CN111245307A - Hall line sequence self-adaptive learning method of brushless motor - Google Patents
Hall line sequence self-adaptive learning method of brushless motor Download PDFInfo
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- H—ELECTRICITY
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Abstract
The invention discloses a Hall line sequence self-adaptive learning method of a brushless motor, which comprises the following steps: step S1, for the 1 st sector, opening the C-phase upper arm, the a-phase lower arm, and the B-phase lower arm, allowing current to flow in from the C-phase and out from the a-phase and the B-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is A phase → B phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is B phase → A phase; sectors 2, 3, 4, 5, and 6 are processed in the same manner. According to the invention, the mapping relation between the Hall signal and the brushless motor energizing coil is established, so that the motor power line and the Hall signal line can be wired in any sequence, the installation type of the Hall sensor can be identified, and various Hall sensor installation modes can be supported.
Description
Technical Field
The invention relates to a motor driving system, in particular to a Hall line sequence self-adaptive learning method of a brushless motor.
Background
In the prior art, a hall brushless motor adopts a hall sensor to know the position of a permanent magnet of a rotor, and switches the energizing phase of a stator coil according to a hall signal. Compared with a Hall brushless motor, the brushless motor is more stable during low-speed starting, and can output the maximum torque during zero-speed starting, so that the Hall brushless motor is widely applied in occasions requiring frequent starting and stopping of large torque. The driver needs to determine the coil electrified by the motor according to the Hall signal, so that the mapping relation between Hall signal data and the coil electrified by the motor needs to be determined, in practical application, a power line ABC from the driver to the motor and Hall signals HA, HB and HC need to be correctly connected, otherwise, the mapping relation is wrong, so that the motor is in runaway or locked-rotor, and the motor or the driver can be burnt in severe cases.
The Hall sensors are divided into two categories of 120-degree installation and 60-degree installation according to different installation positions, wherein the 120-degree installation means that the Hall sensors are installed on the end face at equal intervals of 360 degrees/3 degrees to 120 degrees, the three Hall sensors are logically identical in status and are arbitrarily interchanged, and the set of Hall effective values is unchanged; the 60-degree installation refers to the installation of the Hall devices on the end face at an interval of 60 degrees, the advantage is that the Hall devices do not occupy the whole end face, but because the Hall devices in the middle are different from the Hall devices on two sides in logical position, the 60-degree installation can be actually subdivided into three types, namely, HA is connected with middle Hall/HB is connected with middle Hall/HC is connected with middle Hall, and the Hall effective value sets of the three types are different.
In practical application, if the line sequence supported by the driver is not clear, the correct line sequence can be found through trial and error, but the power line ABC and the permutation and combination of the Hall signals HA, HB and HC have a total of 3! x 3! In the case of errors, the motor may fly or stall, damaging the hardware, for example, for 36 combinations. Therefore, an algorithm is required to be designed, the power line ABC and the Hall signals HA, HB and HC are connected optionally, and the mapping relation between the Hall signals and the motor energizing coil is established through learning, so that the motor can run normally.
Chinese patent publication No. CN105846735A discloses a method and an apparatus for detecting hall phase sequence of a brushless dc motor, in which a phase a and a phase B windings are energized respectively, the value of a hall signal at the time of energization is read, and the hall signal identified as 1 confirms the correspondence of the hall. The document defines the relative position of the hall and the winding, and if the position of the hall is not coincident with the position described in the patent, the identification will be wrong when the hall is exactly positioned at the boundary of the signal jump under the extreme condition; in addition, this document requires the acquisition of phase currents, which increases the cost of the system.
In chinese patent publication No. CN107154756A, an automatic hall phase sequence identification method for a brushless dc motor is provided, in which two phases of a winding are controlled to be conducted, a winding conducting rotor is dragged to a position, hall feedback in all 6 conducting modes is collected, and then a mapping relationship between hall signal data and a motor electrified coil is established. The method is adopted to identify the Hall suitable for installation with the advance angle advanced by 30 degrees, and if the method is used on a motor with the Hall installed with the advance angle of 0 degree which is more widely applied, the identification can fail because Hall signals jump repeatedly.
Disclosure of Invention
The invention aims to solve the technical problem that a mapping relation between a Hall signal and a brushless motor energizing coil is established, so that a motor power line and a Hall signal line can be connected in any sequence, the Hall signal line is beneficial to identifying the installation type of a Hall sensor, and the Hall line sequence self-adaptive learning method can support various Hall sensor installation modes.
In order to solve the technical problem, the invention adopts the following technical scheme.
A Hall line sequence self-adaptive learning method of a brushless motor is realized on the basis of a motor and a driver, wherein 3 Hall sensors are installed on the motor, a power line of the motor comprises an A phase, a B phase and a C phase, and the method comprises the following steps: step S1, for the 1 st sector, opening the C-phase upper arm, the a-phase lower arm, and the B-phase lower arm, allowing current to flow in from the C-phase and out from the a-phase and the B-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is A phase → B phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is B phase → A phase; step S2, aiming at the 2 nd sector, opening an A-phase upper bridge arm, a C-phase upper bridge arm and a B-phase lower bridge arm, enabling current to flow in from the A-phase and the C-phase and flow out from the B-phase, stopping the rotor of the motor at a position after being dragged by a magnetic field, storing a Hall signal at the position, and establishing a mapping relation: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is A phase → C phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is C phase → A phase; step S3, for the 3 rd sector, opening the a-phase upper arm, the B-phase lower arm, and the C-phase lower arm, so that current flows in from the a-phase and flows out from the B-phase and the C-phase, the rotor of the motor is dragged by the magnetic field and then stops at a position, the hall signal at the position is saved, and a mapping relationship is established: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is B phase → C phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is C phase → B phase; step S4, aiming at the 4 th sector, opening an A-phase upper bridge arm, a B-phase upper bridge arm and a C-phase lower bridge arm, enabling current to flow in from the A-phase and the B-phase and flow out from the C-phase, stopping a rotor of the motor at a position after being dragged by a magnetic field, storing a Hall signal at the position, and establishing a mapping relation: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is B phase → A phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is A phase → B phase; step S5, for the 5 th sector, opening the B-phase upper arm, the a-phase lower arm, and the C-phase lower arm, allowing current to flow in from the B-phase and out from the a-phase and the C-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is C phase → A phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is A phase → C phase; step S6, for the 6 th sector, opening the B-phase upper arm, the C-phase upper arm, and the a-phase lower arm, allowing current to flow in from the B-phase and the C-phase and flow out from the a-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is C phase → B phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is B phase → C phase; the motor driver performs commutation control of the motor based on the learning process of the step S1 to the step S6.
Preferably, before the learning process is executed, the driver energizes the windings of the motor in the current sequence of AB-AC-BC-BA-CA while confirming whether the motor is running in the required positive direction, and if not, the signals of the phase B and phase C of the driver are exchanged by software to make the motor run in the required positive direction.
Preferably, in the learning process from step S1 to step S6, if the hall signal at a certain position is repeated, an error is reported.
Preferably, in step S1, the lower arm of the a phase and the lower arm of the B phase are continuously turned on, the upper arm of the C phase is controlled to be turned on by a PWM signal, and the on-state current is controlled by collecting the bus current and controlling the duty ratio of the PWM signal by using a PI regulator; the steps S2 to S6 implement the on-current control in the same manner.
Preferably, after the learning process from the step S1 to the step S6 is completed, the current installation type of the hall sensor is determined according to the collected hall signal data set.
Preferably, after the mapping relationship is established, the offset angle testing step is executed for the sector: driving a motor rotor to slowly sweep across the sector from the starting position of the sector by using a synthetic magnetic field, and recording the angle of the jump position of the Hall signal relative to the starting position of the sector, wherein the angle is the deviation of the actual installation position of the Hall sensor relative to the ideal installation position; and respectively executing an offset angle testing step aiming at each sector, and further obtaining the offset angle between the actual installation position and the ideal position of each Hall sensor.
Preferably, for the 1 st sector, the magnetic field CA is set to be a stator magnetic field generated by current flowing from the phase C and flowing from the phase a; the magnetic field CB is a stator magnetic field generated by current flowing into the phase C and flowing out of the phase B; an included angle between a magnetic field CA and a magnetic field CB is a magnetic field range of a 1 st sector, magnetic fields CA + CB are synthetic magnetic fields formed by the magnetic field CA and the magnetic field CB, an included angle of 60 degrees is formed between the magnetic field CA and the magnetic field CB, the direction of the magnetic fields CA + CB can be controlled by adjusting the size proportion of the magnetic fields CA and the magnetic field CB according to a vector synthesis principle, the driver enables the C-phase upper bridge arm to be continuously conducted, the PWM signal duty ratios of the A-phase lower bridge arm and the B-phase lower bridge arm are respectively controlled, and then the independent control of the magnetic fields CA and the magnetic fields CB is achieved.
Preferably, the process for testing the offset angle between the actual installation position and the ideal position of the hall sensor comprises the following steps: and driving a motor rotor to slowly rotate anticlockwise from the initial angle of the magnetic field CA aiming at the synthetic magnetic field CA + CB, scanning the magnetic field range with the included angle of 60 degrees, judging whether the Hall signal jumps in real time in the scanning process, and recording the jumped Hall signal and the angle when the Hall signal jumps if the Hall signal jumps.
According to the Hall line sequence self-adaptive learning method of the brushless motor, the mapping relation between Hall signal data and a motor electrified coil is established through learning, so that the A phase, the B phase and the C phase of a motor power line, Hall signals HA, HB and HC and a driver can be connected at will, and the mounting type of a Hall sensor can be identified, so that various Hall mounting modes of 120 degrees, 60 degrees and the like are supported, the control requirement is well met, and the Hall line sequence self-adaptive learning method of the brushless motor is suitable for being popularized and applied in a brushless motor driving system and HAs a remarkable technical effect.
Drawings
FIG. 1 is a schematic diagram of the state of the rotor in each sector subjected to the maximum torque of the stator magnetic field during the rotation of the brushless motor;
FIG. 2 is a schematic diagram of Hall signals of each sector during learning;
FIG. 3 is a schematic diagram of a deviation identification process of an actual installation position and an ideal position of a Hall sensor;
FIG. 4 is a schematic diagram of a process for calculating a magnetic field angle;
FIG. 5 is a flow chart of the method of the present invention.
Detailed Description
The invention is described in more detail below with reference to the figures and examples.
The invention discloses a Hall line sequence self-adaptive learning method of a brushless motor, which is realized based on a motor and a driver and comprises the following steps of:
step S1, for the 1 st sector, opening the C-phase upper arm, the a-phase lower arm, and the B-phase lower arm, allowing current to flow in from the C-phase and out from the a-phase and the B-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is A phase → B phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is B phase → A phase;
step S2, aiming at the 2 nd sector, opening an A-phase upper bridge arm, a C-phase upper bridge arm and a B-phase lower bridge arm, enabling current to flow in from the A-phase and the C-phase and flow out from the B-phase, stopping the rotor of the motor at a position after being dragged by a magnetic field, storing a Hall signal at the position, and establishing a mapping relation: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is A phase → C phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is C phase → A phase;
step S3, for the 3 rd sector, opening the a-phase upper arm, the B-phase lower arm, and the C-phase lower arm, so that current flows in from the a-phase and flows out from the B-phase and the C-phase, the rotor of the motor is dragged by the magnetic field and then stops at a position, the hall signal at the position is saved, and a mapping relationship is established: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is B phase → C phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is C phase → B phase;
step S4, aiming at the 4 th sector, opening an A-phase upper bridge arm, a B-phase upper bridge arm and a C-phase lower bridge arm, enabling current to flow in from the A-phase and the B-phase and flow out from the C-phase, stopping a rotor of the motor at a position after being dragged by a magnetic field, storing a Hall signal at the position, and establishing a mapping relation: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is B phase → A phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is A phase → B phase;
step S5, for the 5 th sector, opening the B-phase upper arm, the a-phase lower arm, and the C-phase lower arm, allowing current to flow in from the B-phase and out from the a-phase and the C-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is C phase → A phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is A phase → C phase;
step S6, for the 6 th sector, opening the B-phase upper arm, the C-phase upper arm, and the a-phase lower arm, allowing current to flow in from the B-phase and the C-phase and flow out from the a-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is C phase → B phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is B phase → C phase;
the motor driver performs commutation control of the motor based on the learning process of the step S1 to the step S6.
In the process, the mapping relation between the Hall signal data and the motor energizing coil is established through learning, so that the A phase, the B phase and the C phase of the motor power line, the Hall signals HA, HB and HC and the driver can be connected at will, and the installation types of the Hall sensors can be identified, so that various Hall installation modes of 120 degrees, 60 degrees and the like are supported, the control requirement is well met, and the Hall sensor is suitable for popularization and application in a brushless motor driving system and HAs a remarkable technical effect.
In practical application, before the learning process is executed, the driver energizes the windings of the motor according to the current sequence of AB-AC-BC-BA-CA-CA, and simultaneously confirms whether the running direction of the motor is the required positive direction, if not, the signals of the phase B and the phase C of the driver are exchanged through software so as to enable the motor to run according to the required positive direction.
The principle of the Hall line sequence self-adaptive learning method is as follows: after motor power ABC and Hall signals HA, HB and HC are connected, a winding of the motor is electrified according to the sequence of AB-AC-BC-BA-CA-CA by taking ABC output of a driver as a reference, whether the rotating direction of the motor is the required positive direction or not is confirmed, if not, B and C of the driver need to be logically exchanged, and the forward rotating direction of the motor is ensured to be the required direction; after which the learning procedure is started.
Taking the counterclockwise rotation of the motor in the 1 st sector as an example, as shown in fig. 1 and fig. 2, when the brushless motor operates normally, the N pole of the rotor is in the middle of the sector, and this angle should be consistent with the angle to which the N pole of the rotor is dragged during learning. When the brushless motor is used for learning, the output end of the brushless motor is not provided with a load, and the rotor can rotate to an angle parallel to the magnetic field of the permanent magnet and the magnetic field of the stator under the action of the magnetic field. In this case, current can be made to flow in phase C and out of phases a and B, so that the stator field established is directed towards the middle of this sector during normal operation of the brushless motor. And the lower bridge arm of the phase A and the lower bridge arm of the phase B are continuously conducted, the upper bridge arm of the phase C is conducted in a PWM mode, the duty ratio of the PWM is controlled by using a PI regulator through collecting bus current, and the control of the conducted current is realized. After the position of the rotor is stable, collecting Hall signal data at the moment, and storing a mapping relation as follows: when the brushless motor normally operates, if the brushless motor positively rotates, when the Hall data is read, the driver is controlled to output to enable the current to flow from A to B; if the Hall data are read in the reverse direction, the driver output is controlled to make the current flow from B to A.
As described with reference to fig. 1 and 2, the motor rotates counterclockwise for the 2 nd sector. When the brushless motor runs normally, the N pole of the rotor is in the middle of the sector, and the angle is consistent with the angle to which the N pole of the rotor is dragged during learning. When the brushless motor is used for learning, the output end of the brushless motor is not provided with a load, and the rotor can rotate to an angle parallel to the magnetic field of the permanent magnet and the magnetic field of the stator under the action of the magnetic field. In this example, current can be made to flow in from phase a and phase C and out from phase B, so that the established stator field is directed to the middle of the sector during normal operation of the brushless motor. And the lower bridge arm of the B phase is continuously conducted, the PWM of the upper bridge arm of the A phase and the PWM of the upper bridge arm of the C phase are conducted, and the control of the conducting current is realized by collecting the bus current and controlling the duty ratio of the PWM by using a PI regulator. After the position of the rotor is stable, collecting Hall signal data at the moment, and storing a mapping relation as follows: when the brushless motor normally runs, if the brushless motor positively rotates, when the Hall data is read, the driver is controlled to output to enable the current to flow from A to C; if the Hall data are read in the reverse direction, controlling the driver to output current to flow from C to A when the Hall data are read;
sectors 3, 4, 5, and 6 are also treated in a similar manner, summarized in the following table:
| power-on mode during learning | Driving bridge arm in forward rotation operation | Driving bridge arm in reverse operation |
| C→A+B | A→B | B→A |
| A+C→B | A→C | C→A |
| A→B+C | B→C | C→B |
| A+B→C | B→A | A→B |
| B→A+C | C→A | A→C |
| B+C→A | C→B | B→C |
Preferably, in the learning process from step S1 to step S6, if the hall signal at a certain position is repeated, an error is reported. Specifically, in the learning process, if repeated Hall data are generated, which indicates that the Hall is damaged or abnormal in installation, error processing can be reported; after all six sectors are identified, the installation type of the Hall can be confirmed according to the set of the appeared effective Hall data.
For a hall signal data set of 6 sectors see table below:
in step S1 of this embodiment, the lower arm of the a phase and the lower arm of the B phase are continuously turned on, the upper arm of the C phase is controlled to be turned on by the PWM signal, and the on-state current is controlled by collecting the bus current and controlling the duty ratio of the PWM signal by using the PI regulator; the steps S2 to S6 implement the on-current control in the same manner.
Further, after the learning process from the step S1 to the step S6 is completed, the installation type of the hall sensor is determined according to the collected hall signal data set.
As a preferred mode, after the mapping relationship is established, the offset angle testing step is executed for the sectors:
driving a motor rotor to slowly sweep across the sector from the starting position of the sector by using a synthetic magnetic field, and recording the angle of the jump position of the Hall signal relative to the starting position of the sector, wherein the angle is the deviation of the actual installation position of the Hall sensor relative to the ideal installation position;
and respectively executing an offset angle testing step aiming at each sector, and further obtaining the offset angle between the actual installation position and the ideal position of each Hall sensor.
In the process, the ideal Hall installation position is the boundary of each sector, after the mapping relation is established for each sector in 6 sectors, the synthesized magnetic field is controlled from the starting position of the sector to slowly sweep the sector, the angle of the position where the Hall signal jumps relative to the starting position of the sector is recorded, the angle is the deviation between the actual Hall installation position and the ideal position, and the operation is executed for each sector, so that the deviation angle between each Hall jump edge and the ideal position can be obtained.
Specifically, referring to fig. 3, for sector 1, magnetic field CA is set to be a stator magnetic field generated by current flowing into phase C and flowing out of phase a; the magnetic field CB is a stator magnetic field generated by current flowing into the phase C and flowing out of the phase B; an included angle between a magnetic field CA and a magnetic field CB is a magnetic field range of a 1 st sector, magnetic fields CA + CB are synthetic magnetic fields formed by the magnetic field CA and the magnetic field CB, an included angle of 60 degrees is formed between the magnetic field CA and the magnetic field CB, the direction of the magnetic fields CA + CB can be controlled by adjusting the size proportion of the magnetic fields CA and the magnetic field CB according to a vector synthesis principle, the driver enables the C-phase upper bridge arm to be continuously conducted, the PWM signal duty ratios of the A-phase lower bridge arm and the B-phase lower bridge arm are respectively controlled, and then the independent control of the magnetic fields CA and the magnetic fields CB is achieved.
The process for testing the offset angle between the actual installation position and the ideal position of the Hall sensor comprises the following steps:
and driving a motor rotor to slowly rotate anticlockwise from the initial angle of the magnetic field CA aiming at the synthetic magnetic field CA + CB, scanning the magnetic field range with the included angle of 60 degrees, judging whether the Hall signal jumps in real time in the scanning process, and recording the jumped Hall signal and the angle when the Hall signal jumps if the Hall signal jumps.
In practical application, the hall sensor may have some mechanical errors during installation, so that a single sector may encounter 0, 1 and 2 transition edges during scanning. Combining the scanning data of six sectors, the angle of 6 jumping edges relative to the initial position of the sectors can be obtained, ideal Hall jumping occurs at the edge of the sectors, and the offset of the 6 jumping edges relative to the ideal position can be obtained.
As a preferable mode, referring to fig. 4, the PWM on duty ratios of the a-phase lower arm and the B-phase lower arm are calculated according to an angle θ of the direction of the synthetic magnetic field with respect to the start position of the sector.
Specifically, the process of calculating the PWM signal duty ratios of the a-phase lower arm and the B-phase lower arm according to the angle θ of the direction of the synthetic magnetic field CA + CB with respect to the starting position of the sector includes:
an included angle between the magnetic field CA and the magnetic field CB is 60 degrees, the magnetic field CA and the magnetic field CB are translated and a parallelogram is drawn, a perpendicular line is made from the tail ends of the magnetic field CA and the magnetic field CB to the combined magnetic field CA + CB, and the length of the perpendicular line is L, so that the method comprises the following steps:
sinθ＝L/CA；
sin(60-θ)＝L/CB；
that is:
CB/CA＝sinθ/sin(60-θ)；
wherein, theta belongs to [0, 60);
therefore, the proportional relation between the PWM signal duty ratios of the B-phase lower bridge arm and the A-phase lower bridge arm is determined.
Furthermore, in the process of scanning the magnetic field range with the included angle of 60 degrees, the current control is realized by collecting the bus current of the motor and adjusting the duty ratios of the PWM signals of the A-phase lower bridge arm and the B-phase lower bridge arm through the PI controller.
Compared with the prior art, the Hall line sequence self-adaptive learning method of the brushless motor has the beneficial effects that firstly, based on the method provided by the invention, the power line ABC and the Hall signal can be wired in any sequence. Meanwhile, the installation type of the Hall can be identified, and various Hall installation modes of 120 degrees and 60 degrees are supported. In addition, the invention can also identify the offset of the Hall installation angle and the ideal installation angle of the brushless motor, is convenient for the driver to realize accurate commutation angle control and better meets the application requirement.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the technical scope of the present invention should be included in the scope of the present invention.
Claims (10)
1. A Hall line sequence self-adaptive learning method of a brushless motor is realized based on a motor and a driver, wherein 3 Hall sensors are installed on the motor, and a power line of the motor comprises an A phase, a B phase and a C phase, and is characterized by comprising the following steps:
step S1, for the 1 st sector, opening the C-phase upper arm, the a-phase lower arm, and the B-phase lower arm, allowing current to flow in from the C-phase and out from the a-phase and the B-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is A phase → B phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is B phase → A phase;
step S2, aiming at the 2 nd sector, opening an A-phase upper bridge arm, a C-phase upper bridge arm and a B-phase lower bridge arm, enabling current to flow in from the A-phase and the C-phase and flow out from the B-phase, stopping the rotor of the motor at a position after being dragged by a magnetic field, storing a Hall signal at the position, and establishing a mapping relation: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is A phase → C phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is C phase → A phase;
step S3, for the 3 rd sector, opening the a-phase upper arm, the B-phase lower arm, and the C-phase lower arm, so that current flows in from the a-phase and flows out from the B-phase and the C-phase, the rotor of the motor is dragged by the magnetic field and then stops at a position, the hall signal at the position is saved, and a mapping relationship is established: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is B phase → C phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is C phase → B phase;
step S4, aiming at the 4 th sector, opening an A-phase upper bridge arm, a B-phase upper bridge arm and a C-phase lower bridge arm, enabling current to flow in from the A-phase and the B-phase and flow out from the C-phase, stopping a rotor of the motor at a position after being dragged by a magnetic field, storing a Hall signal at the position, and establishing a mapping relation: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is B phase → A phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is A phase → B phase;
step S5, for the 5 th sector, opening the B-phase upper arm, the a-phase lower arm, and the C-phase lower arm, allowing current to flow in from the B-phase and out from the a-phase and the C-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is C phase → A phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is A phase → C phase;
step S6, for the 6 th sector, opening the B-phase upper arm, the C-phase upper arm, and the a-phase lower arm, allowing current to flow in from the B-phase and the C-phase and flow out from the a-phase, the rotor of the motor being dragged by the magnetic field and then stopping at a position, storing the hall signal at the position, and establishing a mapping relationship: when the Hall signal appears, if the motor needs to be controlled to rotate forwards, the current direction of the control coil is C phase → B phase, and if the motor needs to be controlled to rotate backwards, the current direction of the control coil is B phase → C phase;
the motor driver performs commutation control of the motor based on the learning process of the step S1 to the step S6.
2. The hall line sequence adaptive learning method of a brushless motor of claim 1, wherein the driver energizes the windings of the motor in the current sequence of AB-AC-BC-BA-CA before performing the learning process while confirming whether the operation direction of the motor is a desired positive direction, and if not, the B-phase and C-phase signals of the driver are exchanged by software to make the motor operate in the desired positive direction.
3. The hall line sequence adaptive learning method of the brushless motor of claim 1, wherein in the learning process pairs from step S1 to step S6, if the hall signal at a certain position is repeated, an error is reported.
4. The hall line sequence adaptive learning method of the brushless motor according to claim 1, wherein in step S1, the lower arm of the a phase and the B phase are continuously turned on, the upper arm of the C phase is controlled to be turned on by the PWM signal, and by collecting the bus current, the duty ratio of the PWM signal is controlled by using a PI regulator, thereby controlling the on-state current; the steps S2 to S6 implement the on-current control in the same manner.
5. The hall line sequence adaptive learning method of the brushless motor of claim 1, wherein after the learning process of the step S1 to the step S6 is completed, the installation type of the hall sensor is determined according to the collected hall signal data set.
6. The hall line sequence adaptive learning method of a brushless motor according to claim 1, wherein after the mapping relationship is established, the offset angle test step is performed for the sector:
driving a motor rotor to slowly sweep across the sector from the starting position of the sector by using a synthetic magnetic field, and recording the angle of the jump position of the Hall signal relative to the starting position of the sector, wherein the angle is the deviation of the actual installation position of the Hall sensor relative to the ideal installation position;
and respectively executing an offset angle testing step aiming at each sector, and further obtaining the offset angle between the actual installation position and the ideal position of each Hall sensor.
7. The hall line sequence adaptive learning method of the brushless motor according to claim 6, wherein the magnetic field CA is set to a stator magnetic field generated by a current flowing in from the C-phase and a current flowing out from the a-phase for the 1 st sector; the magnetic field CB is a stator magnetic field generated by current flowing into the phase C and flowing out of the phase B; an included angle between a magnetic field CA and a magnetic field CB is a magnetic field range of a 1 st sector, magnetic fields CA + CB are synthetic magnetic fields formed by the magnetic field CA and the magnetic field CB, an included angle of 60 degrees is formed between the magnetic field CA and the magnetic field CB, the direction of the magnetic fields CA + CB can be controlled by adjusting the size proportion of the magnetic fields CA and the magnetic field CB according to a vector synthesis principle, the driver enables the C-phase upper bridge arm to be continuously conducted, the PWM signal duty ratios of the A-phase lower bridge arm and the B-phase lower bridge arm are respectively controlled, and then the independent control of the magnetic fields CA and the magnetic fields CB is achieved.
8. The hall line sequence adaptive learning method of the brushless motor of claim 7, wherein the process of testing the offset angle of the actual installation position of the hall sensor from the ideal position comprises:
and driving a motor rotor to slowly rotate anticlockwise from the initial angle of the magnetic field CA aiming at the synthetic magnetic field CA + CB, scanning the magnetic field range with the included angle of 60 degrees, judging whether the Hall signal jumps in real time in the scanning process, and recording the jumped Hall signal and the angle when the Hall signal jumps if the Hall signal jumps.
9. The hall line sequence adaptive learning method of the brushless motor of claim 8, wherein the process of calculating the PWM signal duty ratios of the a-phase lower arm and the B-phase lower arm according to the angle θ of the direction of the synthesized magnetic field CA + CB with respect to the sector start position comprises:
an included angle between the magnetic field CA and the magnetic field CB is 60 degrees, the magnetic field CA and the magnetic field CB are translated and a parallelogram is drawn, a perpendicular line is made from the tail ends of the magnetic field CA and the magnetic field CB to the combined magnetic field CA + CB, and the length of the perpendicular line is L, so that the method comprises the following steps:
sinθ＝L/CA；
sin(60-θ)＝L/CB；
that is:
CB/CA＝sinθ/sin(60-θ)；
wherein, theta belongs to [0, 60);
therefore, the proportional relation between the PWM signal duty ratios of the B-phase lower bridge arm and the A-phase lower bridge arm is determined.
10. The hall line sequence adaptive learning method of the brushless motor according to claim 9, wherein in the process of scanning the magnetic field range with the included angle of 60 degrees, the current control is realized by collecting the current of the bus of the motor and adjusting the PWM signal duty ratios of the a-phase lower bridge arm and the B-phase lower bridge arm through a PI controller.
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