CN114046808B - Motor Hall phase sequence self-learning method and device and electronic equipment - Google Patents
Motor Hall phase sequence self-learning method and device and electronic equipment Download PDFInfo
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- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/147—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other
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Abstract
The application provides a motor Hall phase sequence self-learning method and device and electronic equipment. The method for self-learning the Hall phase sequence of the motor comprises the steps of obtaining a preset array and a first empty array of a Hall phase sequence table of the motor, wherein the preset array comprises N preset Hall values; at least two phases corresponding to a first preset conduction mode in the motor are conducted according to the first preset conduction mode in the conduction modes in the preset sequence, so that a first measurement Hall value is obtained when the motor rotates by a preset angle; when a first measurement Hall value exists in the N preset Hall values, the first measurement Hall value is recorded in the corresponding position of the first empty array according to the corresponding sequence of the first preset conduction mode in the conduction modes of the preset sequence. The application can simplify the confirmation mode of the Hall phase sequence of the motor, and can effectively prevent the debugging difficulty caused by the connection error of the Hall signal wire without manual debugging.
Description
Technical Field
The application relates to the technical field of motors, in particular to a motor Hall phase sequence self-learning method and device and electronic equipment.
Background
Motors such as brushless dc motors or permanent magnet synchronous motors are widely used as traction power supply devices in the fields of electric bicycles, home appliances, textile machinery, robots, and the like. When the motor normally operates, the conduction sequence of the motor phase line and the Hall phase sequence installed by the motor form a one-to-one correspondence. The motor will not start or operate properly if the hall phase sequence is wrong.
In general, under the condition that the phase sequence of the motor Hall is unknown, manual debugging is needed, and the manual debugging requires a certain expertise of a debugger, which clearly increases the debugging difficulty. Therefore, it is important to design a simple and convenient method for self-learning the phase sequence of the motor Hall.
Disclosure of Invention
In view of the above, the application provides a method and a device for self-learning of a motor Hall phase sequence, and an electronic device thereof, so that a confirmation mode of the motor Hall phase sequence can be simplified, and debugging difficulty caused by wrong connection of a Hall signal wire can be effectively prevented without manual debugging.
The first aspect of the application provides a method for self-learning of a Hall phase sequence of a motor. The method for self-learning the Hall phase sequence of the motor comprises the steps of obtaining a preset array and a first empty array of a Hall phase sequence table of the motor, wherein the preset array comprises N preset Hall values; at least two phases corresponding to a first preset conduction mode in the motor are conducted according to the first preset conduction mode in the conduction modes in the preset sequence, so that a first measurement Hall value is obtained when the motor rotates by a preset angle; when a first measurement Hall value exists in the N preset Hall values, the first measurement Hall value is recorded in the corresponding position of the first empty array according to the corresponding sequence of the first preset conduction mode in the conduction modes of the preset sequence.
In an embodiment of the present application, the method for self-learning of the hall phase sequence of the motor further includes sequentially conducting at least two phases of the motor corresponding to other preset conduction modes according to other preset conduction modes of the preset sequence, so as to obtain N-1 first measurement hall values when the motor rotates for a first electrical period, where the N first measurement hall values include a first measurement hall value and N-1 first measurement hall values; when N-1 first measurement Hall values exist in N preset Hall values and are different, recording the N-1 first measurement Hall values in corresponding positions of the first empty arrays according to the corresponding sequences of other preset conduction modes in the conduction modes of the preset sequences, so as to obtain recorded first empty arrays; and determining the recorded first empty array as a target array.
In an embodiment of the present application, after recording N-1 first measured hall values in corresponding positions of the first empty arrays according to the sequences corresponding to the conduction modes of other preset conduction modes in the preset sequences to obtain the recorded first empty arrays, the method for self-learning the hall phase sequence of the motor further includes obtaining a second empty array of the hall phase sequence table of the motor; at least two phases corresponding to each of the preset sequence of conduction modes in the motor are conducted again according to the preset sequence of conduction modes, so that the motor rotates for a second electrical period and N second measurement Hall values are obtained; when N second measurement Hall values exist in the N preset Hall values and are different, recording the N second measurement Hall values in the corresponding positions of the second empty arrays according to the corresponding sequence of each conduction mode in the conduction mode of the preset sequence, so as to obtain the recorded second empty arrays; the determining the recorded first empty array as the target array includes: and when the recorded first empty array is identical to the recorded second empty array, determining the recorded first empty array or the recorded second empty array as a target array.
In an embodiment of the present application, after the first recorded empty array is determined as the target array, the method for self-learning of the hall phase sequence of the motor further includes establishing a mapping relationship between the target array and a preset array according to a position sequence; when the motor operates, a preset Hall value corresponding to the actual Hall value in a preset array is determined according to the mapping relation, and at least two phases in the motor are conducted according to a conduction mode corresponding to the preset Hall value, wherein the actual Hall value is any Hall value in a target array.
In an embodiment of the present application, the method for self-learning the hall phase sequence of the motor further includes: stopping sequentially conducting at least two phases in the motor according to a preset sequence of conducting modes when a first measuring Hall value does not exist in the N preset Hall values or is the same as any one of the N-1 first measuring Hall values; and determining that a plurality of Hall sensors in the motor have faults, wherein the plurality of Hall sensors are used for acquiring Hall signals of the motor to obtain N first measurement Hall values.
In an embodiment of the present application, when there is no first measured hall value or the first measured hall value is the same as any one of the N-1 first measured hall values in the N preset hall values, stopping sequentially conducting at least two phases in the motor according to a conduction mode of a preset sequence, including: and stopping sequentially conducting at least two phases in the motor according to a preset sequence of conducting modes when the first measured Hall value is equal to the zero Hall value.
In an embodiment of the present application, before determining that the plurality of hall sensors in the motor have faults, the method for self-learning the hall phase sequence of the motor further includes: when the first measured Hall value is equal to the zero Hall value, the duty ratio is increased by using a modulation mode so as to increase the applied voltage of the motor; re-acquiring the adjusted first measured hall value; wherein, the stopping and continuing to sequentially turn on at least two phases in the motor according to the preset sequential conduction mode includes: and stopping continuously conducting at least two phases in the motor in turn according to a conduction mode of a preset sequence when the duty ratio is increased and exceeds a first threshold value and the adjusted first measured Hall value is still equal to the zero Hall value.
In an embodiment of the present application, at least two phases include any combination of a U phase, a V phase and a W phase, and the conduction mode in the preset sequence is a mode of two-two conduction, three-three conduction or two-three conduction in the preset sequence.
In an embodiment of the present application, when the conduction mode in the preset sequence is a two-by-two conduction mode in the preset sequence, the conduction mode in the preset sequence includes u+w-, u+v-, w+v-, w+u-, v+u-, and v+w-.
The second aspect of the application provides a device for self-learning of the phase sequence of the Hall of the motor. The device for self-learning of the Hall phase sequence of the motor comprises an acquisition module, a conduction module and a recording module. The acquisition module is used for acquiring a preset array and a first empty array of a Hall phase sequence table of the motor, wherein the preset array comprises N preset Hall values. The conduction module is used for conducting at least two phases corresponding to a first preset conduction mode in the motor according to the first preset conduction mode in the conduction modes in a preset sequence, so that a first measurement Hall value is obtained when the motor rotates by a preset angle. The recording module is used for recording the first measured Hall value in the corresponding position of the first empty array according to the sequence corresponding to the first preset conduction mode in the conduction mode of the preset sequence when the first measured Hall value exists in the N preset Hall values.
A third aspect of the application provides an electronic device comprising a memory having stored thereon computer executable instructions and a processor which when executing the executable instructions implements any of the methods of motor hall phase sequence self-learning as provided in the first aspect of the application.
A fourth aspect of the application provides a computer readable storage medium having stored thereon computer executable instructions which when executed by a processor implement a method of hall phase sequence self-learning for any one of the motors as provided in the first aspect of the application.
According to the technical scheme provided by the embodiment of the application, the preset array and the first empty array of the Hall phase sequence table of the motor are preset, in the process of self-learning of the Hall phase sequence of the motor, the measured Hall values such as the first measured Hall value are compared with N preset Hall values, when the measured Hall values exist in the N preset Hall values, the measured Hall values are recorded in the corresponding positions of the first empty array according to the sequence of the first preset conduction mode in the conduction mode of the preset sequence, so that the Hall phase sequence of the motor is determined according to the sequence of the measured Hall values recorded in the first empty array, and the accuracy of the Hall phase sequence of the motor is ensured.
Drawings
Fig. 1A is a schematic flow chart of a method for self-learning of a hall phase sequence of a motor according to an embodiment of the application.
Fig. 1B shows a magnetic potential vector diagram of an armature winding based on two-by-two conduction.
Fig. 1C shows a magnetic potential vector diagram of an armature winding based on tri-conduction.
Fig. 2 is a flow chart of a method for self-learning of hall phase sequence of a motor according to another embodiment of the application.
Fig. 3 is a flow chart of a method for self-learning of a hall phase sequence of a motor according to another embodiment of the application.
Fig. 4 is a flow chart of a method for self-learning of hall phase sequence of a motor according to still another embodiment of the present application.
Fig. 5 is a schematic structural diagram of a device for self-learning phase sequence of a motor according to an embodiment of the application.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The motor mentioned in the present application may be a motor with trapezoidal back electromotive force, such as a brushless direct current (BrushLess Direct Current, BLDC) motor, or a motor with sinusoidal back electromotive force, such as a permanent magnet synchronous motor, or other types of motors, as long as the method for hall phase sequence self-learning of the motor provided in the embodiment of the present application can be executed on the motor. Hereinafter, a BLDC motor is taken as an example.
In general, there are 3 hall signal lines in the motor, there are 3 motor phase lines, there are 6 combinations of hall signal line outputs, and hall phase sequences are more possible. The 3 hall signal lines can comprise a U-phase hall signal line, a V-phase hall signal line and a W-phase hall signal line. The signal output by the U-phase Hall signal wire is a U-phase Hall signal, the signal output by the V-phase Hall signal wire is a V-phase Hall signal, and the signal output by the W-phase Hall signal wire is a W-phase Hall signal. However, the motor will not start or operate properly if the hall phase sequence is wrong.
At present, for self-learning of a Hall phase sequence of a BLDC motor, one mode is to set a conducting phase sequence of the BLDC motor, control is carried out in a current closed loop mode according to the set conducting phase sequence, three motor paths of Hall information corresponding to each energizing phase sequence of the motor is recorded in the rotation process of the BLDC motor, and the Hall phase sequence is calculated according to the running principle of the two-to-two conducting mode of the BLDC motor. However, this method of using a current loop requires a high operation frequency, and an excessively high operation frequency increases the hardware load, which affects the execution of other tasks.
Setting a U-phase (also called as A-phase) current set value of the BLDC motor, performing proportional-integral-derivative (Proportion Integration Differential, PID) adjustment on the obtained difference value to control the conduction time of a corresponding switching tube in the three-phase bridge inverter so as to enable the U-phase current set value to follow the set value, wherein a signal line of a Hall position sensor outputting a low level is a U-phase Hall signal line, setting a V-phase (also called as B-phase) current set value in the same way so as to enable the V-phase current set value to follow the set value, and enabling the rest 2 signal lines to output a low level signal to be the V-phase Hall signal line; the remaining 1 signal line is a W-phase (also referred to as a C-phase) hall signal line. However, this fixed given current mode may cause a situation that the motor does not rotate, and when the motor does not rotate, the hall phase sequence of the motor cannot be detected, and meanwhile, whether the hall sensor is damaged cannot be identified.
In order to solve the problems, the embodiment of the application provides a method for self-learning of a Hall phase sequence of a motor, a device and electronic equipment thereof.
Fig. 1A is a schematic flow chart of a method for self-learning of a hall phase sequence of a motor according to an embodiment of the application. Fig. 1B shows a magnetic potential vector diagram of an armature winding based on two-by-two conduction. Fig. 1C shows a magnetic potential vector diagram of an armature winding based on tri-conduction. The execution main body of the motor Hall phase sequence self-learning method can be a processor, a controller, a server or a singlechip and the like, and the execution main body can be positioned on the motor or can be external equipment which is detachably and electrically connected with the motor. The controller is exemplified below. As shown in fig. 1A, the method for self-learning the hall phase sequence of the motor comprises the following steps.
S110: and acquiring a preset array and a first null array of a Hall phase sequence table of the motor, wherein the preset array comprises N preset Hall values.
In step S110, the preset array may be pre-stored in a local or cloud memory, the controller obtains the preset array from the memory, the first empty array may be pre-established and stored in the memory before executing the hall phase sequence self-learning method of the motor, and the controller obtains the first empty array from the memory. The preset array and the first null array may be acquired simultaneously or separately.
The N preset Hall values can be standard Hall values fed back by a plurality of Hall signal lines in the motor when the motor rotates by one preset angle, so that the N standard Hall values are obtained. The order of the N preset hall values in the preset array may be the same as or different from the order of the N preset angles. The total time of rotating N preset angles is one electrical cycle, i.e. the time of one revolution (360 °) of a pair of poles. The preset angle may be represented by α, where α may be an electrical angle between two magnetic states sequentially appearing on the stator of the motor, that is, an electrical angle through which the rotor magnetic field rotates under the action of a certain armature magnetic field, and the preset angle α may also be referred to as a magnetic state angle or a state angle.
Each of the N preset hall values may be represented in a binary code manner or in a decimal manner. For example, if the U-phase hall signal is 1, the V-phase hall signal is 0, and the W-phase hall signal is 1, the hall combination obtains a binary code 101, and the preset hall value may be 101, or the preset hall value may be further converted into a decimal code 5, that is, the preset hall value is 5.
For example, there are 2 kinds of mounting modes of 120 ° and 60 ° for three hall sensors in the BLDC motor, and both of these 2 kinds of methods can output 6 different hall values, corresponding to 6 different areas (magnetic states) respectively. When three hall sensors in the motor are installed in a 120 ° apart installation, the N preset hall values may be 001, 011, 010, 110, 100, and 101. When three hall sensors in the motor are mounted with a 60 ° difference in mounting (opposite the middle one of the three hall sensors is mounted with respect to a 120 ° difference in mounting), the N preset hall values may be 100, 011, 110, 111, 001, and 000.
S120: at least two phases corresponding to the first preset conduction mode in the motor are conducted according to the first preset conduction mode in the conduction modes in the preset sequence, so that a first measurement Hall value is obtained when the motor rotates by a preset angle.
The conduction mode of the preset sequence may be a mode of electrifying two or three phases of the three phases by adopting a plurality of preset conduction modes with the preset sequence. The first preset conduction mode may be any preset conduction mode of preset sequence conduction modes.
In an embodiment of the present application, at least two phases include any combination of a U phase, a V phase and a W phase, and the conduction mode in the preset sequence is a mode of two-two conduction, three-three conduction or two-three conduction in the preset sequence.
Referring to fig. 1B, the two-to-two conduction may be generated by simultaneously energizing two corresponding armature windings in each magnetic state of the three-phase armature winding, or may be conducted by two power tubes at each moment, and the two corresponding armature windings have current, and the armature winding corresponding to the third phase is suspended and loses power.
Referring to fig. 1C, tri-conduction may be such that all armature windings are energized in all magnetic states, except that the respective corresponding armature winding energization sequences and the directions in which the currents flow. One electrical cycle consists of six magnetic states.
For example, when the predetermined sequence of conduction is three conduction in the predetermined sequence, the predetermined sequence of conduction may be U// WV, W// UV, V// UW, U// VW, W// VU, V// WU, and U// WV in order. Wherein "U// WV" means: after the W-phase winding is connected with the V-phase winding in series, the W-phase winding is connected with the V-phase winding in parallel, and the rest are the same.
The two-three conduction is to combine the two-three conduction and the three-three conduction, the phase change phase of the two-three conduction is different by 30 degrees, the combination becomes 12-step reversing, twelve sectors are formed, and the conduction angle is 150 degrees.
Wherein, when two are conducted and three are conducted, the preset angle alpha takes the value of 60 degrees, and when two are conducted and three are conducted, the preset angle alpha takes the value of 30 degrees.
In the embodiment of the application, by setting any combination of at least two phases including the U phase, the V phase and the W phase, the conduction mode of the preset sequence is a mode of adopting two conduction, three conduction or two three conduction of the preset sequence, so that the method for self-learning the Hall phase sequence of the motor in the embodiment of the application can be suitable for motors adopting different conduction modes, and the universality of the method is improved.
In an embodiment of the present application, when the conduction mode in the preset sequence is a two-by-two conduction mode in the preset sequence, the conduction mode in the preset sequence includes u+w-, u+v-, w+v-, w+u-, v+u-, and v+w-.
Referring to FIG. 1B, U+W-, U+V-, W+V-, W+U-, V+U-, V+W-, may also be denoted UW, UV, WV, WU, VU, VW, respectively.
In the embodiment of the application, when the conduction mode of the preset sequence is a two-to-two conduction mode of the preset sequence, the conduction modes of the preset sequence comprise U+W-, U+V-, W+V-, W+U-, V+U-and V+W-, so that after the motor sequentially executes all preset conduction modes in the conduction modes of the preset sequence, the motor rotates to correspond to one electric period, and the correct Hall phase sequence of the motor can be judged according to the Hall value measured in the electric period.
S130: when a first measurement Hall value exists in the N preset Hall values, the first measurement Hall value is recorded in the corresponding position of the first empty array according to the corresponding sequence of the first preset conduction mode in the conduction modes of the preset sequence.
For example, when the corresponding sequence of the first preset conduction mode in the conduction modes with the preset sequence is the second bit, the first measurement hall value is recorded in the second bit in the first empty array.
For example, in the steps S110 and S120, the preset sequence of conduction modes is a preset sequence of two conduction modes, the N preset hall values may be 001, 011, 010, 110, 100 and 101, the preset sequence of conduction modes may be sequentially u+w-, u+v-, w+v-, w+u-, v+u-and v+w-, and the first preset conduction mode is w+v-, and when the obtained first measured hall value is 010, in the step S130, it may be determined whether 010 exists in the N preset hall values, and since 010 exists in the N preset hall values, the sequence of w+v-in the preset sequence of conduction modes is the third bit, thereby recording 010 in the third bit in the first empty array.
According to the technical scheme provided by the embodiment of the application, the preset array and the first empty array of the Hall phase sequence table of the motor are preset, in the process of self-learning of the Hall phase sequence of the motor, the measured Hall values such as the first measured Hall value are compared with N preset Hall values, when the measured Hall values exist in the N preset Hall values, the measured Hall values are recorded in the corresponding positions of the first empty array according to the sequence of the first preset conduction mode in the conduction mode of the preset sequence, so that the Hall phase sequence of the motor is determined according to the sequence of the measured Hall values recorded in the first empty array, and the accuracy of the Hall phase sequence of the motor is ensured. The method for self-learning the motor Hall phase sequence adopted in the embodiment of the application can realize the self-learning of the motor Hall phase sequence by sequentially conducting at least two phases corresponding to the preset conduction mode in the motor according to the conduction mode according to the preset sequence and comparing the measured Hall value with the preset Hall value without adopting a complex operation mode or a higher operation frequency, thus being simpler and more convenient compared with the traditional fixed given current mode and the mode of using a current closed loop and improving the processing speed of the self-learning of the motor Hall phase sequence. In addition, manual debugging is not needed in the embodiment of the application, so that the debugging difficulty caused by the connection error of the Hall signal wire can be effectively prevented.
Fig. 2 is a flow chart of a method for self-learning of hall phase sequence of a motor according to another embodiment of the application. The embodiment shown in fig. 2 is a modification of the embodiment shown in fig. 1A. As shown in fig. 2, the method for self-learning the hall phase sequence of the motor further includes steps S210 to S230, which are different from the embodiment shown in fig. 1A.
S210: at least two phases corresponding to other preset conduction modes in the motor are conducted sequentially according to other preset conduction modes in the preset sequence, so that N-1 first measurement Hall values are obtained when the motor rotates for a first electric period, and the N first measurement Hall values comprise a first measurement Hall value and N-1 first measurement Hall values.
The other preset conduction modes are the rest conduction modes except the first preset conduction mode in the conduction modes of the preset sequence.
S220: when N-1 first measurement Hall values exist in N preset Hall values and the N first measurement Hall values are different, recording the N-1 first measurement Hall values in the corresponding positions of the first empty arrays according to the corresponding sequences of other preset conduction modes in the conduction modes of the preset sequence, so as to obtain the recorded first empty arrays.
Step S220 may sequentially or simultaneously determine whether N-1 first measured hall values exist in the N preset hall values, determine whether the N first measured hall values are the same, and record the N-1 first measured hall values in the corresponding positions of the first empty arrays according to the order of the conduction modes of the preset sequences in other preset conduction modes when the N-1 first measured hall values exist in the N preset hall values and the N first measured hall values are different, so as to obtain the target array.
For example, the N preset hall values may be 001, 011, 010, 110, 100, and 101, the preset sequence of conduction modes may be u+w-, u+v-, w+u-, v+u-, v+w-, and when the first preset conduction mode is u+v-, the first measured hall value is 011, the other preset conduction modes may be w+v-, w+u-, v+u-, U-, v+w-, and u+w-, and the N-1 first measured hall values may include 010, 110, 100, 101, and 001. When the measured hall value obtained by measurement is 101 in the preset conduction mode v+w-, it can be determined whether 101 exists in the N preset hall values, and whether 101 is the same as the measured hall value measured before, and since 101 exists in the N preset hall values and 101 is different from the measured hall value measured before, and since v+w-is located at the sixth bit in the preset conduction mode, 101 is recorded at the sixth bit in the first empty array. The other recording manners of the measured hall values in the first empty array are similar, and are not repeated here. The final target arrays obtained are 011, 010, 110, 100, 101 and 001 in sequence, and the target arrays can reflect the correct sequence of the hall phase sequence.
S230: and determining the recorded first empty array as a target array.
It should be understood that in the above steps S110 to S230, the phase-by-phase rotation of at least one electrical cycle is completed through the motor forced dragging process of the self-learning phase, so that the target array can be determined.
According to the technical scheme provided by the embodiment of the application, at least two phases corresponding to other preset conduction modes in the motor are conducted in sequence according to the other preset conduction modes in the preset sequence, so that the motor rotates for a first electric period, and N-1 first measurement Hall values are obtained. In addition, when N-1 first measurement Hall values exist in N preset Hall values and are different, the N-1 first measurement Hall values are recorded in the corresponding positions of the first empty arrays according to the corresponding sequences of other preset conduction modes in the preset sequence conduction modes, so that the target array can be obtained. The measured Hall values in the target array are recorded in the corresponding positions of the first empty array according to the corresponding sequence of the preset conduction mode adopted by the measured Hall values in the conduction mode of the preset sequence, so that the sequence of the measured Hall values in the target array can correctly reflect the sequence of the Hall phase sequence, and the self-learning of the Hall phase sequence of the motor can be realized.
In an embodiment of the present application, after step S230, the method of hall phase sequence self-learning of the motor further includes steps S240 and S250.
S240: and establishing a mapping relation between the target array and a preset array according to the position sequence.
Specifically, a mapping relationship can be established between each measured hall value in the target array and each preset hall value in the preset array according to the position sequence of each measured hall value in the target array and the position sequence of each preset hall value in the preset array, so that the hall values in the same position between the target array and the preset array correspond.
It should be appreciated that the preset array may also be referred to as a truth table, indicating a timing schedule for the normal wiring operation of the motor. The target array may also be referred to as a mapping table or a learning table, which represents the corresponding driving table when the wiring is in a non-standard wiring order. The truth table information may include a preset array and a conduction mode corresponding to the preset array.
For example, as shown in the following table 1, assuming that N preset hall values in the preset array are sequentially 100, 101, 001, 011, 010 and 110, the preset array is turned on in the corresponding conduction mode of v+u-, v+w-, u+w-, u+v-, w+v-, and w+u-. And then, assuming that the conduction modes of the preset sequence are U+W-, U+V-, W+V-, W+U-, V+U-and V+W-, the self-learned target arrays are 001, 011, 010, 110, 100 and 101 in sequence, wherein NC represents that the corresponding phase line is not conducted.
Table 1 mapping relationship table of target array and preset array
It should be understood that when the wiring modes of different motors are different, different conduction modes of preset sequences can be set, and the target arrays obtained after self-learning are different, but there is only one preset array of each motor. The preset array, target array, and their corresponding conduction patterns in table 1 are merely exemplary.
S250: when the motor operates, a preset Hall value corresponding to the actual Hall value in a preset array is determined according to the mapping relation, and at least two phases in the motor are conducted according to a conduction mode corresponding to the preset Hall value, wherein the actual Hall value is any Hall value in a target array.
For example, when the motor is running, assuming that the actual hall value is 001, firstly, the measured hall value 001 is found in the target array, and since the position of the measured hall value 001 is the position 1, the preset hall value at the position 1 in the preset array is indirectly obtained as 100 according to the mapping relationship, so that the conduction mode corresponding to the preset hall value 100 is v+u-, and the V phase and the U phase are conducted according to v+u-.
In the embodiment of the application, the mapping relation between the target array and the preset array is established according to the position sequence, when the motor operates, the corresponding preset Hall value of the actual Hall value in the preset array is determined according to the mapping relation, and at least two phases in the motor are conducted according to the conduction mode corresponding to the preset Hall value, so that the motor is driven to operate through the unique preset array.
In an embodiment of the present application, after step S120, the method for self-learning the hall phase sequence of the motor further includes steps S260 and S270.
S260: and stopping continuously conducting at least two phases in the motor in turn according to a conduction mode of a preset sequence when the first measured Hall value does not exist in the N preset Hall values or is the same as any one of the N-1 first measured Hall values.
In some embodiments, when executing step S260, it may be first determined whether a first measured hall value exists in the N preset hall values, and if the first measured hall value does not exist in the N preset hall values, it may stop sequentially conducting at least two phases in the motor according to a conduction manner of a preset sequence. In other embodiments, when executing step S260, it may be determined whether the first measured hall value is the same as any one of the N-1 first measured hall values, and if the first measured hall value is the same as any one of the N-1 first measured hall values, it may stop continuing to sequentially turn on at least two phases of the motor according to the preset sequential turn-on mode. When the first measured hall value is the preset conduction mode executed first in the conduction modes in the preset sequence, it is also possible to not judge whether the first measured hall value is the same as any one of the N-1 first measured hall values.
S270: and determining that a plurality of Hall sensors in the motor have faults, wherein the plurality of Hall sensors are used for acquiring Hall signals of the motor to obtain N first measurement Hall values.
When there is no first measured hall value in the N preset hall values, or when the first measured hall value is the same as any one of the N-1 first measured hall values, it may be indicated that the hall sensor has been damaged.
In the embodiment of the application, when the first measured Hall value does not exist in the N preset Hall values or the first measured Hall value is the same as any one of the N-1 first measured Hall values, the continuous conduction of at least two phases in the motor in turn according to the conduction mode of the preset sequence is stopped, and the fault of a plurality of Hall sensors in the motor is determined, so that whether the Hall sensors are damaged or not can be identified.
Fig. 3 is a flow chart of a method for self-learning of a hall phase sequence of a motor according to another embodiment of the application. The embodiment shown in fig. 3 is a modification of the embodiment shown in fig. 2. As shown in fig. 3, the method for self-learning the hall phase sequence of the motor further includes steps S310 to S330 after step S220, which is different from the embodiment shown in fig. 2. Step S231 corresponds to step S230 in the embodiment shown in fig. 2.
S310: and acquiring a second empty array of the Hall phase sequence table of the motor.
S320: and conducting at least two phases corresponding to each of the preset sequence of conduction modes in the motor again according to the preset sequence of conduction modes, so that the motor rotates for a second electrical period and N second measurement Hall values are obtained.
The manner of acquiring N second measurement hall values in step S310 is similar to the manner of acquiring N first measurement hall values in steps S110 to S220, and will not be described herein. It should be understood that the step S310 may be further repeated to obtain N third measured hall values, N fourth measured hall values, etc., and the number of repetitions is not particularly limited in the present application.
S330: when N second measurement Hall values exist in the N preset Hall values and are different, the N second measurement Hall values are recorded in the corresponding positions of the second empty arrays according to the corresponding sequence of each conduction mode in the conduction modes of the preset sequence, so that the recorded second empty arrays are obtained.
Step S330 is similar to step S220, and will not be described here.
S231: and when the recorded first empty array is identical to the recorded second empty array, determining the recorded first empty array or the recorded second empty array as a target array.
The N first measured hall values may be a first set of measured hall values measured for a first electrical cycle and the N second measured hall values may be a second set of measured hall values measured for a second electrical cycle. In step S231, the recorded first empty array or the recorded second empty array may be determined as the target array by comparing the order and the numerical value of the first set of measured hall values in the recorded first empty array with the order and the numerical value of the second set of measured hall values in the recorded second empty array, and when the order and the numerical value of the first set of measured hall values and the second set of measured hall values are all identical.
According to the technical scheme provided by the embodiment of the application, at least two phases corresponding to any one of the conduction modes in the preset sequence in the motor are conducted again according to the conduction modes in the preset sequence, so that the motor rotates for the second electric period and N second measurement Hall values are obtained, and a plurality of electric periods are executed on the motor to obtain a plurality of groups of measurement Hall values corresponding to the electric periods. In addition, the target array is determined simultaneously by comparing the plurality of groups of measured Hall values corresponding to the plurality of electric periods and the numerical value and the sequence of the plurality of groups of measured Hall values corresponding to each electric period, so that the accuracy of the Hall phase sequence reflected by the target array can be further ensured.
In an embodiment of the present application, step S261 corresponds to step S260 in the embodiment shown in fig. 2.
S261: and stopping sequentially conducting at least two phases in the motor according to a preset sequence of conducting modes when the first measured Hall value is equal to the zero Hall value.
The zero hall value may also be referred to as an initial hall value output by the plurality of hall signal lines, and may be represented as 0, 000, or otherwise.
In the embodiment of the application, when the first measured Hall value is equal to the zero Hall value, the conduction of at least two phases in the motor is stopped according to the conduction mode of the preset sequence, so that the damage of the Hall sensor is directly identified without comparing with N preset Hall values.
Fig. 4 is a flow chart of a method for self-learning of hall phase sequence of a motor according to still another embodiment of the present application. The embodiment shown in fig. 4 is a modification of the embodiment shown in fig. 2. The difference from the embodiment shown in fig. 2 is that the method for self-learning the hall phase sequence of the motor further includes steps S340 and S350 before step S260. Step S262 corresponds to step S260 in the embodiment shown in fig. 2.
S340: when the first measured hall value is equal to the zero hall value, the duty cycle is increased by using the modulation mode to increase the applied voltage of the motor.
The Modulation method may be Pulse-Width Modulation (PWM), pulse-Frequency Modulation (PFM), PWM/PFM, or the like, as long as the duty ratio can be increased to increase the applied voltage of the motor.
For example, when the modulation scheme is PWM, since the duty ratio of PWM is large, the current flowing through the armature winding is large, the stator magnetic field is strong, and the rotation speed is high; on the contrary, when the duty ratio of the PWM is small, the motor rotation speed is low.
In step S340, the duty ratio may be increased by using the modulation scheme a plurality of times, or may be increased by using the modulation scheme a single time.
S350: the adjusted first measured hall value is retrieved.
S262: and stopping continuously conducting at least two phases in the motor in turn according to a conduction mode of a preset sequence when the duty ratio is increased and exceeds a first threshold value and the adjusted first measured Hall value is still equal to the zero Hall value.
The first threshold may be a maximum value of the duty cycle set in advance, for example, may be set to 50%, or may be set to another value.
In the embodiment of the application, the duty ratio is increased by utilizing the modulation mode to increase the applied voltage of the motor, the adjusted first measured Hall value is obtained again, and the adjusted first measured Hall value is obtained again, so that the current flowing through the armature winding is increased by increasing the applied voltage of the motor, and the motor is ensured not to run normally due to too small current, namely, the situation that whether the Hall sensor is damaged or not is ensured not to be wrongly judged is ensured. In addition, since the duty ratio is too large, the voltage is too large, and the current flowing through the armature winding is too large, so that a part of components in the motor such as a switching tube and the like may be burned. Therefore, by setting the first threshold, adverse effects on the motor due to an excessive duty ratio are avoided. By setting that the first measured hall value after the duty cycle has increased exceeds the first threshold value and that the adjusted first measured hall value is still equal to zero hall value, it can be determined that the hall sensor has been damaged.
Fig. 5 is a schematic structural diagram of a device for self-learning phase sequence of a motor according to an embodiment of the application. The motor hall phase sequence self-learning device 500 comprises an acquisition module 510, a conduction module 520 and a recording module 530. The obtaining module 510 is configured to obtain a preset array and a first null array of a hall phase sequence table of the motor, where the preset array includes N preset hall values. The conduction module 520 is configured to conduct at least two phases of the motor corresponding to a first preset conduction mode according to a first preset conduction mode of the conduction modes in a preset sequence, so as to obtain a first measurement hall value when the motor rotates by a preset angle; the recording module 530 is configured to record, when a first measured hall value exists in the N preset hall values, the first measured hall value in a corresponding position of the first empty array according to a sequence corresponding to a first preset conduction mode in a preset sequence conduction mode.
The device for self-learning the motor hall phase sequence in the embodiment of the application not only can realize the method for self-learning the motor hall phase sequence shown in fig. 1A, but also can realize the method for self-learning the motor hall phase sequence as shown in any one of fig. 2 and 4, and can also realize the method for self-learning the motor hall phase sequence after the equivalent replacement or obvious modification of the method for self-learning the motor hall phase sequence as shown in any one of fig. 1A to 4.
According to the technical scheme provided by the embodiment of the application, the method for self-learning of the Hall phase sequence of any motor in the embodiment is realized by utilizing the acquisition module, the conduction module and the recording module, so that the Hall phase sequence of the motor is determined according to the sequence of the measured Hall value recorded in the first empty array, and the accuracy of the Hall phase sequence of the motor is ensured. When the motor Hall phase sequence self-learning device adopted in the embodiment of the application executes the motor Hall phase sequence self-learning method in any one of the embodiments, at least two phases corresponding to the preset conduction mode in the motor are conducted in sequence according to the conduction mode according to the preset sequence, the measured Hall value is compared with the preset Hall value to realize the motor Hall phase sequence self-learning, a more complex operation mode is not needed, and a higher operation frequency is not needed, so that the motor Hall phase sequence self-learning device is simpler and more convenient than the traditional fixed given current mode and the current closed-loop mode, and the processing speed of the motor Hall phase sequence self-learning is improved. In addition, manual debugging is not needed in the embodiment of the application, so that the debugging difficulty caused by the connection error of the Hall signal wire can be effectively prevented.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Referring to fig. 6, an electronic device 600 includes a processor 610 that further includes one or more processors and memory resources represented by memory 620 for storing instructions, such as applications, executable by the processor 610. The application program stored in memory 620 may include one or more modules each corresponding to a set of instructions. Further, the processor 610 is configured to execute instructions to perform any of the methods of motor hall phase sequence self-learning described above.
The electronic device 600 may also include a power component configured for power management of the electronic device 600, a wired or wireless network interface configured to connect the electronic device 600 to a network, and an input output (I/O) interface. The electronic device 600 may operate an operating system, such as Windows Server, based on data stored in the memory 620 TM ，Mac OS X TM ，Unix TM ，Linux TM ，FreeBSD TM Or the like.
A non-transitory computer readable storage medium, which when executed by a processor of the electronic device 600, causes the electronic device 600 to perform a method of motor hall phase sequence self-learning. The motor hall phase sequence self-learning method can be executed by an agent program. The method for self-learning the Hall phase sequence of the motor comprises the steps of obtaining a preset array and a first empty array of a Hall phase sequence table of the motor, wherein the preset array comprises N preset Hall values; at least two phases corresponding to a first preset conduction mode in the motor are conducted according to the first preset conduction mode in the conduction modes in the preset sequence, so that a first measurement Hall value is obtained when the motor rotates by a preset angle; when a first measurement Hall value exists in the N preset Hall values, the first measurement Hall value is recorded in the corresponding position of the first empty array according to the corresponding sequence of the first preset conduction mode in the conduction modes of the preset sequence.
Those of ordinary skill in the art will appreciate that the algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus and system may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules may be combined or integrated into another system, or some features may be omitted or not performed.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program verification codes.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working processes of the apparatus and system described above may refer to corresponding processes in the foregoing method embodiments, which are not described herein again.
It should be noted that, the combination of the technical features in the embodiment of the present application is not limited to the combination described in the embodiment of the present application or the combination described in the specific embodiment, and all the technical features described in the present application may be freely combined or combined in any manner unless contradiction occurs between them.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is to be construed as including any modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (12)
1. A method for self-learning of a hall phase sequence of a motor, comprising:
acquiring a preset array and a first empty array of a Hall phase sequence table of a motor, wherein the preset array comprises N preset Hall values;
at least two phases corresponding to a first preset conduction mode in the motor are conducted according to a first preset conduction mode in a preset sequence conduction mode, so that a first measurement Hall value is obtained when the motor rotates by a preset angle;
When the first measured Hall value exists in the N preset Hall values, the first measured Hall value is recorded in the corresponding position of the first empty array according to the sequence corresponding to the first preset conduction mode in the conduction mode of the preset sequence.
2. The method as recited in claim 1, further comprising:
sequentially conducting at least two phases corresponding to other preset conduction modes in the motor according to other preset conduction modes in the preset sequence conduction modes, so as to obtain N-1 first measurement Hall values when the motor rotates for a first electric period, wherein the N first measurement Hall values comprise the first measurement Hall values and the N-1 first measurement Hall values;
when the N-1 first measurement Hall values exist in the N preset Hall values and are different, recording the N-1 first measurement Hall values in the corresponding positions of the first empty arrays according to the corresponding sequences of other preset conduction modes in the conduction modes of the preset sequences, so as to obtain recorded first empty arrays;
and determining the recorded first empty array as a target array.
3. The method according to claim 2, further comprising, after recording the N-1 first measured hall values in the corresponding positions of the first null array in the corresponding order of the other preset conduction patterns in the preset sequential conduction patterns to obtain the recorded first null array:
acquiring a second empty array of the Hall phase sequence table of the motor;
at least two phases corresponding to each conduction mode in the preset sequence conduction modes in the motor are conducted again according to the preset sequence conduction modes, so that the motor rotates for a second electric period and N second measurement Hall values are obtained;
when the N second measurement Hall values exist in the N preset Hall values and are different, recording the N second measurement Hall values in the corresponding positions of the second empty arrays according to the corresponding sequence of each conduction mode in the conduction modes of the preset sequence, so as to obtain recorded second empty arrays;
the determining the recorded first empty array as a target array includes:
and when the recorded first empty array is identical to the recorded second empty array, determining the recorded first empty array or the recorded second empty array as the target array.
4. The method of claim 2, further comprising, after said determining said recorded first empty array as a target array:
establishing a mapping relation between the target array and the preset array according to the position sequence;
when the motor operates, determining a preset Hall value corresponding to an actual Hall value in the preset array according to the mapping relation, and conducting at least two phases in the motor according to a conduction mode corresponding to the preset Hall value, wherein the actual Hall value is any Hall value in the target array.
5. The method according to claim 2, further comprising, after the at least two phases of the motor corresponding to the first preset conduction pattern are turned on by a first preset conduction pattern of the conduction patterns according to the preset sequence to obtain a first measured hall value when the motor rotates by a preset angle:
stopping sequentially conducting at least two phases in the motor according to a preset sequence of conducting modes when the first measuring Hall value does not exist in the N preset Hall values or is the same as any one of the N-1 first measuring Hall values;
Determining that a plurality of hall sensors in the motor have faults, wherein the plurality of hall sensors are used for collecting hall signals of the motor to obtain the N first measured hall values.
6. The method of claim 5, wherein stopping sequentially conducting at least two phases of the motor according to the predetermined sequence of conduction patterns when the first one of the N preset hall values does not exist or is the same as any one of the N-1 first measured hall values, comprises:
and stopping sequentially conducting at least two phases in the motor according to the conduction mode of the preset sequence when the first measured Hall value is equal to the zero Hall value.
7. The method of claim 5, further comprising, prior to said determining that a plurality of hall sensors in the motor are malfunctioning:
when the first measured Hall value is equal to a zero Hall value, increasing the duty ratio by using a modulation mode to increase the applied voltage of the motor;
re-acquiring the adjusted first measured hall value;
wherein, stopping continues to turn on at least two phases in the motor in turn according to a preset sequential conduction mode, including:
And stopping sequentially conducting at least two phases in the motor according to the conduction mode of the preset sequence when the duty ratio is increased and exceeds a first threshold value and the adjusted first measured Hall value is still equal to the zero Hall value.
8. The method according to any one of claims 1-7, wherein the at least two phases comprise any combination of U-, V-, and W-phases, and the predetermined sequence of conduction is a two-, three-, or two-three-conduction in a predetermined sequence.
9. The method of claim 8, wherein when the predetermined sequence of conduction patterns is a binary conduction pattern using the predetermined sequence, the predetermined sequence of conduction patterns includes u+w-, u+v-, w+v-, w+u-, v+u-, and v+w-.
10. A device for self-learning of motor hall phase sequence, comprising:
the acquisition module is used for acquiring a preset array and a first empty array of a Hall phase sequence table of the motor, wherein the preset array comprises N preset Hall values;
the conduction module is used for conducting at least two phases corresponding to a first preset conduction mode in the motor according to a first preset conduction mode in a preset sequence conduction mode so as to acquire a first measurement Hall value when the motor rotates by a preset angle;
And the recording module is used for recording the first measured Hall value in the corresponding position of the first empty array according to the sequence of the first preset conduction mode in the conduction mode of the preset sequence when the first measured Hall value exists in the N preset Hall values.
11. An electronic device comprising a memory and a processor, wherein the memory has stored thereon computer executable instructions that when executed by the processor implement a method of self-learning a hall phase sequence of an electric motor as claimed in any one of claims 1 to 9.
12. A computer readable storage medium having stored thereon computer executable instructions, which when executed by a processor implement the method of self-learning of a hall phase sequence of an electric machine according to any of claims 1-9.
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