CN115021627A - Motor driving method and device, chip and electronic equipment - Google Patents
Motor driving method and device, chip and electronic equipment Download PDFInfo
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- CN115021627A CN115021627A CN202210755523.1A CN202210755523A CN115021627A CN 115021627 A CN115021627 A CN 115021627A CN 202210755523 A CN202210755523 A CN 202210755523A CN 115021627 A CN115021627 A CN 115021627A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000013507 mapping Methods 0.000 claims abstract description 19
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 31
- 238000004364 calculation method Methods 0.000 abstract description 7
- 230000002349 favourable effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 239000004020 conductor Substances 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The application discloses a motor driving method, a motor driving device, a chip and electronic equipment, wherein the motor driving method comprises the following steps: acquiring an electrical angle of a counter electromotive force of the motor; searching a signal modulation value corresponding to the electrical angle of the back electromotive force of the motor according to a mapping relation between the electrical angle and the signal modulation value in a preset data table; and synthesizing a driving signal according to a preset driving voltage and the searched signal modulation value, and driving the motor to be in a working state by using the driving signal. According to the embodiment of the application, the calculation efficiency of the vector control method is improved by reducing the algorithm difficulty, and the driving motor is favorable for maintaining high rotating speed.
Description
Technical Field
The application relates to the technical field of motor driving, in particular to a motor driving method, a motor driving device, a chip and electronic equipment.
Background
In the technical field of motor driving, permanent magnet brushless dc motors are divided into two main categories according to driving modes: square wave drive motors, i.e., Brushless Direct Current motors (BLDCM), and Field-Oriented Control (FOC) motors, i.e., Permanent Magnet Synchronous Motors (PMSM). The FOC is a motor vector control method, and the precise control of the motor is realized by controlling the size and the direction of a magnetic field, so that the motor runs stably, has low noise, constant torque, high response speed and no low-speed crawling.
Disclosure of Invention
In view of this, the present application provides a motor driving method, device, chip, and electronic device, which improve the calculation efficiency of the vector control method by reducing the algorithm difficulty, and are beneficial to maintaining a high rotation speed of the driving motor.
The embodiment of the application provides a motor driving method, which comprises the following steps:
acquiring an electrical angle of a counter electromotive force of the motor;
searching a signal modulation value corresponding to the electrical angle of the back electromotive force of the motor according to a mapping relation between the electrical angle and the signal modulation value in a preset data table;
and synthesizing a driving signal according to a preset driving voltage and the searched signal modulation value, and driving the motor to be in a working state by using the driving signal.
Optionally, the updating method of the preset data table includes:
when the motor is in a working state, acquiring a driving signal of the motor, and analyzing the driving signal to obtain an analyzed signal modulation value and an analyzed electrical angle;
and updating the mapping relation between the electrical angle and the signal modulation value in the preset data table according to the analyzed signal modulation value and the electrical angle.
Optionally, the obtaining of the electrical angle of the back electromotive force of the motor includes:
acquiring each phase current of the motor;
determining an interval electrical angle of a phase difference between each phase current when the motor rotates every time, and determining the rotating speed of the motor;
and determining the electrical angle of the back electromotive force of the motor according to the interval electrical angle and the rotating speed.
Optionally, determining the electrical angle of separation of the phase current difference between each phase current for each rotation of the motor comprises:
detecting each phase current of the motor;
when the phase current of the motor is detected to be equal to a preset detection value, setting the electrical angle of the phase current as a preset value corresponding to the phase current;
circularly executing the steps until the electrical angle of each phase current of the motor is set to a corresponding preset value;
after the electrical angle of each phase current is set, the difference value between the electrical angles of each phase current is taken as the interval electrical angle.
Optionally, determining a rotational speed of the motor comprises:
when detecting that the phase current of the motor is equal to a preset detection value, recording time and the rotation times of the motor;
and determining the rotation speed of the motor according to the time and the rotation times.
The embodiment of the application provides a motor drive device, includes:
the acquisition module is used for acquiring the electrical angle of the counter electromotive force of the motor;
the modulation module is used for searching a signal modulation value corresponding to the electrical angle of the back electromotive force of the motor according to the mapping relation between the electrical angle and the signal modulation value in a preset data table;
and the control module is used for synthesizing a driving signal according to a preset driving voltage and the searched signal modulation value and driving the motor to be in a working state by using the driving signal.
Optionally, the system further comprises an update module, wherein the update module is configured to:
when the motor is in a working state, acquiring a driving signal of the motor, and analyzing the driving signal to obtain an analyzed signal modulation value and an analyzed electrical angle;
and updating the mapping relation between the electrical angle and the signal modulation value in the preset data table according to the analyzed signal modulation value and the electrical angle.
Optionally, the acquisition module further includes a detection unit, and the detection unit is configured to:
acquiring each phase current of the motor;
determining an interval electrical angle of a phase difference between each phase current when the motor rotates every time, and determining the rotating speed of the motor;
and determining the electrical angle of the back electromotive force of the motor according to the interval electrical angle and the rotating speed.
Optionally, the detection unit includes a first detection subunit, and the first detection subunit is configured to:
detecting each phase current of the motor;
when the phase current of the motor is detected to be equal to a preset detection value, setting the electrical angle of the phase current as a preset value corresponding to the phase current;
circularly executing the steps until the electrical angle of each phase current of the motor is set to a corresponding preset value;
after the electrical angle of each phase current is set, the difference value between the electrical angles of each phase current is taken as the interval electrical angle.
Optionally, the detection unit includes a second detection subunit, and the second detection subunit is configured to:
when detecting that the phase current of the motor is equal to a preset detection value, recording time and the rotation times of the motor;
and determining the rotation speed of the motor according to the time and the rotation times.
The embodiment of the application provides a chip for executing the motor driving method.
An embodiment of the present application provides an electronic device, including the chip as described above.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
the embodiment of the application provides a motor driving method, a motor driving device, a chip and electronic equipment, wherein the motor driving method comprises the following steps: acquiring an electrical angle of a counter electromotive force of the motor; searching a signal modulation value corresponding to the electrical angle of the back electromotive force of the motor according to the mapping relation between the electrical angle and the signal modulation value in a preset data table; and synthesizing a driving signal according to the preset driving voltage and the searched signal modulation value, and driving the motor to be in a working state by using the driving signal. Therefore, in the embodiment, the preset data table for storing the mapping relationship between the electrical angle and the signal modulation value is searched according to the obtained electrical angle, and the signal modulation value is obtained to synthesize the driving signal of the driving motor in the working state, so that the step of calculating the signal modulation value is saved, the algorithm difficulty is reduced, the calculation efficiency of the vector control method is improved, and the driving motor is favorable for maintaining a high rotating speed.
Drawings
Fig. 1 is a first flowchart of a motor driving method according to an embodiment of the present disclosure;
fig. 2 is a second flowchart of a motor driving method provided in an embodiment of the present application;
FIG. 3 is a third schematic flow chart of a motor driving method according to an embodiment of the present disclosure;
fig. 4 is a fourth schematic flowchart of a motor driving method provided in an embodiment of the present application;
fig. 5 is a fifth schematic flow chart of a motor driving method provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram of a motor driving device provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The following embodiments and their technical features may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a first flowchart of a motor driving method according to an embodiment of the present disclosure. The motor driving method includes:
and S1, acquiring the electrical angle of the back electromotive force of the motor.
It will be appreciated that, according to the law of electromagnetism, when the magnetic field changes, the nearby conductor will generate an induced electromotive force, whose direction conforms to the law of faraday and lenz, and which is opposite to the voltage originally applied across the coil, and this voltage is the counter electromotive force. The rotor of the motor rotates to cut magnetic lines of force to generate an induced potential, the direction of which is opposite to the direction of an applied voltage, so that the induced potential is called as the counter electromotive force of the motor.
And S2, searching a signal modulation value corresponding to the electrical angle of the back electromotive force of the motor according to the mapping relation between the electrical angle and the signal modulation value in the preset data table.
It will be appreciated that the drive signal may be an analog signal or a digital signal, typically a digital signal, i.e. a digital control signal PWM or a digital control signal SVPWM. In this embodiment, the preset data table is a fitting SVPWM lookup table, and is used to store the normalized SVPWM value corresponding to the electrical angle.
And S3, synthesizing a driving signal according to the preset driving voltage and the searched signal modulation value, and driving the motor to be in a working state by using the driving signal.
In the present embodiment, the motor of the present embodiment is controlled according to the FOC vector, and for the three-phase motor, the driving signal is SVPWM, and the driving signal SVPWM is synthesized according to the signal modulation value of the driving signal SVPWM and the preset driving voltage. When the motor is driven, the vector direction is continuously changed, so that the vector acting time needs to be continuously calculated, and SVPWM is used for controlling different vector acting time proportions to synthesize the required voltage vector. The output torque output when the driving signal SVPWM controls the motor in the operating state is determined by a preset driving voltage, which is usually set as a maximum driving voltage.
It can be understood that, in this embodiment, the preset data table storing the mapping relationship between the electrical angle and the signal modulation value is searched according to the obtained electrical angle, and the signal modulation value is obtained to synthesize the driving signal of the driving motor in the working state, so that the step of calculating the signal modulation value is saved, the algorithm difficulty is reduced, the calculation efficiency of the vector control method is improved, and the driving motor is facilitated to maintain a high rotation speed.
It is understood that there are various ways to obtain the electrical angle of the back emf of the motor, and the present application provides some embodiments to obtain the electrical angle of the back emf of the motor.
In one embodiment, the rotor of the motor rotates to cut magnetic lines of force, so that the counter electromotive force of the motor is obtained, and the electrical angle of the counter electromotive force of the motor is further obtained.
Another embodiment is provided in the present application, please refer to fig. 2, and fig. 2 is a second flowchart of the motor driving method provided in the embodiment of the present application. In this embodiment, obtaining the electrical angle of the back electromotive force of the motor includes:
and S11, acquiring each phase current of the motor.
It will be appreciated that the acquisition of motor data, i.e. the acquisition of each phase current of the motor, e.g. the acquisition of the first phase current, the second phase current and the third phase current of a three-phase motor, is achieved by acquiring sampling results of the phase currents, or by using HALL sensors or encoders. Specifically, the phase current in the form of an analog signal is acquired by the ADC module, and then converted into the phase current of a digital signal.
And S12, determining the interval electrical angle of the phase difference between each phase current in each rotation of the motor, and determining the rotation speed of the motor.
And S13, determining the electrical angle of the back electromotive force of the motor according to the interval electrical angle and the rotating speed.
It can be understood that the phase current changes every time the motor rotates, and although the interval electrical angle of the phase difference between every two phase currents has a slight error every time the motor rotates, the average value of the interval electrical angle of the phase difference between every two phase currents is calculated every time the motor rotates, and the average value of the interval electrical angle is fixed, that is, the interval electrical angle is fixed.
On this basis, the present application also provides some embodiments of determining the electrical angle of separation of the phase current difference between each phase current for each rotation of the motor as follows:
in some embodiments, the manner of determining the angular interval between each phase current per revolution of the motor is: and detecting the interval electrical angle of the phase difference between each phase current when each phase current is equal to the preset current value.
In a preferred embodiment, please refer to fig. 3, fig. 3 is a third flowchart of a motor driving method according to an embodiment of the present application. Determining a separation electrical angle of phase difference between each phase current for each rotation of the motor, comprising:
and S121, detecting each phase current of the motor.
And S122, when the phase current of the motor is detected to be equal to the preset detection value, setting the electrical angle of the phase current as the preset value corresponding to the phase current.
And S123, circularly executing the steps until the electrical angle of each phase current of the motor is set to be a corresponding preset value.
And S124, setting the electrical angle of each phase current, and taking the difference value of the electrical angles of each phase current as an interval electrical angle.
In this embodiment, a three-phase motor is taken as an example for explanation, and three phase currents obtained from the three-phase motor are a first phase current la, a second phase current lb, and a third phase current lc, respectively. Setting a zero point, respectively judging whether the three phase currents are equal to zero through a comparator, judging whether the current phase angle of the first phase current la is 0 degrees or 180 degrees when the first phase current la is equal to zero, if so, determining the first phase current la to be 0 degrees, if so, determining the first phase current la to be 180 degrees, and if not, determining the first phase current la to be 0 degrees or 180 degrees. Similarly, the second phase current lb is determined to be 120 ° or 300 °, and the third phase current lc is determined to be 60 ° or 240 °. In a specific application scenario, the first phase current la is determined to be 0 °, the second phase current lb is determined to be 120 °, the third phase current lc is determined to be 60 °, the electrical angle of each phase current is 60 ° different from each other, and the interval electrical angle of the three-phase motor is 60 °. Therefore, the calculation process of the interval electrical angle can be greatly simplified, the calculation speed is favorably improved, and meanwhile, the calculation precision of the interval electrical angle of the three-phase motor is improved.
In addition, referring to fig. 4, fig. 4 is a fourth flowchart illustrating a motor driving method according to an embodiment of the present disclosure. The present application also provides some embodiments of determining the rotational speed of a motor as follows:
optionally, determining the rotational speed of the motor comprises:
and S125, recording time and the rotation times of the motor when the phase current of the motor is detected to be equal to the preset detection value.
And S126, determining the rotating speed of the motor according to the time and the rotating times.
In this embodiment, a three-phase motor is taken as an example for explanation, when any one of the first phase current la, the second phase current lb and the third phase current lc is equal to zero, a counter counts once, and records the phase current as a cnt value, and stores the cnt value into a buffer with a depth of n (where n is 24), at this time, data of the buffer is equivalent to time and the number of rotations, and the rotation speed of the motor can be calculated according to the time and the number of rotations of the motor.
Researchers find that different motors have different structures, so that the air gap magnetic flux density distribution, the damping coefficient, the inductance and other motor parameters are different among the different motors, and the driving signals SVPWM of the driving motors are also different. In order to adapt to different motors and improve the control capability of the synthesized driving signal, on the basis of the above embodiments, the present application provides an embodiment of updating the preset data table, please refer to fig. 5, and fig. 5 is a fifth flowchart schematic diagram of the motor driving method provided by the embodiment of the present application. In this embodiment, the updating method of the preset data table includes:
and S4, when the motor is in a working state, acquiring a driving signal of the motor, and analyzing the driving signal to obtain an analyzed signal modulation value and an analyzed electric angle.
In some embodiments, for example, when the three-phase motor is in an operating state, the driving signal SVPWM of the three-phase motor is obtained, and the driving signal SVPWM is analyzed to obtain SVPWM driving data, where the SVPWM driving data includes a signal modulation value and an electrical angle.
And S5, updating the mapping relation between the electrical angle and the signal modulation value in the preset data table according to the analyzed signal modulation value and the electrical angle.
And fitting an SVPWM lookup table of the SVPWM value corresponding to the electrical angle according to the SVPWM driving data, namely the signal modulation value and the electrical angle.
It can be understood that, in this embodiment, corresponding driving signals are obtained according to different motors, and the driving signals are analyzed, so that a signal modulation value and an electrical angle of the corresponding motor can be obtained; the signal modulation values and the electrical angles of different motors are updated to be the mapping relation between the electrical angles and the signal modulation values in the preset data table, so that the corresponding signal modulation values can be generated for different motors, the precision of synthesizing the driving signal according to the signal modulation values is improved, and under the condition of replacing a new motor (the mapping relation between the signal modulation values and the electrical angles corresponding to the new motor is stored in the preset data table), the mapping relation between the signal modulation values and the electrical angles corresponding to the new motor can be quickly obtained by inquiring the preset data table, and the efficiency is improved.
An embodiment of the present application provides a motor driving device, please refer to fig. 6, and fig. 6 is a schematic structural diagram of the motor driving device provided in the embodiment of the present application. The motor drive device includes:
and the acquisition module 100 is used for acquiring the electrical angle of the back electromotive force of the motor.
And the modulation module 200 is configured to search a signal modulation value corresponding to the electrical angle of the back electromotive force of the motor according to a mapping relationship between the electrical angle and the signal modulation value in the preset data table.
And the control module 300 is configured to synthesize a driving signal according to the preset driving voltage and the searched signal modulation value, and drive the motor to be in a working state by using the driving signal.
Optionally, the motor driving device further comprises an update module for:
when the motor is in a working state, acquiring a driving signal of the motor, and analyzing the driving signal to obtain an analyzed signal modulation value and an analyzed electrical angle; and updating the mapping relation between the electrical angle and the signal modulation value in the preset data table according to the analyzed signal modulation value and the electrical angle.
Optionally, the acquisition module further comprises a detection unit, and the detection unit is configured to:
acquiring each phase current of the motor; determining the interval electrical angle of the phase difference between each phase current when the motor rotates every time, and determining the rotating speed of the motor; and determining the electrical angle of the back electromotive force of the motor according to the interval electrical angle and the rotating speed.
Optionally, the detection unit comprises a first detection subunit configured to:
detecting each phase current of the motor; when the phase current of the motor is detected to be equal to a preset detection value, setting the electrical angle of the phase current as a preset value corresponding to the phase current; circularly executing the steps until the electrical angle of each phase current of the motor is set to a corresponding preset value; after the electrical angle of each phase current is set, the difference value between the electrical angles of each phase current is taken as the interval electrical angle.
Optionally, the detection unit comprises a second detection subunit configured to:
when the phase current of the motor is detected to be equal to a preset detection value, recording the time and the rotation times of the motor; and determining the rotation speed of the motor according to the time and the rotation times.
The embodiment of the application provides a chip for executing the motor driving method.
An embodiment of the application provides an electronic device, which comprises the chip.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The foregoing is a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations are also regarded as the protection scope of the present application.
Claims (12)
1. A motor driving method, characterized by comprising the steps of:
acquiring an electrical angle of a counter electromotive force of the motor;
searching a signal modulation value corresponding to the electrical angle of the back electromotive force of the motor according to a mapping relation between the electrical angle and the signal modulation value in a preset data table;
and synthesizing a driving signal according to a preset driving voltage and the searched signal modulation value, and driving the motor to be in a working state by using the driving signal.
2. The motor driving method according to claim 1, wherein the updating manner of the preset data table includes:
when the motor is in a working state, acquiring a driving signal of the motor, and analyzing the driving signal to obtain an analyzed signal modulation value and an analyzed electrical angle;
and updating the mapping relation between the electrical angle and the signal modulation value in the preset data table according to the analyzed signal modulation value and the electrical angle.
3. The motor driving method according to claim 1, wherein the obtaining of the electrical angle of the back electromotive force of the motor comprises:
acquiring each phase current of the motor;
determining an interval electrical angle of a phase difference between each phase current when the motor rotates every time, and determining the rotating speed of the motor;
and determining the electrical angle of the back electromotive force of the motor according to the interval electrical angle and the rotating speed.
4. The motor driving method according to claim 3, wherein determining the interval electrical angle of the phase difference between each phase current at each rotation of the motor comprises:
detecting each phase current of the motor;
when the phase current of the motor is detected to be equal to a preset detection value, setting the electrical angle of the phase current as a preset value corresponding to the phase current;
circularly executing the steps until the electrical angle of each phase current of the motor is set to a corresponding preset value;
after the electrical angle of each phase current is set, the difference value between the electrical angles of each phase current is taken as the interval electrical angle.
5. The motor driving method according to claim 4, wherein determining the rotational speed of the motor comprises:
when detecting that the phase current of the motor is equal to a preset detection value, recording time and the rotation times of the motor;
and determining the rotation speed of the motor according to the time and the rotation times.
6. A motor drive device characterized by comprising:
the acquisition module is used for acquiring the electrical angle of the counter electromotive force of the motor;
the modulation module is used for searching a signal modulation value corresponding to the electrical angle of the back electromotive force of the motor according to the mapping relation between the electrical angle and the signal modulation value in a preset data table;
and the control module is used for synthesizing a driving signal according to a preset driving voltage and the searched signal modulation value and driving the motor to be in a working state by using the driving signal.
7. The motor drive of claim 6, further comprising an update module to:
when the motor is in a working state, acquiring a driving signal of the motor, and analyzing the driving signal to obtain an analyzed signal modulation value and an analyzed electrical angle;
and updating the mapping relation between the electrical angle and the signal modulation value in the preset data table according to the analyzed signal modulation value and the electrical angle.
8. The motor drive of claim 6, wherein the acquisition module further comprises a detection unit configured to:
acquiring each phase current of the motor;
determining an interval electrical angle of a phase difference between each phase current when the motor rotates every time, and determining the rotating speed of the motor;
and determining the electrical angle of the back electromotive force of the motor according to the interval electrical angle and the rotating speed.
9. The motor drive of claim 8, wherein the detection unit comprises a first detection subunit configured to:
detecting each phase current of the motor;
when the phase current of the motor is detected to be equal to a preset detection value, setting the electrical angle of the phase current as a preset value corresponding to the phase current;
circularly executing the steps until the electrical angle of each phase current of the motor is set to a corresponding preset value;
after the electrical angle of each phase current is set, the difference value between the electrical angles of each phase current is taken as the interval electrical angle.
10. The motor drive of claim 9, wherein the detection unit comprises a second detection subunit configured to:
when detecting that the phase current of the motor is equal to a preset detection value, recording time and the rotation times of the motor;
and determining the rotation speed of the motor according to the time and the rotation times.
11. A chip for carrying out the motor driving method according to any one of claims 1 to 5.
12. An electronic device comprising the chip of claim 11.
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| CN202210755523.1A CN115021627A (en) | 2022-06-28 | 2022-06-28 | Motor driving method and device, chip and electronic equipment |
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| CN202210755523.1A CN115021627A (en) | 2022-06-28 | 2022-06-28 | Motor driving method and device, chip and electronic equipment |
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