on obtain the voltage of generation, to forced motor commutation after obtaining the voltage, and continue acquisition and driving letter be not provided
Number winding on the voltage that generates, the characteristic according to the acquirement voltage carries out commutation to the motor, and compares after multiple commutation
Voltage and the busbar voltage of acquirement and obtain the electrical angle parameter of the motor, the self synchronous commutation moment of the motor is obtained with this
With the commutation duration so that the motor enters motor synchronizing state.
Further, the method further includes following steps:
A set, the identical PWM drive signal of waveform) is provided respectively to any two winding in motor, and in connection the
Voltage sample is carried out on three windings, pressure commutation is carried out when collecting voltage, and is continued after forcing commutation in third
Voltage sample is carried out on winding, and commutation is carried out to the motor when satisfaction first imposes a condition；
Whether the commutation number after B) judging the pressure commutation reaches setting value, if so, continuing voltage sample
And performed the next step on the basis of commutation suddenly, otherwise, continue voltage sample and commutation；
C) by voltage value collected on third winding one by one with the voltage value by being detected on the motor bus
Half be compared, both select equal sampled point as zero crossing；
D it) obtains the time between two adjacent zero crossings being located on the winding or is located at described two
Time on winding between two adjacent zero crossings is used for from same to get to the difference duration of setting electrical angle
It walks the commutation moment and the commutation duration calculates, obtain motor synchronizing parameter, and make the motor according to obtained motor synchronizing parameter
Into motor synchronizing state.
It further, is to be produced on it because inputting the driving signal collecting voltage on connecting third winding
Raw back-emf；It is described first impose a condition include for two adjacent collected back-emf voltage differential value it is absolute
Value is less than setting value.
Further, the step A) further comprise following steps:
When determining the need for commutation, judge whether currently available differential value is positive, if so, then back-emf is in upper
During rising, in conjunction with current given phase and commutation table, next commutation is determined；This differential value is reached compared with given threshold simultaneously
When force commutation；Otherwise, then during back-emf is in decline, in conjunction with current given phase and commutation table, determine next commutation；Simultaneously
This differential value is reversely forced into commutation again compared with given threshold when reaching.
Further, the step A) in, the voltage sample to third winding is the PWM arteries and veins in the drive waveforms
Rush midpoint progress.
Further, by the electrical angle between zero crossing adjacent on the same winding be 180 degree, adjacent winding it
Between electrical angle between adjacent zero crossing be 60 degree, obtain the duration between above-mentioned electrical angle, any electricity can be calculated
The duration of the difference of angle, and then obtain motor motor synchronizing parameter.
Further, the step A) further comprise following steps:
The electric current on the motor bus is monitored, in the case where its electric current is less than given threshold, is gradually increased described point
The duty ratio of drive waveforms on the coil of the first phase alternating current and the second phase alternating current is not connected；And it is equal in the electric current or greatly
In the case where the given threshold, reduce the duty ratio of the drive waveforms.
The invention further relates to a kind of devices for realizing the above method, comprising:
Start control module: for providing the PWM drive signal of any setting by two windings to motor, in motor
The winding that driving signal is not provided on obtain the voltage of generation, to forced motor commutation after obtaining the voltage, and continue
The voltage generated on the winding that driving signal is not provided is acquired, the characteristic according to the acquirement voltage carries out commutation to the motor, and
Compare after multiple commutation acquirement voltage and busbar voltage and obtain the electrical angle parameter of the motor, which is obtained with this
Self synchronous commutation moment and commutation duration, so that the motor enters motor synchronizing state.
Further, the starting control module further comprises:
It forces commutation unit: being driven for providing set, the identical PWM of waveform respectively to any two winding in motor
Signal, and voltage sample is carried out on connection third winding, pressure commutation is carried out when collecting voltage, and forcing commutation
After continue to carry out voltage sample on third winding, and satisfaction first impose a condition when to the motor carry out commutation；
Commutation frequency judging unit: for judging whether the commutation number after the pressure commutation reaches setting value, if so,
Otherwise zero-crossing examination unit on the basis of continuing voltage sample and commutation continues voltage sample and commutation；
Zero-crossing examination unit: for will on third winding collected voltage value one by one and by the motor bus
On the half of voltage value that detects be compared, both select equal sampled point as zero crossing；
Motor synchronizing parameter acquisition unit: between two adjacent zero crossings for obtaining being located on winding when
Between or be located at the time on described two windings between two adjacent zero crossings to get to setting electrical angle difference it is lasting
Time, and be used for motor synchronizing commutation moment and commutation duration and calculate, obtain motor synchronizing parameter, and make the motor according to
Enter motor synchronizing state according to obtained motor synchronizing parameter.
Further, in the pressure commutation unit, voltage is collected on connection third winding as because inputting institute
The back-emf stating driving signal and generating on it；First setting condition includes for two adjacent collected anti-electricity
The absolute value of the differential value of gesture voltage is less than setting value.
The sensorless start-up method and device for implementing a kind of brushless motor of the invention, have the advantages that by
In the driving signal set in brushless electric machine starting to any two winding offer of the motor, and adopted on third winding
Collect its back-emf, and when detecting back-emf on the tertiary winding, pressure commutation is carried out to above-mentioned two winding；Later, right
The tertiary winding (with the progress of commutation, the tertiary winding is variation, that is, does not provide that winding of driving signal) makes
Its generate back-emf accumulated, from make it possible to accurately obtain driving signal zero crossing and setting electrical angle difference between
Time, and then motor synchronizing parameter is obtained, so that the motor is able to enter motor synchronizing state；Simultaneously as being obtained to above-mentioned
Back-emf when being handled, by the way of carrying out differential calculation to two neighboring back-emf voltage, eliminate because of load
Variation on back-emf calculate bring influence, and will not cumulative errors, therefore its to starting therebetween load variation it is insensitive.Cause
And adaptability is stronger.
Detailed description of the invention
Fig. 1 is the method flow in a kind of sensorless start-up method and device embodiment of brushless motor of the present invention；
Fig. 2 is the waveform diagram that each winding collects back-emf when drive waveforms are trapezoidal wave in the embodiment；
Fig. 3 is the waveform diagram that each winding collects back-emf when drive waveforms are sine wave in the embodiment；
Fig. 4 is the driving circuit structure schematic diagram in the embodiment；
Fig. 5 is the specific flow chart for implementing the method in the embodiment in a kind of situation；
Fig. 6 is the structural schematic diagram of device in the embodiment.
Specific embodiment
Below in conjunction with attached drawing, embodiments of the present invention is further illustrated.
As shown in Figure 1, this one in a kind of sensorless start-up method and device embodiment of brushless motor of the invention
The sensorless start-up method of kind brushless motor is to provide any setting by two windings to motor in terms of overall
PWM drive signal (is set in advance when in this embodiment, being supplied to the duty ratio and frequency of the PWM drive signal of above-mentioned two winding
Fixed, providing to the driving signal on two windings can even is that the same driving signal), to electricity after obtaining the voltage
Machine forces commutation, and continues to acquire generating on the winding for not providing driving signal because other two winding is coupled with driving letter
Number and the voltage that generates on the winding, the characteristic according to the acquirement voltage carry out commutation to the motor, and after multiple commutation
Compare acquirement voltage and busbar voltage and obtain the electrical angle parameter of the motor, the self synchronous commutation of the motor is obtained with this
Moment and commutation duration, so that the motor enters motor synchronizing state.It is noted that in the present embodiment, for electricity
For machine, according to existing convention, the winding of a motor is also referred to as a phase of the motor, and therefore, commutation is in the present embodiment
In mean apply driving signal winding switch over, that is, apply driving signal winding change, but whether
How, when the motor does not enter motor synchronizing state, driving signal only only is applied with there are two winding (or two phases)；Without
When which two winding is pipe driving signal be applied on, that winding for not applying driving signal is the tertiary winding.In this implementation
In example, the specific step of this method is as shown in Figure 1, include:
Step S11 provides the driving signal of setting to any two winding, and obtains back-emf on third winding:
In this step, to any two winding in brushless motor respectively provide setting, the identical PWM drive signal of waveform, and
Voltage sample is carried out on connection third winding, is for due to inputting the driving signal collecting voltage on third winding
The back-emf generated on it；Voltage sample to third winding is carried out at the pwm pulse midpoint of the drive waveforms.
Wherein, for brushless motor, the connection type of three of them winding can be any connection method in the prior art,
For example, wye connection；And be supplied to the drive waveforms of above-mentioned any two winding or driving signal to can be waveform consistent, i.e.,
It can be the same driving signal；Third winding does not need to provide driving signal.In the present embodiment, by third around
The voltage of group acquisition is actually the voltage measured on third winding one end (one end not connecting with it with winding).
Step S12 obtains back-emf, forces commutation, and continues to detect back-emf on the tertiary winding: in this step,
When detecting back-emf on the tertiary winding, i.e. control forced motor commutation, for example, it is assumed that currently applying driving letter to BC two-phase
Number, if current driving signal detects that the back-emf differential of third phase A phase must be positive, then constantly at the midpoint of PWM from C to B
It detects the voltage of A phase and differential then forces commutation when the given threshold that differential is reduced to, so that applying driving signal is AB
Two-phase detects the voltage of C phase at this time, carries out differential, and C opposite potential should be in decline passway at this time, and differential is negative, differential
It is compared after value negates with threshold value, when reaching given threshold, then forces commutation, and move in circles.
Step S13 meets first and imposes a condition, commutation: in this step, to electricity collected on the above-mentioned tertiary winding
Pressure value is handled, that is, judges the variation tendency of the collected voltage value.In the present embodiment, using to adjacent two
A collected back-emf voltage value seeks the mode of its differential, obtains its differential value, and thus obtains its variation tendency.And full
Foot first carries out pressure commutation to the motor when imposing a condition；In the present embodiment, it is described first impose a condition include for
The differential value of two adjacent collected back-emfs is less than setting value.Determine need commutation when, judge currently available micro-
Whether score value is positive, if so, in conjunction with current given phase and commutation table, determining next commutation during then back-emf is in rising；Together
When by this differential value compared with given threshold, commutation is forced when reaching；Otherwise, then during back-emf is in decline, in conjunction with current
Given phase and commutation table, determine next commutation；Simultaneously by this differential value reversed (for example, it is made to be positive) again with given threshold ratio
Compared with forcing commutation when reaching.It is noted that in the present embodiment, the tool in commutation and above-mentioned steps S12 in this step
Gymnastics is made equally all to be so that the two-phase for applying driving signal changes.
It is no that the number of step S14 commutation reaches setting number, if so, keeping above-mentioned commutation driving signal to continue to be supplied to
On the basis of above-mentioned winding, perform the next step rapid；Otherwise, return step S12.It is noted that in the present embodiment, it is practical
It is upper to provide driving signal for above-mentioned winding, motor is rotated while acquiring the back-emf on the above-mentioned tertiary winding, and commutation
Step never stops, and only when the number of above-mentioned commutation reaches the number of setting, continues rotation simultaneously in motor
Following step is also executed on the basis of commutation；If commutation does not reach above-mentioned setting number, above-mentioned steps are continued to execute
In the case that it reaches pressure commutation, it is further continued for executing following step.
Step S15 determines the zero crossing of back-emf: in the present embodiment, will on third winding collected voltage value
Be compared one by one with the half by the voltage value detected on the motor bus, i.e., by the half of the voltage value on bus with
The voltage value detected on above-mentioned third winding is compared, and selects the equal sampled point obtained of the two as zero crossing；Value
It obtains one to be mentioned that, in the present embodiment, the voltage detecting on above-mentioned bus is actually to always exist, and is not being held only
Row to before this step, can't use this by the voltage that is detected on bus.In other words, in the present embodiment, by executing
Step S11 starts, and just has begun the voltage detected on above-mentioned bus.
Step S16 obtains motor synchronizing parameter according to obtained back-emf zero crossing, and enters motor synchronizing state: in this step
In, it obtains the time between two adjacent zero crossings being located on the winding or is located at two on described two windings
Time between a adjacent zero crossing is to get to when setting the difference duration of electrical angle, and being used for motor synchronizing commutation
It carves and the commutation duration calculates, obtain motor synchronizing parameter, and enter the motor from same according to obtained motor synchronizing parameter
Step state.
In the present embodiment, it in order to guarantee the safety of hardware, when starting starting, also monitors on the motor bus
Electric current is gradually increased the first phase alternating current and second that is separately connected and intersects in the case where its electric current is less than given threshold
The duty ratio of drive waveforms on the coil of galvanic electricity；And in the case where the electric current is equal to or more than the given threshold, reduce
The duty ratio of the drive waveforms, or be gradually increased after temporarily reducing.The benefit of this set be guarantee be not in compared with
The case where big electric current punctures switching device.
In a kind of situation in the present embodiment, by taking trapezoidal wave driving signal as an example, illustrate the complete procedure of its starting.Its
In, Fig. 2 be drive waveforms be trapezoidal wave when on each winding collected back-emf schematic diagram.Fig. 3 is that drive waveforms are positive
When string wave on each winding collected back-emf schematic diagram；Fig. 4 is the driving circuit figure under above situation, and Fig. 5 then compared with
Meticulously to give Booting sequence figure in this case.
Under above situation in the present embodiment, by Fig. 4 it can be seen that, main control chip by three road AD (AD1, AD2,
AD3) interleaved acquisition end voltage (H1, H2, H3), i.e. winding back emf, while AD4 passes through the voltage of acquisition sampling resistor R4
Obtain bus current and AD5 acquisition busbar voltage, i.e. supply voltage.Wherein R1, R2, R3, R4 are resistance pressure-dividing network and low pass
Filter network, it is therefore an objective to which partial pressure obtains being suitble to the voltage range of AD acquisition and filters out some high-frequency noises；R5 is sampling resistor, stream
The electric current for crossing motor similarly passes through time sampling resistor, by acquiring the differential voltage at its both ends, obtains current information, OP is fortune
It puts and low-pass filter network, it is therefore an objective to obtain the voltage signal for the characterization current information for being suitble to AD acquisition.S1,S2,S3,S4,S5,
S6 is switching tube, can may be igbt for mosfet, and main control chip passes through above six switching tubes of driving circuit control
Turn on and off the area's driving for realizing motor.L1, L2, L3 are three windings (three-phase) of motor M, and certainly, driving motor is unlimited
In this wye connection, it is also possible to Δ connection.
In the present embodiment, the motor synchronizing state of non sensor brushless motor obtains motor by back-emf information and turns
Sub- position, and then commutation driving is carried out by this location information.But the back-emf and motor speed of motor are proportional, in electricity
In the case that machine is static or speed is very low, back-emf very little is not enough to detect or observes and then obtaining rotor position information.Nothing
The difficult point of sensorless brushless motor driving is that this, how in the case where static or speed is very low to obtain back-emf, at
For the key for smoothly cutting motor synchronizing state.
In the present embodiment, rotor position information is obtained using end voltage, that is, phase voltage of AD acquisition motor, the wave in Fig. 2
Shape respectively represents three opposite potential of motor that back-emf is trapezoidal wave, is taken respectively from H1 in Fig. 4, H2, the position H3.When motor is from quiet
Only start in start-up course, be powered first to any two-phase of motor, duty ratio gradually increases from small to large, starts simultaneously at detection electricity
The back-emf of stream and hanging phase；Assuming that it is as shown in Figure 4 CB phase (i.e. two windings of CB) that motor, which initially gives mutually, i.e., S3 is
PWM copped wave, S5 are that often height, such electric current can flow to H2 from H3, and L1 is hanging phase.Electricity of the AD in each midpoint PWM acquisition H1 point
Signal is pressed, the signal obtained twice is differentiated.As it can be seen that collecting the back-emf of A1 point from CB phase commutation initial time
To A3 point, the differential of back-emf is characterized as the slope risen, and until A3 point, measuring difference can be always a positive value, but work as
When collecting A4 point, difference value can be zero, and the differential threshold of commutation is arranged, then can force commutation in A4 point；Similarly in back-emf
The process of decline forces commutation in A8 point, remaining is similar from A5 to A8.
In addition, AD4 acquires electric current at each midpoint PWM simultaneously, when electric current is excessive in commutation process reaches given threshold,
Duty ratio is further added by after suitably reducing, but no more than setting electric current threshold value, prevents damage hardware.
In the present embodiment, after the commutation of fixed step number, winding back emf is sufficiently set up, AD5 acquisition
Busbar voltage simultaneously obtains VDC/2, and opposite potential obtains self synchronous back-emf zero crossing A2, A5 compared with this, with two of phase
Zero crossing is electrical angle 180 degree, and available 30 degree accordingly, 60 degree, the electrical angles times such as 120 degree carry out self synchronous accordingly
Commutation moment and commutation duration calculate.
In addition, in the present embodiment, the above method can be not only used for the motor that back-emf is trapezoidal wave, for back-emf
It can be also well adapted for for the motor of sine wave.When just to show back-emf in Fig. 3 be sine wave, in a phase of motor
Counter potential waveform, it can be seen that it is roughly the same with trapezoidal wave.
The invention further relates to a kind of device for realizing the above method, including starting control module 1, the starting control modules 1
For providing the PWM drive signal of any setting by two windings to motor, motor do not provide driving signal around
The voltage that generation is obtained in group compares the electricity of acquirement after carrying out multiple commutation to the motor according to the characteristic of the acquirement voltage
Pressure and busbar voltage and obtain the electrical angle parameter of the motor, the self synchronous commutation moment and commutation for obtaining the motor with this hold
The continuous time, so that the motor enters motor synchronizing state.
As described in Figure 5, the starting control module 1 further comprise force commutation unit 11, commutation frequency judging unit 12,
Zero-crossing examination unit 13 and motor synchronizing parameter acquisition unit 14；Wherein, commutation unit 11 is forced to be used for appointing in motor
Two windings of anticipating provide set, the identical PWM drive signal of waveform respectively, and carry out voltage on connection third winding and adopt
Sample carries out pressure commutation when collecting voltage, and continues to carry out voltage sample on third winding after forcing commutation, and
Commutation is carried out to the motor when satisfaction first imposes a condition；；Commutation frequency judging unit 12 is for judging that the pressure is changed
Whether the commutation number after phase reaches setting value, if so, zero-crossing examination on the basis of continuing voltage sample and commutation
Otherwise unit 13 continues voltage sample and commutation；Zero-crossing examination unit 13 on third winding for that will collect
Voltage value be compared one by one with the half by the voltage value detected on the motor bus, both selections are equal to adopt
Sampling point is as zero crossing；Motor synchronizing parameter acquisition unit 14 is used for two adjacent zero crossings for obtaining being located on the winding
Between time or be located at the time on described two windings between two adjacent zero crossings to get to setting electrical angle it
Poor duration, and it is used for motor synchronizing commutation moment and the calculating of commutation duration, motor synchronizing parameter is obtained, and make institute
It states motor and enters motor synchronizing state according to obtained motor synchronizing parameter.In the commutation unit 11, in connection third winding
On to collect voltage be the back-emf generated on it because inputting the driving signal；It is described first impose a condition include for
The absolute value of the differential value of two adjacent collected back-emfs is less than setting value.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of sensorless start-up method of brushless motor characterized by comprising
There is provided the PWM drive signal of any setting by two windings to motor, motor do not provide driving signal around
The voltage that generation is obtained in group to forced motor commutation after obtaining the voltage, and continues acquisition and does not provide driving signal
The voltage generated on winding, the characteristic according to the acquirement voltage carries out commutation to the motor, and compares acquirement after multiple commutation
Voltage and busbar voltage and obtain the electrical angle parameter of the motor, with this obtain the motor the self synchronous commutation moment and change
Phase duration, so that the motor enters motor synchronizing state.
2. the sensorless start-up method of brushless motor according to claim 1, which is characterized in that the method is further
Include the following steps:
A preset, the identical PWM drive signal of waveform) is provided respectively to any two winding in motor, and in connection third
Carry out voltage sample on a winding, pressure commutation carried out when collecting voltage, and continue after forcing commutation third around
Voltage sample is carried out in group, and commutation is carried out to the motor when satisfaction first imposes a condition；
Whether the commutation number after B) judging the pressure commutation reaches setting value, if so, continuing voltage sample and changing
It is performed the next step on the basis of phase suddenly, otherwise, continues voltage sample and commutation；
C) by voltage value collected on third winding one by one with the voltage value by being detected on the motor bus one
It is partly compared, the sampled point for selecting the two equal is as zero crossing；
D it) obtains the time between two adjacent zero crossings being located on the winding or is located at described two windings
Time between upper two adjacent zero crossings is used for motor synchronizing and changes to get to the difference duration of setting electrical angle
Phase moment and commutation duration calculate, and obtain motor synchronizing parameter, and enter the motor according to obtained motor synchronizing parameter
Motor synchronizing state.
3. the sensorless start-up method of brushless motor according to claim 2, which is characterized in that connection third around
It is the back-emf generated on it because inputting the driving signal that voltage is collected in group；It includes pair that described first, which imposes a condition,
It is less than setting value in the absolute value of the differential value of two adjacent collected back-emf voltage.
4. the sensorless start-up method of brushless motor according to claim 3, which is characterized in that the step A) in into
One step includes the following steps:
When determining the need for commutation, judge whether currently available differential value is positive, if so, then back-emf is in the rising stage
Between, in conjunction with current given phase and commutation table, determine next commutation；It is strong when reaching simultaneously by this differential value compared with given threshold
Commutation processed；Otherwise, then during back-emf is in decline, in conjunction with current given phase and commutation table, determine next commutation；Simultaneously by this
Differential value reversely again compared with given threshold, forces commutation when reaching.
5. the sensorless start-up method of brushless motor according to claim 4, which is characterized in that the step A) in,
Voltage sample to third winding is carried out at the pwm pulse midpoint of the drive waveforms.
6. the sensorless start-up method of brushless motor according to claim 5, which is characterized in that pass through the same winding
The electrical angle between adjacent zero crossing is gone up as 180 degree, the electrical angle between adjacent winding between adjacent zero crossing is 60 degree,
The duration between above-mentioned electrical angle is obtained, the duration of the difference of any electrical angle can be calculated, and then obtains the motor
Motor synchronizing parameter.
7. the sensorless start-up method of brushless motor described in -6 any one according to claim 1, which is characterized in that described
Step A) further comprise following steps:
The electric current on the motor bus is monitored, in the case where its electric current is less than given threshold, is gradually increased and described connects respectively
Connect the duty ratio of drive waveforms on the coil of the first phase alternating current and the second phase alternating current；And it is equal to or more than institute in the electric current
In the case where stating given threshold, reduce the duty ratio of the drive waveforms.
8. a kind of device for the sensorless start-up method for realizing brushless motor as described in claim 1, which is characterized in that packet
It includes:
Start control module: for providing the PWM drive signal of any setting by two windings to motor, motor not
The voltage for obtaining generation on the winding of driving signal is provided, to forced motor commutation after obtaining the voltage, and continues to acquire
The voltage generated on the winding of driving signal is not provided, and the characteristic according to the acquirement voltage carries out commutation to the motor, and more
Compare after secondary commutation acquirement voltage and busbar voltage and obtain the electrical angle parameter of the motor, with this obtain the motor from same
The commutation moment and commutation duration of step, so that the motor enters motor synchronizing state.
9. device according to claim 8, which is characterized in that the starting control module further comprises:
Force commutation unit: for providing set, the identical PWM driving letter of waveform respectively to any two winding in motor
Number, and voltage sample is carried out on connection third winding, pressure commutation is carried out when collecting voltage, and after forcing commutation
Continuation carries out voltage sample on third winding, and carries out commutation to the motor when satisfaction first imposes a condition；
Commutation frequency judging unit: for judge it is described pressure commutation after commutation number whether reach setting value, if so, after
On the basis of continuous progress voltage sample and commutation otherwise zero-crossing examination unit continues voltage sample and commutation；
Zero-crossing examination unit: for will on third winding collected voltage value one by one and by being examined on the motor bus
The half of the voltage value measured is compared, and selects the equal sampled point obtained of the two as zero crossing；
Motor synchronizing parameter acquisition unit: time between two adjacent zero crossings for obtaining being located on winding or
Be located at the time on described two windings between two adjacent zero crossings to get to setting electrical angle difference it is lasting when
Between, and it is used for motor synchronizing commutation moment and the calculating of commutation duration, motor synchronizing parameter is obtained, and make the motor foundation
Obtained motor synchronizing parameter enters motor synchronizing state.
10. device according to claim 9, which is characterized in that in the pressure commutation unit, in connection third winding
On to collect voltage be the back-emf generated on it because inputting the driving signal；It is described first impose a condition include for
The differential value absolute value of the adjacent back-emf voltage sampled is less than setting value.
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| CN110943653A (en) * | 2019-12-30 | 2020-03-31 | 联合汽车电子有限公司 | Rotor position adjusting method in motor starting stage |
| CN113507244A (en) * | 2021-06-08 | 2021-10-15 | 捷和电机制品(深圳)有限公司 | Motor control method and device and electronic equipment |
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