CN111555671B - Rotor position determining method and system for direct-current brushless motor - Google Patents

Rotor position determining method and system for direct-current brushless motor Download PDF

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Publication number
CN111555671B
CN111555671B CN202010492243.7A CN202010492243A CN111555671B CN 111555671 B CN111555671 B CN 111555671B CN 202010492243 A CN202010492243 A CN 202010492243A CN 111555671 B CN111555671 B CN 111555671B
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rotor position
determining
frequency
module
voltage
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CN111555671A (en
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黄康军
周光远
党彦波
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Guangzhou Sizhi Technology Co ltd
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Guangzhou Sizhi Technology Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/34—Arrangements for starting
    • 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
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • H02P6/21—Open loop start
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention relates to a rotor position determining method and system for a direct-current brushless motor. The method comprises the following steps: acquiring a rotor position detection frequency threshold; in the starting process, an open-loop angle value output by a current regulator is used as the input of a Space Vector Pulse Width Modulation (SVPWM) module, a sine wave pulse width modulation (SPWM) modulation mode is used for carrying out I/F frequency boosting control on the current frequency, and the frequency after frequency boosting is determined; when the frequency after the frequency rise reaches the rotor position detection frequency threshold, entering an open-loop control mode, continuously operating at the frequency after the frequency rise, and acquiring the voltage of the motor terminal by using a back electromotive force detection circuit; determining a square wave signal with three phases mutually different by 120 degrees according to the terminal voltage of the motor; and determining the rotor position of the direct current brushless motor according to the square wave signal. The rotor position determining method and the rotor position determining system provided by the invention can reduce the vibration and noise in the starting stage, realize the controllable current in the starting stage and avoid the problem of overcurrent or small current.

Description

Rotor position determining method and system for direct-current brushless motor
Technical Field
The invention relates to the field of direct current brushless motors, in particular to a rotor position determining method and system for a direct current brushless motor.
Background
Compared with the traditional brush motor, the direct current brushless motor has the advantages of long service life, wide speed regulation range, large power density, high effect rate and the like, a position sensor is required to be installed in the traditional direct current brushless motor control to provide real-time rotor position information for the phase change control of the direct current brushless motor, the cost is increased, and the direct current brushless motor is easy to damage, so that schools, scientific research institutions and scientific companies carry out continuous and deep research and practice on the position-sensor-free control technology of the direct current brushless motor in recent years.
The traditional direct-current brushless position-free sensor generally adopts a two-to-two conduction control scheme of a three-section starting mode and back electromotive force zero crossing point detection, and because the starting stage utilizes square wave VF open loop control, the torque pulsation is large during starting, so that the vibration and the noise of a motor are large in the starting stage; and if the VF parameter is not reasonably set, the current is overlarge in the starting stage to trigger overcurrent protection or the current is slightly small to cause step-out in the starting stage.
Disclosure of Invention
The invention aims to provide a rotor position determining method and a rotor position determining system for a direct current brushless motor, which aim to solve the problems that the traditional direct current brushless position-free sensor has large vibration and noise of the motor in a starting stage, and the current is uncontrollable to cause step loss in the starting stage.
In order to achieve the purpose, the invention provides the following scheme:
a rotor position determination method for a dc brushless motor, comprising:
acquiring a rotor position detection frequency threshold;
in the starting process, the output of the current regulator and the open-loop angle value output by the angle generator are used as the input of the Space Vector Pulse Width Modulation (SVPWM) module, the Space Vector Pulse Width Modulation (SVPWM) modulation mode is used for carrying out I/F frequency boosting control on the current frequency, and the frequency after frequency boosting is determined;
when the frequency after the frequency rise reaches the rotor position detection frequency threshold, entering an open-loop control mode, continuously operating at the frequency after the frequency rise, and acquiring the voltage of the motor terminal by using a back electromotive force detection circuit;
determining a square wave signal with three phases mutually different by 120 degrees according to the terminal voltage of the motor;
and determining the rotor position of the direct current brushless motor according to the square wave signal.
Optionally, the determining a three-phase square wave signal with a phase difference of 120 ° according to the terminal voltage of the motor specifically includes:
dividing the voltage of the motor terminal by using a voltage dividing resistor, and determining the voltage of the divided motor terminal;
and performing zero point comparison on the voltage of the divided motor terminal by using a comparator to determine a square wave signal with three phases mutually different by 120 degrees.
Optionally, the determining the rotor position of the dc brushless motor according to the square wave signal further includes:
judging whether the rotor position is detected within a period of time interval to obtain a first judgment result;
if the first judgment result is that the rotor positions are detected within a period of time, judging whether more than 20 correct rotor positions are continuously detected, and if so, determining that the rotor position detection is passed;
judging whether more than 10 wrong rotor positions are continuously detected or not, and if so, determining a rotor position detection fault;
and if the first judgment result is that the rotor position is not detected within a period of time, determining that the rotor position detection is overtime.
Optionally, the determining that the rotor position detection passes further includes:
acquiring a time constant of the back electromotive force detection circuit;
determining a current lag angle according to the frequency after the frequency rise and the time constant;
converting the current lag angle to a delay time;
and compensating the rotor position according to the delay time, and determining the compensated rotor position.
Optionally, the compensating the rotor position according to the delay time, and determining the compensated rotor position, further includes:
and switching the open-loop control mode to a rotor position closed-loop control mode according to the compensated rotor position.
A rotor position determination system for a dc brushless motor, comprising:
the rotor position detection frequency threshold acquisition module is used for acquiring a rotor position detection frequency threshold;
the SVPWM module is used for carrying out I/F frequency boosting control on the current frequency by using the output of the current regulator and the open-loop angle value output by the angle generator as the input of the space vector pulse width modulation SVPWM module in the starting process and determining the frequency after frequency boosting by using a space vector pulse width modulation SVPWM modulation mode;
the back electromotive force detection module is used for entering an open-loop control mode when the frequency after the frequency rise reaches the rotor position detection frequency threshold, continuously operating at the frequency after the frequency rise and collecting the voltage of the motor end by using a back electromotive force detection circuit;
the square wave signal determining module is used for determining a three-phase square wave signal with a phase difference of 120 degrees according to the terminal voltage of the motor;
and the rotor position determining module is used for determining the rotor position of the direct current brushless motor according to the square wave signal.
Optionally, the square wave signal determining module specifically includes:
the voltage division unit is used for dividing the voltage of the motor terminal by using a voltage division resistor and determining the voltage of the divided motor terminal;
and the square wave signal determining unit is used for performing zero point comparison on the voltage of the divided motor terminal by using the comparator and determining the three-phase square wave signals with the phase difference of 120 degrees.
Optionally, the method further includes:
the first judgment module is used for judging whether the rotor position is detected within a period of time interval to obtain a first judgment result;
the rotor position detection passing determining module is used for judging whether more than 20 correct rotor positions are continuously detected or not if the first judgment result is that the rotor positions are detected within a period of time, and if so, determining that the rotor position detection is passed;
the rotor position detection fault determining module is used for judging whether more than 10 wrong rotor positions are continuously detected or not, and if so, determining a rotor position detection fault;
and the rotor position detection overtime determining module is used for determining that the rotor position detection is overtime if the first judgment result indicates that the rotor position is not detected within a period of time.
Optionally, the method further includes:
the time constant acquisition module is used for acquiring the time constant of the back electromotive force detection circuit;
a current lag angle determination module, configured to determine a current lag angle according to the frequency after the frequency boost and the time constant;
the conversion module is used for converting the current lag angle into delay time;
and the compensation module is used for compensating the rotor position according to the delay time and determining the compensated rotor position.
Optionally, the method further includes:
and the mode switching module is used for switching the open-loop control mode to a rotor position closed-loop control mode according to the compensated rotor position.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a rotor position determining method and a rotor position determining system for a direct current brushless motor, wherein the rotor position determining method and the rotor position determining system are used for the open-loop starting of the direct current brushless motor without a position sensor by combining an SPWM (sinusoidal pulse width modulation) mode or an SVPWM (space vector pulse width modulation) mode and an I/F (current frequency ratio) control mode, the sine wave current frequency is used for starting, the starting current can be set through parameters and can be controlled, and the problem of overcurrent or small current in the starting process is effectively avoided;
meanwhile, as a square wave modulation mode is adopted in the traditional two-two conduction control scheme for detecting the three-section type and the back electromotive force zero crossing point, the square wave modulation torque pulsation is large, so that the starting process is large in vibration and high in noise.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a rotor position determining method for a dc brushless motor according to the present invention;
FIG. 2 is a block diagram of a control scheme provided by the present invention;
FIG. 3 is a diagram illustrating the start-up and switching process of the overall control system provided by the present invention;
fig. 4 is a structural diagram of a rotor position determining system for a dc brushless motor according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a rotor position determining method and a rotor position determining system for a direct-current brushless motor, which can reduce vibration and noise in a starting stage, realize controllable current in the starting stage and avoid the problem of overcurrent or small current.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of a rotor position determining method for a dc brushless motor according to the present invention, and as shown in fig. 1, a rotor position determining method for a dc brushless motor includes:
step 101: and acquiring a rotor position detection frequency threshold.
Step 102: in the starting process, the output of the current regulator and the open-loop angle value output by the angle generator are used as the input of the space vector pulse width modulation SVPWM module, the space vector pulse width modulation SVPWM modulation mode is utilized to carry out I/F frequency boost control on the current frequency, and the frequency after frequency boost is determined.
Step 103: and when the frequency after the frequency rise reaches the rotor position detection frequency threshold, entering an open-loop control mode, continuously operating at the frequency after the frequency rise, and acquiring the voltage of the motor terminal by using a back electromotive force detection circuit.
Because the back electromotive force information, namely the rotor position information, can be obtained through the non-conducting phase in the traditional two-two conducting scheme, while the sine wave starting scheme of the invention is three-phase PWM (pulse width modulation) simultaneous modulation, three-three conducting is adopted when the sine wave modulation mode is adopted, and no non-conducting phase is used for collecting the back electromotive force (namely the motor rotor position information) of the motor, the invention determines the rotor position by collecting the terminal voltage of the motor and combining a rotor position compensation algorithm, and compensates the rotor position.
Step 104: and determining a square wave signal with three phases different from each other by 120 degrees according to the terminal voltage of the motor.
The step 104 specifically includes: dividing the voltage of the motor terminal by using a voltage dividing resistor, and determining the voltage of the divided motor terminal; and performing zero point comparison on the voltage of the divided motor terminal by using a comparator to determine a square wave signal with three phases mutually different by 120 degrees.
Step 105: and determining the rotor position of the direct current brushless motor according to the square wave signal.
Said step 105 is followed by: judging whether the rotor position is detected within a period of time interval to obtain a first judgment result; if the first judgment result is that the rotor positions are detected within a period of time, judging whether more than 20 correct rotor positions are continuously detected, and if so, determining that the rotor position detection is passed; judging whether more than 10 wrong rotor positions are continuously detected or not, and if so, determining a rotor position detection fault; and if the first judgment result is that the rotor position is not detected within a period of time, determining that the rotor position detection is overtime.
Because of the lag of the rotor position information caused by the low-pass filter on the terminal voltage hardware acquisition channel and the open-loop starting of I/F (current/frequency ratio), the phase change processing after the rotor position closed loop adopts the phase change processing with 60 degrees of lead, and then the phase compensation is carried out according to the rotating speed of the motor.
Therefore, the determining the rotor position detection passes, and then further comprises: acquiring a time constant of the back electromotive force detection circuit; determining a current lag angle according to the frequency after the frequency rise and the time constant; converting the current lag angle to a delay time; and compensating the rotor position according to the delay time, and determining the compensated rotor position.
The compensating the rotor position according to the delay time, and determining the compensated rotor position, and then further comprising: and switching the open-loop control mode to a rotor position closed-loop control mode according to the compensated rotor position.
Fig. 2 is a block diagram of a control scheme provided by the present invention, as shown in fig. 2:
(1) setting the starting current IstartThe pre-positioning time is controlled through current closed-loop control;
(2) setting a rotor position detection frequency threshold value and acceleration time, performing I/F (current/frequency ratio) up-conversion control through an electric current regulator (ACR), performing open-loop I/F current closed-loop up-conversion control in an SVPWM (space vector pulse width modulation) mode, outputting an electric current regulator (ACR) as input of an SVPWM module, and setting an angle value theta through an open loopopenGiven by the angle generator;
(3) when the set frequency reaches a rotor position detection frequency threshold set by a user, keeping the current operation frequency unchanged at the moment to detect and judge the position of the rotor, if the continuous detection exceeds 20 correct rotor position values, judging that the detection of the position of the rotor passes, if the continuous detection exceeds 10 wrong rotor positions, judging that the detection of the position of the rotor fails, and if the detection cannot pass all the time within a certain time, judging that the detection of the position of the rotor is overtime; if the rotor position is detected correctly, the rotor position closed-loop flag is set, the modulation mode switching flag is set, and the system is switched from the open-loop control mode to the rotor position closed-loop control mode, fig. 3 is a diagram of the starting and switching process of the whole control system provided by the invention, and is shown in fig. 3. Initializing a speed loop regulator (ASR) when the control mode is switched;
(4) counter electromotive force zero-crossing detection module: before the open-loop control mode is switched to the rotor position closed-loop control mode in the step (3), the motor terminal voltage acquired by the back electromotive force detection circuit is subjected to voltage division by a voltage division resistor and then subjected to zero point comparison by a comparator to obtain a square wave signal with three phases mutually different by 120 degrees.
(5) Sector and compensation calculation module: because the counter electromotive force detection circuit adopts a low-pass filter circuit, the rotor position estimation is delayed, a current set value in an I/F starting mode is not matched with an actual load, reactive components are contained in the rotor position estimation, the rotor position estimation is delayed due to the components, the acquired rotor position is delayed due to the filter circuit, the delay phase is more serious along with the increase of frequency, software compensation is not easy, the phase is changed by 60 degrees in advance (namely, one sector is advanced) in the traditional two-conduction phase change mode, the software implementation is easier, and the reliability and the stability of the estimation of the rotor position and the control mode switching are improved. Taking the control of the DC brushless motor with positions as an example, when the Hall signal state combination (HALLA, HALLB, HALLLC) changes to 5- >4- >6- >2- >3- >1 in sequence, the output voltage is UBA- > UCA- > UCB- > UAB- > UAC- > UBC, and in the scheme, the phase change is advanced by 60 degrees, namely when the Hall state changes to 5- >4- >6- >2- >3- >1 in sequence, the output voltage is UCA- > UCB- > UAB- > UAC- > UBC- > UBA. The current lag angle can be calculated through the time constant of the counter electromotive force detection filter circuit of the current operating frequency, then the lag angle is converted into delay time, then the delay time is made into a constant table and stored in a CPU, and then angle lag compensation is carried out according to a table look-up method.
The hall signal state combination mode is binary coding of hall signal levels, for example: if the hall signal of the a phase is at a high level, hall is equal to 1, and if the hall signal of the a phase is at a low level, hall is equal to 0, and if HALLA is equal to 1, HALLB is equal to 0, and HALLC is equal to 1, the corresponding binary code value of the hall state combination is 101, the corresponding decimal value is 5, and table 1 is the hall state combination and output correspondence table provided by the present invention.
TABLE 1
Hall state combination 5 4 6 2 3 1
Normal commutation output UBA UCA UCB UAB UAC UBC
Leading commutation output UCA UCB UAB UAC UBC UBA
Fig. 4 is a structural diagram of a rotor position determining system for a dc brushless motor according to the present invention, and as shown in fig. 4, a rotor position determining system for a dc brushless motor includes:
a rotor position detection frequency threshold obtaining module 401, configured to obtain a rotor position detection frequency threshold.
And the SVPWM module 402 is configured to, in the starting process, perform I/F up-conversion control on the current frequency by using the output of the current regulator and the open-loop angle value output by the angle generator as the input of the space vector pulse width modulation SVPWM module, and determine the frequency after up-conversion by using a space vector pulse width modulation SVPWM modulation mode.
And a back electromotive force detection module 403, configured to enter an open-loop control mode when the frequency after the frequency boost reaches the rotor position detection frequency threshold, continuously operate at the frequency after the frequency boost, and acquire a motor terminal voltage by using a back electromotive force detection circuit.
And the square wave signal determining module 404 is configured to determine a three-phase square wave signal with a phase difference of 120 ° according to the terminal voltage of the motor.
The square wave signal determining module 404 specifically includes: the voltage division unit is used for dividing the voltage of the motor terminal by using a voltage division resistor and determining the voltage of the divided motor terminal; and the square wave signal determining unit is used for performing zero point comparison on the voltage of the divided motor terminal by using the comparator and determining the three-phase square wave signals with the phase difference of 120 degrees.
And a rotor position determining module 405, configured to determine a rotor position of the dc brushless motor according to the square wave signal.
In practical application, the invention also comprises: the first judgment module is used for judging whether the rotor position is detected within a period of time interval to obtain a first judgment result; the rotor position detection passing determining module is used for judging whether more than 20 correct rotor positions are continuously detected or not if the first judgment result is that the rotor positions are detected within a period of time, and if so, determining that the rotor position detection is passed; the rotor position detection fault determining module is used for judging whether more than 10 wrong rotor positions are continuously detected or not, and if so, determining a rotor position detection fault; and the rotor position detection overtime determining module is used for determining that the rotor position detection is overtime if the first judgment result indicates that the rotor position is not detected within a period of time.
In practical application, the invention also comprises: the time constant acquisition module is used for acquiring the time constant of the back electromotive force detection circuit; a current lag angle determination module, configured to determine a current lag angle according to the frequency after the frequency boost and the time constant; the conversion module is used for converting the current lag angle into delay time; and the compensation module is used for compensating the rotor position according to the delay time and determining the compensated rotor position.
In practical application, the invention also comprises: and the mode switching module is used for switching the open-loop control mode to a rotor position closed-loop control mode according to the compensated rotor position.
Compared with the traditional three-section type square wave starting mode, the invention adopts sine wave PWM modulation and combines the control mode of current/frequency ratio, and compared with the traditional square wave voltage/frequency ratio starting mode, the invention has the advantages of small vibration at the starting stage and low noise because the current flowing in the motor is adjustable sine wave current.
Compared with the traditional V/F starting mode, the current is uncontrollable due to the voltage/frequency starting mode adopted by the traditional V/F starting mode, the current is controllable due to the I/F starting mode adopted by the invention, and therefore, the safety and the reliability of the rotor position of the direct current brushless motor determined by the rotor position determining method and the system are higher.
When the method is switched to the closed-loop control, the phase lag caused by factors such as back electromotive force, motor parameters, current and the like can be made up by adopting the advanced 60-degree phase change and phase compensation technology, and the reliability of the open-loop and closed-loop switching of the rotor position is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A rotor position determination method for a dc brushless motor, comprising:
acquiring a rotor position detection frequency threshold;
in the starting process, the output of the current regulator and the open-loop angle value output by the angle generator are used as the input of the Space Vector Pulse Width Modulation (SVPWM) module, the Space Vector Pulse Width Modulation (SVPWM) modulation mode is used for carrying out I/F frequency boosting control on the current frequency, and the frequency after frequency boosting is determined;
when the frequency after the frequency rise reaches the rotor position detection frequency threshold, entering an open-loop control mode, continuously operating at the frequency after the frequency rise, and acquiring the voltage of the motor terminal by using a back electromotive force detection circuit;
determining a square wave signal with three phases mutually different by 120 degrees according to the terminal voltage of the motor;
determining the rotor position of the direct current brushless motor according to the square wave signal; determining that the rotor position detection passes, and then: acquiring a time constant of the back electromotive force detection circuit; determining a current lag angle according to the frequency after the frequency rise and the time constant; converting the current lag angle to a delay time; and compensating the rotor position according to the delay time, and determining the compensated rotor position.
2. The method according to claim 1, wherein the determining a square wave signal with 120 ° phase difference between three phases according to the terminal voltage of the motor specifically comprises:
dividing the voltage of the motor terminal by using a voltage dividing resistor, and determining the voltage of the divided motor terminal;
and performing zero point comparison on the voltage of the divided motor terminal by using a comparator to determine a square wave signal with three phases mutually different by 120 degrees.
3. The method of determining a rotor position of a dc brushless motor according to claim 1, wherein determining a rotor position of the dc brushless motor based on the square wave signal further comprises:
judging whether the rotor position is detected within a period of time interval to obtain a first judgment result;
if the first judgment result is that the rotor positions are detected within a period of time, judging whether more than 20 correct rotor positions are continuously detected, and if so, determining that the rotor position detection is passed;
judging whether more than 10 wrong rotor positions are continuously detected or not, and if so, determining a rotor position detection fault;
and if the first judgment result is that the rotor position is not detected within a period of time, determining that the rotor position detection is overtime.
4. The method of determining a rotor position for a brushless dc motor according to claim 1, wherein the compensating the rotor position according to the delay time, determining a compensated rotor position, and then further comprising:
and switching the open-loop control mode to a rotor position closed-loop control mode according to the compensated rotor position.
5. A rotor position determination system for a dc brushless motor, comprising:
the rotor position detection frequency threshold acquisition module is used for acquiring a rotor position detection frequency threshold;
the SVPWM module is used for carrying out I/F frequency boosting control on the current frequency by using the output of the current regulator and the open-loop angle value output by the angle generator as the input of the space vector pulse width modulation SVPWM module in the starting process and determining the frequency after frequency boosting by using a space vector pulse width modulation SVPWM modulation mode;
the back electromotive force detection module is used for entering an open-loop control mode when the frequency after the frequency rise reaches the rotor position detection frequency threshold, continuously operating at the frequency after the frequency rise and collecting the voltage of the motor end by using a back electromotive force detection circuit;
the square wave signal determining module is used for determining a three-phase square wave signal with a phase difference of 120 degrees according to the terminal voltage of the motor;
the rotor position determining module is used for determining the rotor position of the direct-current brushless motor according to the square wave signal;
further comprising: the time constant acquisition module is used for acquiring the time constant of the back electromotive force detection circuit; a current lag angle determination module, configured to determine a current lag angle according to the frequency after the frequency boost and the time constant; the conversion module is used for converting the current lag angle into delay time; and the compensation module is used for compensating the rotor position according to the delay time and determining the compensated rotor position.
6. The rotor position determining system for a dc brushless motor according to claim 5, wherein the square wave signal determining module specifically comprises:
the voltage division unit is used for dividing the voltage of the motor terminal by using a voltage division resistor and determining the voltage of the divided motor terminal;
and the square wave signal determining unit is used for performing zero point comparison on the voltage of the divided motor terminal by using the comparator and determining the three-phase square wave signals with the phase difference of 120 degrees.
7. The rotor position determining system for a dc brushless motor according to claim 5, further comprising:
the first judgment module is used for judging whether the rotor position is detected within a period of time interval to obtain a first judgment result;
the rotor position detection passing determining module is used for judging whether more than 20 correct rotor positions are continuously detected or not if the first judgment result is that the rotor positions are detected within a period of time, and if so, determining that the rotor position detection is passed;
the rotor position detection fault determining module is used for judging whether more than 10 wrong rotor positions are continuously detected or not, and if so, determining a rotor position detection fault;
and the rotor position detection overtime determining module is used for determining that the rotor position detection is overtime if the first judgment result indicates that the rotor position is not detected within a period of time.
8. The rotor position determining system for a dc brushless motor according to claim 5, further comprising:
and the mode switching module is used for switching the open-loop control mode to a rotor position closed-loop control mode according to the compensated rotor position.
CN202010492243.7A 2020-06-03 2020-06-03 Rotor position determining method and system for direct-current brushless motor Active CN111555671B (en)

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