CN113224986B - DC brushless motor and control method of DC brushless motor - Google Patents
DC brushless motor and control method of DC brushless motor Download PDFInfo
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- CN113224986B CN113224986B CN202110535731.6A CN202110535731A CN113224986B CN 113224986 B CN113224986 B CN 113224986B CN 202110535731 A CN202110535731 A CN 202110535731A CN 113224986 B CN113224986 B CN 113224986B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- 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
- H02P6/15—Controlling commutation time
- H02P6/153—Controlling commutation time wherein the commutation is advanced from position signals phase in function of the speed
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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
- 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
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The application discloses a brushless direct current motor and a control method of the brushless direct current motor, which can overcome the problems encountered in the position detection of a motor rotor in the prior art. The control method of the direct current brushless motor comprises the following steps: acquiring a noise avoiding delay time which corresponds to a noise duration time during phase commutation; and waiting for the noise avoidance delay time length after the phase change, and detecting the zero crossing point of the direct current brushless motor after the noise avoidance delay time length so as to perform the phase change.
Description
Technical Field
The application relates to the field of motors, in particular to a direct current brushless motor and a control method of the direct current brushless motor.
Background
As shown in fig. 1, a general dc brushless motor is driven by a three-phase (U, V, W three-phase in fig. 1, respectively) inverter bridge. Depending on the rotor position, there are six commutation states in one electrical angle cycle in order to produce the maximum average torque. In any one time period, only two phases of the three phases are conducted, and the time interval of conduction of each phase is 120 degrees in electrical angle. For example, when the phases a, B have continued for 60 ° electrical angle, the phase C is not conductive. And the process from the B phase not conducting to the C phase starting conducting is called phase change.
The moment of commutation depends on the position of the rotor. The position detection of the rotor is generally classified into a sensible method and a non-sensible method. The inductive mode is generally that a photoelectric encoder or a Hall sensor is externally connected with the motor, and the mode has requirements on the structure of the motor and has high cost; the non-inductive mode is to estimate the position of the motor by measuring the phase voltage of the motor, and the mode has low cost and puts requirements on a detection algorithm for accurately estimating the position of the motor.
In the prior art, a method for detecting the zero crossing point of the back electromotive force is often adopted to detect the commutation moment. The detection method of the back electromotive force zero crossing point is as follows: and comparing the terminal voltage of the non-electrified phase with a half of the driving voltage of the winding of the brushless DC motor to obtain the zero crossing point of the counter electromotive force.
However, when the zero-crossing detection is performed in the prior art, zero-crossing misjudgment often occurs, which causes the system to misestimate the position of the motor, thereby causing the motor to lose control and to have a fault.
Disclosure of Invention
In view of this, the present application provides a dc brushless motor and a control method of the dc brushless motor, which can overcome the problems encountered in the position detection of the motor rotor in the prior art.
The application provides a control method of a brushless direct current motor, which comprises the following steps: acquiring a noise avoiding delay time which corresponds to a noise duration time during phase commutation; waiting for the noise avoidance delay time after phase commutation; and detecting the zero crossing point of the direct current brushless motor after the noise avoidance delay time length so as to carry out phase commutation.
Optionally, when the noise avoidance delay duration is obtained, the method includes the following steps: acquiring the driving voltage, the motor inductance and the phase current of the direct current brushless motor; and acquiring the noise-avoiding delay time according to the driving voltage, the motor inductance and the phase current of the direct current brushless motor.
Optionally, the noise avoidance delay duration is obtained according to the following formula:
t noise ＝(2×Vin)/(L×i)；
wherein t is noise And for the noise avoidance delay time, vin is the driving voltage of the direct current brushless motor, L is the inductance of the direct current brushless motor, and i is the phase current.
Optionally, when detecting a zero crossing point of the dc brushless motor, the method includes the following steps: measuring the current waiting time from 0, and acquiring the voltage of a third phase when the current waiting time is equal to the period time, wherein the third phase is an unpowered phase in the direct current brushless motor; and judging whether the voltage of the third phase is one half of the maximum voltage of the phase voltage, if so, judging that the current time point is the zero crossing point of the direct current brushless motor.
Optionally, the method further comprises the following steps: acquiring an advance angle, wherein the advance angle is related to internal time delay when a control end of the direct current brushless motor samples and acquires a zero crossing point; and carrying out advanced control on the commutation according to the advanced angle.
Optionally, the advance angle is obtained according to the following formula:
α＝V×θ/Vmax；
wherein α is the lead angle and θ is the maximum lead angle; v is the actual running speed of the DC brushless motor; and Vmax is the highest running speed of the direct current brushless motor.
Optionally, when the maximum advance angle is obtained, the method includes the following steps: sampling a third phase of the DC brushless motor at a control end of the DC brushless motor, thereby obtaining a zero crossing point of the DC brushless motor in a first phase commutation process, wherein the zero crossing point is a first zero crossing point, and the third phase is a dead phase in the DC brushless motor; directly measuring a third phase of the DC brushless motor at the DC brushless motor end, and acquiring a zero crossing point of the DC brushless motor in a first phase commutation process as a second zero crossing point; and comparing the time difference between the first zero-crossing point and the second zero-crossing point, and acquiring the maximum advance angle according to the time difference.
Optionally, when performing the advance control, the method includes the following steps: acquiring leading commutation time according to the leading angle; acquiring a difference value between the cycle time and the advanced commutation time; and after the zero crossing point is detected, starting timing from 0, and changing the phase until the timing value is equal to the difference value.
Optionally, the leading commutation time is obtained according to the following formula:
t L ＝α/ω；
wherein t is L And alpha is the advance angle, and omega is the angular speed of the brushless direct current motor in actual operation.
Still provide a brushless direct current motor in this application, include: and the control module is used for controlling the working state of the brushless direct current motor and at least can provide the control method.
The direct current brushless motor and the control method thereof avoid the time period of noise generation during phase change by acquiring the noise avoiding delay time, can effectively prevent the noise from causing the misjudgment of the zero crossing point, keep the accuracy of zero crossing detection, and effectively prevent the phase change disorder caused by the misjudgment of the zero crossing point and the motor rotation disorder caused by the misjudgment of the zero crossing point. The invention also adds advanced angle control, and can better drive the motor to run stably.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a dc brushless motor.
Fig. 2 is a schematic diagram of potential-time of three-phase power of an ideal dc brushless motor.
Fig. 3 is a schematic diagram of potential-time of three-phase power of an actual dc brushless motor.
Fig. 4 is a flowchart illustrating steps of a method for controlling a brushless dc motor according to an embodiment of the present application.
Fig. 5 is a flowchart illustrating steps of a method for controlling a brushless dc motor according to an embodiment of the present application.
Fig. 6 is a flowchart illustrating a control method of a dc brushless motor according to an embodiment of the present application.
Detailed Description
The reason why the above problems occur in the prior art is found in that after each phase change, a rapid change of current at the phase change moment acts on a motor winding, and a follow current noise is generated in a phase voltage, and particularly when the motor is rapidly accelerated and decelerated or a load rapidly changes, the noise is more obvious, and the phase change noise may cause a zero-crossing misjudgment, so that a system may erroneously estimate the position of the motor, and the motor is out of control and fails. The phase current in the ideal state is shown in fig. 2, and the phase current with the freewheel noise is shown in fig. 3.
The dc brushless motor and the control method will be further described below with reference to the drawings and the embodiments.
Please refer to fig. 4, which is a flowchart illustrating a step of a method for controlling a dc brushless motor according to an embodiment of the present application.
In this embodiment, the method for controlling a brushless dc motor includes the steps of:
step S401: acquiring a noise avoiding delay time corresponding to a noise duration time during phase commutation;
step S402: waiting for the noise avoidance delay time after phase commutation;
step S403: and detecting the zero crossing point of the direct current brushless motor after the noise avoidance delay time length so as to carry out phase commutation.
By obtaining the noise avoidance delay time length and avoiding the time period of noise generation during phase change, the method can effectively prevent the noise from causing misjudgment of the zero crossing point, keep the accuracy of zero crossing detection, and effectively prevent the disordered phase change caused by the misjudgment of the zero crossing point and the disordered motor rotation caused by the disordered motor rotation.
Because the phase change is as follows: vin = L × di/dt, where Vin is a driving voltage of the dc brushless motor, L is an inductance of the dc brushless motor, and a current is a phase current, and when the phase current is regarded as a process of linearly decreasing to zero, the noise-avoiding delay time duration may be obtained according to the following formula:
t noise ＝(2×Vin)/(L×i)；
wherein t is noise And for the noise avoidance delay time, vin is the driving voltage of the direct current brushless motor, L is the inductance of the direct current brushless motor, and i is the phase current.
Therefore, when the noise avoidance delay duration is obtained, the method includes the following steps: acquiring the driving voltage, the motor inductance and the phase current of the direct current brushless motor; and acquiring the noise-avoiding delay time according to the driving voltage, the motor inductance and the phase current of the direct current brushless motor.
After each phase change, waiting for the noise avoidance delay time length, and starting a new round of commutation control, so that the influence of noise on the zero crossing point detection can be avoided.
When detecting the zero crossing point of the brushless DC motor, the method comprises the following steps: after waiting for the noise avoidance delay time duration, starting to measure the current waiting time duration from 0, and acquiring the voltage of a third phase when the current waiting time duration is equal to the period time duration, wherein the third phase is a non-energized phase in the DC brushless motor; and judging whether the voltage of the third phase is the midpoint voltage of the winding of the DC brushless motor, if so, judging that the current time point is the zero crossing point of the DC brushless motor.
In fact, when determining whether the current time point is the zero-crossing point of the dc brushless motor, the voltage of the third phase may be directly compared with one half of the maximum voltage of the phase voltage. One half of the maximum voltage of the phase voltages may be considered to be the midpoint voltage of the windings.
The cycle duration is related to the rotation speed of the dc brushless motor, and the larger the rotation speed of the dc brushless motor is, the smaller the cycle duration is. The period duration is in inverse proportion to the rotating speed of the direct current brushless motor, and the period duration can be obtained by measuring the rotating speed of the direct current brushless motor, so that the rotating speed of the direct current brushless motor needs to be measured in real time, and the current period duration is obtained.
The brushless dc motor needs to continuously control three-phase power to perform conduction transformation when operating, and after the brushless dc motor is initially started and after each subsequent phase transformation operation, the step S402 needs to be performed, and then the step S403 needs to be performed, so as to ensure that the brushless dc motor always has a noise-avoiding effect.
Referring to fig. 1, since the phase voltage of the dc brushless motor is divided by a resistor and then sent to the analog-to-digital input pin of the control chip at the control end through the filter circuit for sampling, there is a delay time tdelay between the zero crossing point acquired at the control end of the dc brushless motor and the zero crossing point directly acquired at the end of the dc brushless motor, and the delay time tdelay has a significant effect with the rising of the motor speed, which causes phase change disorder.
Therefore, in one embodiment, the commutation is also controlled in advance, eliminating the effect of the delay time tdelay on the zero crossings. After the advanced control is carried out, the internal time delay when the control end of the direct current brushless motor samples and obtains the zero crossing point can be overcome, so that the control command output by the control end of the direct current brushless motor can be matched with the zero crossing point obtained by the direct current brushless motor end, the influence of the time delay is avoided, the phase change disorder is caused, and the rotation disorder of the direct current brushless motor is caused.
Specifically, the control method further includes the steps of: the advance angle is related to internal time delay when a control end of the direct current brushless motor samples to obtain a zero crossing point, and the internal time delay is the time delay time tdelay; and carrying out advanced control on the commutation according to the advanced angle.
In this embodiment, the lead angle is obtained according to the following formula:
α＝V×θ/Vmax；
wherein α is the lead angle and θ is the maximum lead angle; v is the actual running speed of the DC brushless motor; vmax is the highest running speed of the brushless DC motor, and the ratio of V to Vmax is a modulation ratio K.
When the maximum advance angle is obtained, the method comprises the following steps: sampling a third phase of the DC brushless motor at a control end of the DC brushless motor, thereby obtaining a zero crossing point of the DC brushless motor in a first phase commutation process, wherein the zero crossing point is a first zero crossing point, and the third phase is a dead phase in the DC brushless motor; directly measuring a third phase of the direct-current brushless motor at the end of the direct-current brushless motor, and acquiring a zero crossing point of the direct-current brushless motor in a first phase commutation process, wherein the zero crossing point is a second zero crossing point; and comparing the time difference between the first zero-crossing point and the second zero-crossing point, and acquiring the maximum advance angle according to the time difference.
Sampling a third phase of the dc brushless motor at a control end of the dc brushless motor, and acquiring a phase voltage waveform of the third phase of the dc brushless motor through a sampling circuit built in a control chip at the control end of the dc brushless motor, so as to acquire a zero crossing point in a first commutation process, that is, a first zero crossing point. The zero crossing with the delay time tdelay is now obtained.
When the third phase of the dc brushless motor is directly measured at the dc brushless motor end, an oscilloscope may be used to directly measure and obtain the phase voltage waveform of the third phase, so as to obtain the zero crossing point in the first phase change process, i.e., the second zero crossing point. A zero crossing without a delay time tdelay is now obtained.
And the difference value between a first time point corresponding to the first zero-crossing point and a second time point corresponding to the second zero-crossing point is the time difference, the time difference corresponds to a certain angle difference, and the angle difference is the maximum advance angle.
When the advance angle is obtained, a first waveform sampled by the control chip and a second waveform sampled on the oscilloscope can be compared, and the advance angle can be directly obtained by comparing a delayed zero-crossing point on the first waveform with a real-time zero-crossing point on the second waveform.
When the advance control is carried out, the method comprises the following steps: acquiring leading commutation time according to the leading angle; acquiring a difference value between the period duration and the advanced commutation time; and after the zero crossing point is detected, starting timing from 0, and changing the phase until the timing value is equal to the difference value.
Obtaining the leading commutation time according to the following formula:
t L ＝α/ω；
wherein t is L And alpha is the advance angle, and omega is the angular speed of the brushless direct current motor in actual operation.
The embodiment further provides a dc brushless motor, including: and the control module is used for controlling the working state of the brushless direct current motor and at least can provide the control method.
The direct-current brushless motor comprises a control module, wherein the control module can acquire the noise avoidance delay time length and the time period of noise generation during phase change avoidance, can effectively prevent the noise from causing misjudgment of zero crossing points, keeps the accuracy of zero crossing detection, effectively prevents the phase change disorder caused by the misjudgment of the zero crossing points and causes the rotation disorder of the direct-current brushless motor.
Fig. 5 is a schematic flow chart illustrating steps of a method for controlling a brushless dc motor according to an embodiment.
In this embodiment, the control method includes performing noise control and advance control, and includes the following steps:
step S501: sampling phase voltage, and judging a zero crossing point after waiting for the noise-avoiding delay time;
step S502: calculating the advanced commutation time according to the current speed;
step S503: adjusting the speed of the direct current brushless motor by using a PID algorithm, and calculating a duty ratio;
step S504: the duty ratio of the pulse width modulation wave PWM is changed, and the commutation timing is started, and the process returns to step S501.
The PID algorithm is an abbreviation of proportionality, integral, differential, and is a control algorithm combining Proportional, integral, and Differential links, the essence of PID control is to operate according to the input deviation value and the functional relationship of Proportional, integral, and Differential, and the operation result is used to control the output.
When the brushless dc motor in the above embodiments is applied to an electric vehicle, an electric tool, and the like, because the application scenarios are characterized in that the speed change is fast (the process of rapid acceleration and rapid deceleration in a short time), and the load change is also fast, the requirement for stable output of the brushless dc motor is high, and the purpose of accurate commutation can be achieved only by using a scheme with a sensor, so that commutation error faults caused by commutation noise can be reduced, the working efficiency can be improved, and the purpose of saving power can be achieved.
Please refer to fig. 6, which is a flowchart illustrating steps of the control method according to an embodiment.
In this embodiment, the dc brushless motor is applied to the electric vehicle and the electric power tool. Under the condition of not using a sensor, the zero crossing point of the motor can be accurately found to change the phase with the optimal working time under the conditions of acceleration, deceleration and load change by filtering phase change noise and controlling the advance angle at different speeds, so that the motor can stably run and save electric energy.
In this embodiment, the control method includes the steps of:
step S601: determining a phase change mechanism of the direct-current brushless motor according to the rotation direction of the motor, and determining a conducted phase and a non-conducted phase in the three phases of U, V and W at each moment;
step S602: determining a sampling mechanism of an ADC (Analog-to-Digital Converter) according to the commutation mechanism, and determining a phase voltage which should be sampled by the ADC at each moment;
step S603: determining parameters such as a zero crossing point threshold value according to the driving voltage of the motor;
step S604: sampling phase voltage, and judging whether the phase voltage crosses zero after the noise avoidance delay time duration;
step S605: calculating and acquiring the leading commutation time according to the current speed of the direct current brushless motor;
step S606: adjusting the speed of the direct current brushless motor by using a PID algorithm, and calculating a duty ratio;
step D607: the duty ratio of the pulse width modulation wave PWM is changed and the commutation timing is started, and the process returns to step S604.
The above-mentioned embodiments are only examples of the present application, and not intended to limit the scope of the present application, and all equivalent structures or equivalent flow transformations made by the contents of the specification and the drawings, such as the combination of technical features between the embodiments and the direct or indirect application to other related technical fields, are also included in the scope of the present application.
Claims (8)
1. A control method of a brushless DC motor is characterized by comprising the following steps:
acquiring a noise avoiding delay time corresponding to a noise duration time during phase commutation;
waiting for the noise avoidance delay time after phase commutation;
detecting a zero crossing point of the direct current brushless motor after the noise avoidance delay time length so as to carry out phase commutation;
when the noise avoidance delay time length is obtained, the method comprises the following steps: acquiring the driving voltage, the motor inductance and the phase current of the direct current brushless motor; acquiring the noise-avoiding delay time according to the driving voltage, the motor inductance and the phase current of the direct current brushless motor;
acquiring the noise avoidance delay time length according to the following formula:
t noise = （2×Vin）/（L×i）；
wherein t is noise And for the noise avoidance delay time, vin is the driving voltage of the direct current brushless motor, L is the inductance of the direct current brushless motor, and i is the phase current.
2. The method according to claim 1, wherein the step of detecting the zero-crossing point of the brushless dc motor comprises:
measuring the current waiting time from 0, and acquiring the voltage of a third phase when the current waiting time is equal to the period time, wherein the third phase is a non-energized phase in the DC brushless motor;
and judging whether the voltage of the third phase is one half of the maximum voltage of the phase voltage of the direct current brushless motor, if so, judging that the current time point is the zero crossing point of the direct current brushless motor.
3. The method of controlling a brushless dc motor according to claim 1, further comprising the steps of:
acquiring an advance angle, wherein the advance angle is related to internal time delay when a control end of the direct current brushless motor samples and acquires a zero crossing point;
and carrying out advanced control on the commutation according to the advanced angle.
4. The method according to claim 3, wherein the lead angle is obtained according to the following equation:
α= V×θ/Vmax；
wherein α is the lead angle and θ is the maximum lead angle; v is the actual running speed of the DC brushless motor; vmax is the maximum operating speed of the dc brushless motor.
5. The method of claim 4, wherein the step of obtaining the maximum advance angle comprises:
sampling a third phase of the DC brushless motor at a control end of the DC brushless motor so as to obtain a zero crossing point of the DC brushless motor in a first phase commutation process, wherein the zero crossing point is a first zero crossing point, and the third phase is a dead phase in the DC brushless motor;
directly measuring a third phase of the DC brushless motor at the DC brushless motor end, and acquiring a zero crossing point of the DC brushless motor in a first phase commutation process as a second zero crossing point;
and comparing the time difference between the first zero crossing point and the second zero crossing point, and acquiring the maximum advance angle according to the time difference.
6. The method of claim 3, wherein the step of performing the advance control includes:
acquiring leading commutation time according to the leading angle;
acquiring a difference value between the period duration and the advanced commutation time;
and after the zero crossing point is detected, starting timing from 0, and changing the phase until the timing value is equal to the difference value.
7. The method according to claim 6, wherein the leading commutation time is obtained according to the following equation:
t L =α/ω；
wherein t is L And the leading commutation time is alpha is the leading angle, and omega is the angular speed of the direct current brushless motor in actual operation.
8. A dc brushless motor, comprising:
a control module for controlling the operating state of the dc brushless motor, at least capable of providing a control method according to any of claims 1 to 7.
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| CN108011535B (en) * | 2017-12-18 | 2019-01-08 | 中国矿业大学(北京) | A kind of three-phase rectifier electric current phase shift Zero-crossing Distortion modification method |
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