CN114257142A - Motor control device - Google Patents
Motor control device Download PDFInfo
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- CN114257142A CN114257142A CN202111523046.8A CN202111523046A CN114257142A CN 114257142 A CN114257142 A CN 114257142A CN 202111523046 A CN202111523046 A CN 202111523046A CN 114257142 A CN114257142 A CN 114257142A
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- 230000007704 transition Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 10
- 230000002159 abnormal effect Effects 0.000 abstract description 9
- 230000004044 response Effects 0.000 abstract description 6
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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
- H02P6/28—Arrangements for controlling current
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a motor control device which comprises a plurality of abnormity judgment circuits and a control signal output module, wherein the control signal output module is used for outputting a plurality of driving control signals to drive a motor to rotate, each abnormity judgment circuit is used for receiving one phase of a multi-phase Hall signal of the motor, each abnormity judgment circuit comprises a pulse generation unit and a watchdog unit, the pulse generation unit outputs a pulse signal when detecting a jumping edge of the Hall signal, and the watchdog unit resets according to the pulse signal and outputs an abnormity judgment signal when the counting reaches the maximum counting period value. With the configuration, when any phase in the Hall signals is abnormal, the abnormality judgment circuit can interrupt the work of the control signal output module for outputting the driving control signal, so that the Hall signal abnormality detection is realized in a hardware mode, and the problems that the Hall signals are subjected to abnormality detection by adopting a software method in the prior art, the response is slow and errors are easy to occur are solved.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control device.
Background
There are a class of motors, such as BLDCM (Brushless Direct Current Motor), PMSM (Permanent Magnet Synchronous Motor), etc., which drive the rotor by changing the direction of the magnetic field.
When the motor is controlled, on one hand, the position of the current motor rotor and other related parameters are judged through the hall signal returned by the motor, and then the control signal is calculated and output in real time, and on the other hand, whether the returned hall signal is abnormal or not needs to be detected, for example, the signal wire is broken, so as to prevent the wrong control signal from being output under the wrong signal, and finally, accidents are caused.
In the prior art, a software method is adopted to carry out abnormity detection on Hall signals, so that the problems of slow response and easy error exist.
Disclosure of Invention
The invention aims to provide a motor control device to solve the problems that in the prior art, a software method is adopted to carry out abnormity detection on a Hall signal, the response is slow, and errors are easy to occur.
In order to solve the technical problem, the present invention provides a motor control device, which includes a plurality of abnormality determination circuits and a control signal output module, wherein each abnormality determination circuit is configured to receive one phase of a multi-phase hall signal of a motor; each abnormity judgment circuit comprises a pulse generation unit and a watchdog unit, wherein the pulse generation unit outputs a pulse signal when detecting the jumping edge of the Hall signal, and the watchdog unit resets according to the pulse signal and outputs an abnormity judgment signal after counting reaches a maximum counting period value; the interrupt end of the control signal output module is coupled with the output end of the abnormity judgment circuit, the control signal output module outputs a plurality of driving control signals according to the Hall signals to drive the motor to rotate, and when the control signal output module receives any one abnormity judgment signal, the control signal output module stops outputting the plurality of driving control signals.
Optionally, an output end of the pulse generating unit is connected to a reset end of the watchdog unit, the watchdog unit continuously counts, and if the pulse signal is received, the watchdog unit resets and restarts counting; when the count reaches the maximum count period value, the watchdog unit outputs the abnormality determination signal.
Optionally, the control signal output module further includes: an output timer for outputting the plurality of driving control signals; and the MCU core is used for controlling the output timer to output the plurality of driving control signals, setting corresponding phase interruption flag bits according to the abnormity judging signal, and executing a first interruption service program to control the output timer to stop outputting the plurality of driving control signals.
Optionally, the control signal output module is further configured to output error information when receiving the abnormality determination signal.
Optionally, the motor control apparatus further includes a clock signal module, where the clock signal module is configured to provide a clock signal for the watchdog unit; and/or, the motor control device further comprises a watchdog counter period register for providing the maximum count period value for the watchdog unit.
Optionally, the motor control device further includes: and the input capturing timing unit is coupled with the interrupt end of the control signal output module, when the Hall signal is detected to generate a jump event, the input capturing timing unit latches a count value between two jump events and triggers a timer interrupt signal to the control signal output module, the control signal output module executes a second interrupt service program to calculate the rotating speed and the electrical angle of the motor according to the count value and the current level state of the multiphase Hall signal, and generates the plurality of driving control signals according to the rotating speed and the electrical angle through a preset motor algorithm, wherein the Hall signal is acquired by a Hall sensor installed on the motor.
Optionally, the jump event is a jump edge of any phase in the hall signal; the method for detecting the jump event by the input timing module comprises the following steps: and carrying out XOR operation on the Hall signals to obtain an XOR result, and judging that the jump event is detected if the XOR result has edge jump.
Optionally, the plurality of driving control signals are used for controlling the flow direction of a three-phase current in the motor, or the plurality of driving control signals are used for controlling a three-phase voltage in the motor.
Optionally, the motor is a brushless dc motor, the motor includes a three-phase six-arm driving circuit, and each of the plurality of driving control signals is configured to control an opening and closing timing of a switching element in the three-phase six-arm driving circuit to control a flow direction of a three-phase current in the motor.
Optionally, the motor is a permanent magnet synchronous motor, and each of the plurality of driving control signals is used for controlling one phase of three-phase voltages of the motor.
Compared with the prior art, the invention provides a motor control device which comprises a plurality of abnormity judgment circuits and a control signal output module, wherein the control signal output module is used for outputting a plurality of driving control signals to drive a motor to rotate, each abnormity judgment circuit is used for receiving one phase of multi-phase Hall signals of the motor, each abnormity judgment circuit comprises a pulse generation unit and a watchdog unit, the pulse generation unit outputs pulse signals when detecting jump edges of the Hall signals, and the watchdog unit resets according to the pulse signals and outputs abnormity judgment signals when counting reaches a maximum counting period value. With the configuration, when any phase of the hall signals is abnormal, the pulse generating unit stops sending the pulse signals, and the watchdog unit outputs an abnormal judgment signal after the counting reaches the maximum counting period value, so as to interrupt the work of the control signal output module for outputting the driving control signal.
Drawings
It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:
fig. 1 is a schematic structural diagram of a motor control device according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a motor control device according to another embodiment of the present invention;
fig. 3 is a schematic structural view of a motor control device according to still another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a three-phase six-arm driving circuit according to an embodiment of the invention.
FIG. 5 is a schematic diagram of FOC control according to an embodiment of the present invention.
In the drawings:
1-a control signal output module; 11-an output timer; 12-an MCU core; 2-an abnormality determination circuit; 21-a pulse generating unit; 22-watchdog unit; 3-watchdog counter period register; 4-input timer; 41-input capture timing unit; 6-universal input and output interface; 7-a motor body; 8-a motor drive circuit; 9-a hall sensor; 10-MCU.
Detailed Description
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, which include not only the end points, but also the terms "mounted", "connected" and "connected" should be understood broadly, e.g., as a fixed connection, as a detachable connection, or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The core idea of the invention is to provide a motor control device to solve the problems of slow response and easy error caused by adopting a software method to detect the abnormality of a Hall signal in the prior art.
The following description refers to the accompanying drawings.
Referring to fig. 1 to 3, in which fig. 1 is a schematic structural diagram of a motor control device according to an embodiment of the present invention; fig. 2 is a schematic structural view of a motor control device according to another embodiment of the present invention; fig. 3 is a schematic structural view of a motor control device according to still another embodiment of the present invention; FIG. 4 is a schematic diagram of a three-phase six-arm driving circuit according to an embodiment of the present invention; FIG. 5 is a schematic diagram of FOC control according to an embodiment of the present invention.
Referring to fig. 1, the motor control apparatus includes three abnormality determination circuits 2 and a control signal output module 1, where the abnormality determination circuit 2 includes a pulse generation unit 21 and a watchdog unit 22.
Each abnormality judgment circuit 2 is used for receiving one phase of three-phase hall signals of the motor, for example, receiving a-phase hall signals, B-phase hall signals or C-phase hall signals; each pulse generating unit 21 outputs a pulse signal when detecting a transition edge of an a/B/C phase hall signal of a corresponding phase, each watchdog unit 22 resets according to the a/B/C phase pulse signal, and each watchdog unit 22 outputs an a/B/C phase anomaly determination signal after counting up to a maximum counting period value. It should be understood that the hall sensors may be provided in three phases, six phases, twelve phases or other numbers, and in other embodiments, the number of the abnormality determination circuits 2 may be changed to six, twelve or other numbers accordingly, and is not limited to the scheme of three abnormality determination circuits 2 shown in fig. 1. In this specification, a three-phase hall signal is mainly taken as an example for description, but other numbers of hall signals and other numbers of the abnormality determination circuits 2 also belong to the technical solutions of the present invention.
Specifically, an input terminal of the pulse generating unit 21 is configured as an input terminal of the abnormality determination circuit 2, and an output terminal of the pulse generating unit 21 is connected to a reset terminal of the watchdog unit 22; an output terminal of the watchdog unit 22 is configured as an output terminal of the abnormality determination circuit 2, and a time-out signal of the watchdog unit 22 is configured as an abnormality determination signal. The specific working logic of the watchdog unit 22 is as follows: if not receiving the reset signal, continuously counting, and outputting an A/B/C phase anomaly determination signal after the counting exceeds the maximum counting period value; if the a/B/C phase pulse signal is received, the watchdog unit 22 stops counting and resets, i.e., clears the current count value and restarts counting.
The interrupt end of the control signal output module 1 is coupled to the output ends of the three abnormality judgment circuits 2, and outputs a plurality of driving control signals according to the a/B/C phase hall signals to drive the motor to rotate, and when the control signal output module 1 receives any one a/B/C phase abnormality judgment signal, the control signal output module 1 stops outputting the plurality of driving control signals.
Referring to fig. 2, in the present embodiment, the motor control device is implemented as a microcontroller MCU10, and in other embodiments, the motor control device may also be implemented by other circuits or chips, such as a programmable gate array FPGA. In this embodiment, the MCU10 includes an input TIMER 4 (i.e., TIMER _ in), an output TIMER 11 (i.e., TIMER _ out), an MCU core 12, and a general purpose input/output interface (GPIO) 6. Wherein the input timer 4 includes a plurality of the abnormality determination circuits 2. The output timer 11 and the MCU core 12 constitute the control signal output module 1. The interrupt terminal of the MCU core 12 is configured as the interrupt terminal of the control signal output module 1. The input timer 4 acquires an a-phase hall signal based on the CH0 port, acquires a B-phase hall signal based on the CH1 port, and acquires a C-phase hall signal based on the CH2 port. The output timer 11 outputs the driving control signal, which may be a multi-channel PWM wave signal, based on the CH0 port, the CH1 port, and the CH2 port. The motor further comprises a motor body 7 and a Hall sensor 9. The output multiphase hall signal of the hall sensor 9 can be used by the MCU core 12 to estimate the position (electrical angle θ) and the rotational speed ω of the rotor of the motor body 7. The rotor position θ and the rotation speed ω can be used to participate in coordinate transformation and form a rotation speed closed loop in a motor control algorithm executed by the MCU core 12, so that estimation of reliable rotor position and speed information is a prerequisite for completing the motor control algorithm. The hall sensor 9 is usually mounted on the rotor of the motor body 7, has the advantages of small volume, low cost, easy installation and the like, and is applied to the detection of the position of the motor rotor. For example, when the motor body 7 is a brushless dc motor BLDCM, the hall sensors 9 include 3 hall sensors installed around the rotation path of the rotor of the motor body 7, and as long as the magnetic pole of the rotor of the motor body 7 passes over the hall sensors 9, the hall sensors 9 output corresponding high or low levels according to the polarity of the current magnetic pole of the rotor, so that the MCU core 12 can determine the current position (electrical angle θ) of the motor rotor according to the timing sequence of 3 levels generated by the hall sensors 9, and output the driving control signal through the output timer 11 after the rotor position information is calculated by a specific motor control algorithm, for example, output a PWM wave through a CH0 port, a CH1 port, and a CH2 port to commutate the inverter of the motor driving circuit 8.
Referring back to fig. 1, the present invention performs disconnection detection of the a/B/C phase hall signal acquired by the input timer 4 in real time through the plurality of abnormality determination circuits 2 and the control signal output module 1. With the above configuration, when an abnormality occurs in any one or more of the hall signals, the corresponding hall signal will not have a transition edge, the pulse generating unit 21 in the corresponding abnormality determining circuit 2 will stop outputting the pulse signal, the watchdog unit 22 corresponding thereto will continue counting without resetting the pulse signal until the maximum counting period value set by the watchdog unit 22 is reached, the watchdog unit 22 will output the a/B/C abnormality determining signal to the interrupt end of the control signal output module 1, and trigger the control signal output module 1 to stop outputting the driving control signal, for example, control the output timer 11 of fig. 2 to stop outputting the driving control signal from the CH0 port, the CH1 port, and the CH2 port, so that the motor 7 stops rotating. Through the reasonable setting of the maximum counting period value of the watchdog unit 22, the failure of the motor 7 caused by the abnormality of the hall signal can be avoided. Meanwhile, the mode of detecting the abnormality is realized in a hardware mode, and compared with a software scheme in the prior art, the method has the advantages of fast response and high accuracy.
The control signal output module 1 further includes: an output timer 11 for outputting the plurality of drive control signals; the driving control signals are PWM waves as mentioned in fig. 2, and in other embodiments, the driving control signals may be control signals of other waveforms. The control signal output module 1 further includes: and an MCU core 12 configured to control the output timer to output the plurality of driving control signals, set a corresponding phase interruption flag according to the a/B/C anomaly determination signal, and execute a corresponding first interruption service program to control the output timer 11 to stop outputting the plurality of driving control signals. It should be noted that the a/B/C anomaly determination signal may also be passed through a logic operation module, such as or logic, included in the control signal output module 1 or the input timer 4, when the a/B/C anomaly determination signal is pulled, the phase-off flag bit of the control signal output module 1 is pulled to trigger the a/B/C anomaly determination signal to enter the first interrupt service routine.
And setting the phase interruption flag bit corresponding to the abnormal judgment signal, so that other algorithms can execute subsequent logics, such as fault analysis, fault solution and the like.
Further, the control signal output module 1 outputs an error notification message when any one of the a/B/C abnormal determination signals is pulled up. Outputting the error message may drive other algorithms to perform error reporting actions, such as displaying error messages, alarming, alerting personnel, etc. It should be noted that outputting the error message may also be performed during the triggering of the control signal output module 1 to enter the first interrupt service routine.
Referring to fig. 1, the motor control apparatus further includes a clock signal module (not shown) for providing a clock signal to the watchdog unit 22; and the motor control device further comprises a watchdog counter period register 3, wherein the watchdog counter period register 3 is used for providing a maximum counting period value for the watchdog unit. The parameters in the watchdog counter period register 3 may be set manually or by other control modules.
Referring to fig. 2 and 3, fig. 3 is a schematic structural diagram of a motor control device according to another embodiment of the present invention, which includes an input timer 4 and a control signal output module 1, and the motor control device further includes: and an input capture timing unit 41, coupled to the interrupt end of the control signal output module 1, wherein when a jump event of the a/B/C phase hall signal is detected, the input capture timing unit 41 latches a count value between the two jump events, and triggers a timer interrupt signal to the control signal output module 1, the control signal output module 1 executes a corresponding timer interrupt service routine (a second interrupt service routine) to obtain rotor position information according to the read level state of the three-phase hall signal, calculates a rotor speed ω of the motor 7 according to the count value, and generates the plurality of driving control signals according to a preset motor algorithm. In this embodiment, the second interrupt service routine and the motor control algorithm thereof are both run in the MCU core 12 (shown in fig. 2) included in the control signal output module 1, and in this embodiment, the input capture timing unit 41 and the plurality of abnormality determination circuits 2 are both subordinate to the input timer 4; other forms may be used in other embodiments.
It can be understood that the first interrupt service routine and the second interrupt service routine have different internal logics and different trigger timings, and the MCU core 12 may make an explicit determination according to an input sub-port or other characteristics of an interrupt signal to determine a routine that needs to be called currently.
It should be noted that, a jump event is a jump edge of any one phase in the a/B/C phase hall signals, for example, in the commutation control of the brushless dc motor BLDCM, in a normal case, the ABC three-phase hall signals output a corresponding high or low level, the angular displacement of the rotor of the motor 7 corresponding to the interval of the jump event can be obtained by analyzing the setting position and the operating principle of the hall sensor 9, the phase shift between the ABC phase hall signals is usually 60 ° or 120 °, for example, 120 °, the ABC phase hall signals have 6 combination states in one cycle, and according to the sequence of the CBA phases, the sequence sequentially is: 101, 001, 011, 010, 110, 100.
Further, the method for detecting the transition event by the input capturing timing unit 41 is as follows: and carrying out XOR operation on the three phases of Hall signals to obtain an XOR result, and judging that the jump event is detected if the XOR result has edge jump. The XOR operation is a three-input XOR operation, the truth table of which is shown in Table 1.
TABLE 1 three-input XOR truth table
| Input 1 | Input 2 | Input 3 | |
| 0 | 0 | 0 | 0 |
| 0 | 0 | 1 | 1 |
| 0 | 1 | 0 | 1 |
| 0 | 1 | 1 | 0 |
| 1 | 0 | 0 | 1 |
| 1 | 0 | 1 | 0 |
| 1 | 1 | 0 | 0 |
| 1 | 1 | 1 | 1 |
In one embodiment, the hall signals are 101, 001, 011, 010, 110, 100 in chronological order in the order of the CBA phases. As can be seen from table 1, the exclusive or results are 0, 1, 0, 1, 0, 1 in this order. Therefore, any phase jumps, the XOR result can generate edge jumps, and the jumps of any phase can be identified through XOR operation, so that the judgment logic is simplified, and the reliability of the algorithm is improved.
In a specific implementation, a three-input exclusive-or logic circuit or two-input exclusive-or logic circuits may be used, wherein an output end of one of the two-input exclusive-or logic circuits is connected to an input end of the other two-input exclusive-or logic circuit, and the remaining three input ends respectively obtain one phase of the hall signal. Or implemented using software methods.
When the number of the hall sensors is not three, when any phase signal jumps, the parity of the number of high levels in all the signals changes, so that the exclusive-or value changes.
Since the rotation of the motor is based on the change of the magnetic field, the plurality of driving control signals are used to control the flow direction of current in the motor, or the driving control signals are used to control the magnitude of voltage in the motor. Both of the above solutions can change the orientation of the magnetic field, thereby driving the motor to move.
For example, in one embodiment, the motor 7 is a brushless dc motor BLDCM, and the motor includes a three-phase six-arm driving circuit, and each of the plurality of driving control signals is used for controlling the on-off timing of one switching element in the three-phase six-arm driving circuit to control the flow direction of three-phase current in the motor. The three-phase six-arm driving circuit can be understood by referring to fig. 4, in fig. 4, T1 to T6 are the switching elements and are generally implemented by power MOS transistors. The switching sequence of T1-T6 is controlled to realize the energization of different windings, the six-step phase change requirement is completed, 2 of three windings of ABC are energized and 1 is not energized in each step. In one embodiment, the current flow process is: (A → B) → (A → C) → (B → C) → (B → A) → (C → A) → (C → B). Reciprocating in this way, a rotating magnetic field is generated to drive the rotor of the motor 7 to rotate. The waveforms of the specific six-path PWM waves and the calculation method can be derived according to common knowledge in the art, and are not described herein. According to the invention, the output timer 11 is stopped to output the six paths of PWM waves when any phase of the ABC phase Hall signal is disconnected by adding the abnormity judgment circuit.
Referring to fig. 5, in another embodiment, the motor 7 is a permanent magnet synchronous motor PMSM, and each of the plurality of driving control signals is used for controlling one phase of three-phase voltages of the motor 7.
In the PMSM motor Control process, FOC Control (Field-Oriented Control) is often adopted, and the principle of FOC Control is shown in fig. 5. The MCU core 12 executes the FOC motor control algorithm shown in fig. 5: referencing the speed to nrefThe difference with the rotor speed n is input into a speed ring PID and the output i of the speed ring PIDqrefAs the q-axis current loop specification, when the field weakening control is not performed, the d-axis current loop specification idrefIs 0, dq axis current reference iqref、idrefAnd a feedback current iq、idThe difference is subjected to PID regulation and then dq axis voltage V is outputd、VqAnd obtaining three-phase voltage V through inverse Park conversion and SVPWMa、Vb、VcThe motor M is driven to rotate. In FOC control, the motor control device can also collect three-phase current ia、ib、icObtaining feedback current i through Clark conversion and Park conversionq、idAnd participates in current loop control performed in the MCU core 12. In summary, in the FOC control, the Park transformation and the inverse Park transformation both require the rotor position θ. The motor M in fig. 5 corresponds to the motor body 7 in the embodiment of fig. 2, the three-phase inverter bridge corresponds to the motor driving circuit 8 in the embodiment of fig. 2, and the "rotor position and speed detection" module corresponds to the hall sensor 9, the input capture timing unit 41, and the MCU core 12: in an embodiment of the invention, an ABC three-phase Hall signal is acquired through a Hall sensor 9, a count value between two jumping events is captured when the ABC three-phase Hall signal is detected by an input capturing timing unit 41, after the MCU core 12 is interrupted by a trigger timer, rotor position information (electrical angle theta) and rotating speed n required by FOC control of FIG. 5 are obtained according to the count value and the level state of the current three-phase Hall signal for the FOC control algorithm, and a driving control signal (the driving control signal in the FOC control is three-phase voltage V in the form of a three-phase voltage V in an SVPWM module (equivalent to an output timer 11 in the embodiment of FIG. 2) is outputa、Vb、Vc). The Clark transformation, Park transformation, inverse Park transformation, and SVPWM described above all refer to specific concepts or methods, which can be clearly understood by those skilled in the art according to common general knowledge and are not described herein. According to the invention, the abnormal judgment circuit is added in the rotor position and speed detection module to stop the SVPWM module from outputting the three-phase voltage V when any phase of the ABC phase Hall signal is disconnecteda、Vb、Vc。
Although the control signals corresponding to the brushless dc motor BLDCM and the permanent magnet synchronous motor PMSM are PWM waves, the control method of the brushless dc motor is concerned about the timing of occurrence of a transition edge in the PWM wave, i.e., the on-off timing of the switching element, and the permanent magnet synchronous motor is concerned about the duty ratio of the PWM wave. In other embodiments, the drive control signal may not be a PWM wave, and the rotation principle of the motor is not limited to the above two principles.
The two motors are both in three-phase configuration, but the scheme of the invention is not limited to the motors in three-phase configuration, some special motors are driven by six-phase, twelve-phase or other phases of current/voltage, and the motor control device can also be applied.
In summary, the present embodiment provides a motor control apparatus, including three abnormality determination circuits 2 and a control signal output module 1, where the control signal output module 1 is configured to output a plurality of driving control signals to drive a motor to rotate, each abnormality determination circuit 2 is configured to receive one phase of three-phase hall signals of the motor, each abnormality determination circuit 2 includes a pulse generation unit 21 and a watchdog unit 22, the pulse generation unit 21 outputs a pulse signal when detecting a jump edge of the hall signal, and the watchdog unit 22 resets according to the pulse signal and outputs an abnormality determination signal when counting reaches a maximum counting period value. With such configuration, when any phase of the ABC three-phase hall signals is abnormal, the pulse generating unit 21 stops sending the pulse signal, and the watchdog unit 22 outputs an abnormal determination signal after the count reaches the maximum count period value, so as to interrupt the operation of the control signal output module 1 for outputting the driving control signal, thereby implementing the hall signal abnormality detection in a hardware manner, and solving the problems that the hall signal is subjected to abnormality detection by using a software method in the prior art, the response is slow, and an error is easy to occur. The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art according to the above disclosure are within the scope of the present invention.
Claims (10)
1. A motor control device is characterized by comprising a plurality of abnormity judgment circuits and a control signal output module, wherein,
each abnormity judgment circuit is used for receiving one phase of multi-phase Hall signals of the motor; each abnormity judgment circuit comprises a pulse generation unit and a watchdog unit, wherein the pulse generation unit outputs a pulse signal when detecting the jumping edge of the Hall signal, and the watchdog unit resets according to the pulse signal and outputs an abnormity judgment signal after counting reaches a maximum counting period value;
the interrupt end of the control signal output module is coupled with the output end of the abnormity judgment circuit, the control signal output module outputs a plurality of driving control signals according to the Hall signals to drive the motor to rotate, and when the control signal output module receives any one abnormity judgment signal, the control signal output module stops outputting the plurality of driving control signals.
2. The motor control device of claim 1, wherein the output terminal of the pulse generating unit is connected to a reset terminal of the watchdog unit, the watchdog unit continuously counts, and if receiving the pulse signal, the watchdog unit resets and restarts counting; when the count reaches the maximum count period value, the watchdog unit outputs the abnormality determination signal.
3. The motor control device of claim 1, wherein the control signal output module further comprises:
an output timer for outputting the plurality of driving control signals; and
and the MCU core is used for controlling the output timer to output the plurality of driving control signals, setting corresponding phase interruption flag bits according to the abnormity judging signal, and executing a first interruption service program to control the output timer to stop outputting the plurality of driving control signals.
4. The motor control device according to claim 1, wherein the control signal output module is further configured to output an error message when receiving the abnormality determination signal.
5. The motor control device of claim 1, further comprising a clock signal module for providing a clock signal to the watchdog unit;
and/or the presence of a gas in the gas,
the motor control device further comprises a watchdog counter period register, and the watchdog counter period register is used for providing the maximum counting period value for the watchdog unit.
6. The motor control device according to claims 1 to 5, further comprising:
an input capture timing unit coupled to the interrupt end of the control signal output module, the input capture timing unit latching a count value between two jump events when the Hall signal is detected to generate a jump event, and triggering a timer interrupt signal to the control signal output module, the control signal output module executing a second interrupt service routine to calculate the rotation speed and the electrical angle of the motor according to the count value and the current level state of the multi-phase Hall signal, and generating the plurality of driving control signals according to the rotation speed and the electrical angle through a preset motor algorithm,
the Hall signal is obtained by a Hall sensor arranged on the motor.
7. The motor control device of claim 6, wherein the transition event is a transition edge of any phase in the Hall signal; the method for detecting the jump event by the input capturing timing unit comprises the following steps: and carrying out XOR operation on the Hall signals to obtain an XOR result, and judging that the jump event is detected if the XOR result has edge jump.
8. The motor control device according to any one of claims 1 to 5, wherein the plurality of drive control signals are used to control a flow direction of a three-phase current in the motor, or the plurality of drive control signals are used to control a three-phase voltage in the motor.
9. The motor control device according to claim 8, wherein the motor is a brushless dc motor, the motor includes a three-phase six-arm drive circuit, and each of the plurality of drive control signals is configured to control an opening/closing timing of one switching element in the three-phase six-arm drive circuit to control a flow direction of three-phase current in the motor.
10. The motor control device of claim 8, wherein the motor is a permanent magnet synchronous motor, each of the plurality of drive control signals being for controlling one of the three phase voltages of the motor.
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