CN115441802B - Software method for detecting and starting motor in forward and reverse directions - Google Patents
Software method for detecting and starting motor in forward and reverse directions Download PDFInfo
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- CN115441802B CN115441802B CN202211082767.4A CN202211082767A CN115441802B CN 115441802 B CN115441802 B CN 115441802B CN 202211082767 A CN202211082767 A CN 202211082767A CN 115441802 B CN115441802 B CN 115441802B
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- 230000003068 static effect Effects 0.000 claims abstract description 20
- 239000000428 dust Substances 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0086—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for high speeds, e.g. above nominal 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Motor And Converter Starters (AREA)
Abstract
The invention discloses a software method for detecting and starting a motor in the forward and reverse directions, which comprises the following steps: s1: detecting the running state of the motor at the initial stage of power-up through counter electromotive force; s2: if the motor is in the middle-high speed clockwise rotation at this time, the motor is in a middle-high speed clockwise starting state, and the motor directly enters closed-loop operation; s3: if the motor is in low-speed clockwise rotation at this time, the motor is in a low-speed downwind starting state, and the motor is braked at this time, and is started in a static state after waiting for the motor to completely stop; s4: if the motor is in a low-medium-high-speed anticlockwise rotation at this moment, the motor is in a low-medium-high-speed upwind starting state, and the motor is braked and stopped after the motor is completely stopped, and is started in a static state. The invention realizes the judgment of the motion state and the direction of the rotor when the motor of the handheld dust collector is started, and adopts different corresponding schemes according to different conditions, thereby greatly improving the starting success rate of the motor.
Description
Technical Field
The invention relates to the technical field related to starting of dust collectors, in particular to a software method for detecting and starting of a motor in the forward and reverse directions.
Background
With the development of technology and improvement of the living standard of common people, the rechargeable handheld dust collector controlled by FOC has started to replace the traditional dust collector, and the use of the dust collector saves a great deal of precious time. Such emerging hand-held cleaner motors often employ FOC-controlled brushless dc motors. The high efficiency, low noise and high rotating speed are brought, and meanwhile, the complexity of a core driving algorithm is greatly increased.
Because the installation accuracy of the rotor position sensor needs to be considered, the durability of the sensor and the like under a complex environment, and meanwhile, in order to reduce the cost, the scheme without the position sensor is adopted at present, and the position of the motor rotor cannot be directly obtained from a hardware level during starting, the difficulty of starting the motor and the success rate of starting are greatly increased, so that the starting problem can be greatly optimized and improved, and the method is a key factor for measuring the quality of the control scheme without the sensor. Particularly, when the motor of the fan blade fan is applied, the situation that the motor rotor rotates clockwise or anticlockwise before being started due to external factors or the fact that a user does not stop a switch of a dust collector key can be encountered. Under the condition, the state of the motor needs to be judged through software, and proper measures are taken to enable the motor to be in a state before the motor can normally run, otherwise, the motor can start abnormally or start failure, and the product experience and the company reputation of a user are seriously affected.
Therefore, how to judge the downwind and upwind starting capability of the handheld dust collector is always a problem to be solved by the industry.
Disclosure of Invention
The invention aims to provide a software method for detecting and starting a motor in the forward and reverse directions so as to solve the problems in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: a software method for detecting and starting a motor in the forward and reverse directions comprises the following steps:
s1: detecting the running state of the motor at the initial stage of power-up through counter electromotive force;
s2: if the motor is in the middle-high speed clockwise rotation at this time, the motor is in a middle-high speed clockwise starting state, and the motor directly enters closed-loop operation;
s3: if the motor is in low-speed clockwise rotation at this time, the motor is in a low-speed downwind starting state, and the motor is braked at this time, and is started in a static state after waiting for the motor to completely stop;
s4: if the motor is in a low-medium-high-speed anticlockwise rotation at this moment, the motor is in a low-medium-high-speed upwind starting state, and the motor is braked and stopped after the motor is completely stopped, and is started in a static state.
Preferably, the medium-high speed clockwise rotation in S2: and when the counter electromotive force voltage is larger than a set high-speed voltage threshold value in the counter electromotive force and the counter electromotive force frequency is larger than the frequency of a set closed loop during operation, the motor directly enters the closed loop operation at the starting moment.
Preferably, the low-speed clockwise rotation in S3: and when the counter electromotive force voltage is smaller than a set counter electromotive force low-speed voltage threshold value and the counter electromotive force frequency is smaller than the frequency of a set switching loop during operation, braking the motor at the starting moment, and starting in a static state after the motor is completely static.
Preferably, when the low, medium and high speed counter-clockwise rotation in S4: and when the counter electromotive force frequency is negative, braking the motor at the starting moment, and starting the motor in a static state after the motor is completely static.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention realizes the judgment of the motion state and the direction of the rotor when the motor of the handheld dust collector is started, and adopts different corresponding schemes according to different conditions, so that the influence caused by abnormal rotation of the motor rotor under the condition of no power on due to external factors is reduced to 0, and the starting success rate of the motor is greatly improved.
(2) For a user of the hand-held cleaner, the operation of the switch motor is more irregular and frequent. Through the algorithm, if the switching interval time of the user is very short, the motor is operated at a medium-high speed due to inertia, and is electrified at the moment, the motor directly enters a closed loop to operate, so that the motor transitions more stably without shaking, and the hand feeling experience of the user can be greatly improved; if the interval time from power off to power on is longer, the rotating speed of the motor is lower due to the influence of inertia and friction force, and the motor is powered on at the moment, so that the motor is braked firstly and restarted after the braking, and the transition is stable, and the hand feeling experience of a user is improved.
(3) The forward and reverse wind detection starting algorithm is not only used for a handheld dust collector, but also can be used on fan motors of all fan blades, can show excellent effects, and has wider applicability.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a flow chart of the judgment of the upwind detection start algorithm of the present invention;
FIG. 2 is a diagram of the data of the present invention for the actual application of the upwind detection logic.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
Referring to fig. 1-2, in an embodiment of the present invention, a software method for detecting start-up of a motor in forward and reverse directions includes the following steps:
s1: detecting the running state of the motor at the initial stage of power-up through counter electromotive force;
s2: if the motor is in the middle-high speed clockwise rotation at this time, the motor is in a middle-high speed clockwise starting state, and the motor directly enters closed-loop operation;
s3: if the motor is in low-speed clockwise rotation at this time, the motor is in a low-speed downwind starting state, and the motor is braked at this time, and is started in a static state after waiting for the motor to completely stop;
s4: if the motor is in a low-medium-high-speed anticlockwise rotation at this moment, the motor is in a low-medium-high-speed upwind starting state, and the motor is braked and stopped after the motor is completely stopped, and is started in a static state.
Preferably, the medium-high speed clockwise rotation in S2: and when the counter electromotive force voltage is larger than a set high-speed voltage threshold value in the counter electromotive force and the counter electromotive force frequency is larger than the frequency of a set closed loop during operation, the motor directly enters the closed loop operation at the starting moment.
Preferably, the low-speed clockwise rotation in S3: and when the counter electromotive force voltage is smaller than a set counter electromotive force low-speed voltage threshold value and the counter electromotive force frequency is smaller than the frequency of a set switching loop during operation, braking the motor at the starting moment, and starting in a static state after the motor is completely static.
Preferably, when the low, medium and high speed counter-clockwise rotation in S4: and when the counter electromotive force frequency is negative, braking the motor at the starting moment, and starting the motor in a static state after the motor is completely static.
The principle of braking: by closing three lower bridge arms, the other three upper bridge arms are disconnected to perform short-circuit braking; the kinetic energy of the moving motor rotor at this time forms a braking current in the short-circuit inverter bridge circuit by means of back electromotive force (BEMF), and the motor brakes rapidly.
And (3) algorithm judgment:
(1) when the middle and high speed rotate clockwise: when the counter electromotive force voltage is larger than a set medium-high speed voltage threshold value of the counter electromotive force and the counter electromotive force frequency is larger than the frequency of a set closed loop during operation, the motor directly enters the closed loop to operate at the starting moment;
(2) at low speed clockwise rotation: when the counter electromotive force voltage is smaller than a set counter electromotive force low-speed voltage threshold value and the counter electromotive force frequency is smaller than the frequency of a set switching loop during operation, braking operation is carried out on the motor at the starting moment, and after the motor is completely stationary, stationary starting is carried out;
(3) when the low, medium and high speed anticlockwise rotates: and when the counter electromotive force frequency is negative, braking the motor at the starting moment, and starting the motor in a static state after the motor is completely static.
The algorithm idea is as follows: the rotating speed cannot be obtained directly through the counter electromotive force, but the counter electromotive force voltage and the frequency are in direct proportion to the rotating speed of the rotor; from the back emf formula e=nbsω, it is known that the back emf E is proportional to the angular velocity ω, and ω=2ρn, it is known that the angular velocity ω is proportional to the rotational speed n; and by the formula e=4.44·ke·fn·n·phi, where KE, N, phi are constant values, it is known that the back electromotive force E is proportional to the frequency FN; AD sampling is carried out on the three-phase back electromotive force voltage through a back electromotive force detection circuit to obtain back electromotive force voltage; finally, let motor normal operation, given different speed values, just can obtain corresponding back electromotive force voltage and frequency to confirm and set for suitable judgement threshold value.
The invention realizes the judgment of the motion state and the direction of the rotor when the motor of the handheld dust collector is started, and adopts different corresponding schemes according to different conditions, so that the influence caused by abnormal rotation of the motor rotor under the condition of no power on due to external factors is reduced to 0, and the starting success rate of the motor is greatly improved. Through practical verification, the motor of the handheld dust collector is subjected to a forward and reverse wind start test for about 1 ten thousand times, and the start is smooth and has a start success rate of 100%. For a user of the hand-held cleaner, the operation of the switch motor is more irregular and frequent. Through the algorithm, if the switching interval time of the user is very short, the motor is operated at a medium-high speed due to inertia, and is electrified at the moment, the motor directly enters a closed loop to operate, so that the motor transitions more stably without shaking, and the hand feeling experience of the user can be greatly improved; if the interval time from power off to power on is longer, the rotating speed of the motor is lower due to the influence of inertia and friction force, and the motor is powered on at the moment, so that the motor is braked firstly and restarted after the braking, and the transition is stable, and the hand feeling experience of a user is improved. The forward and reverse wind detection starting algorithm is not only used for a handheld dust collector, but also can be used on fan motors of all fan blades, can show excellent effects, and has wider applicability
The working principle of the invention is as follows: s1: detecting the running state of the motor at the initial stage of power-up through counter electromotive force; s2: if the motor is in the middle-high speed clockwise rotation at this time, the motor is in a middle-high speed clockwise starting state, and the motor directly enters closed-loop operation; s3: if the motor is in low-speed clockwise rotation at this time, the motor is in a low-speed downwind starting state, and the motor is braked at this time, and is started in a static state after waiting for the motor to completely stop;
s4: if the motor is in a low-medium-high-speed anticlockwise rotation at this moment, the motor is in a low-medium-high-speed upwind starting state, and the motor is braked and stopped after the motor is completely stopped, and is started in a static state.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A software method for detecting and starting a motor in the forward and reverse directions is characterized in that: the method comprises the following steps:
s1: detecting the running state of the motor at the initial stage of power-up through counter electromotive force;
s2: if the motor is in the middle-high speed clockwise rotation at this time, the motor is in a middle-high speed clockwise starting state, and the motor directly enters closed-loop operation;
s3: if the motor is in low-speed clockwise rotation at this time, the motor is in a low-speed downwind starting state, and the motor is braked at this time, and is started in a static state after waiting for the motor to completely stop;
s4: if the motor is in a low-medium-high-speed anticlockwise rotation at this moment, the motor is in a low-medium-high-speed upwind starting state, and the motor is braked and is stopped after being completely stopped;
in the step S2, when the medium-high speed clockwise rotation is performed: when the counter electromotive force voltage is larger than a set medium-high speed voltage threshold value of the counter electromotive force and the counter electromotive force frequency is larger than the frequency of a set closed loop during operation, the motor directly enters the closed loop to operate at the starting moment;
in the step S3, when the motor rotates clockwise at a low speed: when the counter electromotive force voltage is smaller than a set counter electromotive force low-speed voltage threshold value and the counter electromotive force frequency is smaller than the frequency of a set switching loop during operation, braking operation is carried out on the motor at the starting moment, and after the motor is completely stationary, stationary starting is carried out;
in the step S4, when the low, medium and high speed anticlockwise rotates: when the counter electromotive force frequency is negative, the motor is braked at the starting moment, and the motor is started in a static state after the motor is completely stopped;
wherein, the back electromotive force voltage and the frequency are in direct proportion to the rotating speed of the rotor; from the back emf formula e=nbsω, it is known that the back emf E is proportional to the angular velocity ω, and ω=2ρn, it is known that the angular velocity ω is proportional to the rotational speed n; and by the formula e=4.44·ke·fn·n·phi, where KE, N, phi are constant values, it is known that the back electromotive force E is proportional to the frequency FN; AD sampling is carried out on the three-phase back electromotive force voltage through a back electromotive force detection circuit to obtain back electromotive force voltage; finally, the motor is enabled to normally run, different speed values are given, corresponding back electromotive force voltage and frequency can be obtained, and accordingly a proper judgment threshold value is determined and set;
the motor is a handheld dust collector motor; through the method, if the interval time of the user switch is very short, the motor is operated at a medium and high speed due to inertia, the motor is electrified at the moment, the motor directly enters into a closed loop for operation, the transition of the motor is more stable and has no shake, if the interval time from power off to power on is longer, the rotating speed of the motor is lower due to the influence of inertia and friction, the motor is electrified at the moment, braking is performed first, and the motor is restarted after the braking, so that the transition is stable.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211082767.4A CN115441802B (en) | 2022-09-06 | 2022-09-06 | Software method for detecting and starting motor in forward and reverse directions |
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| CN202211082767.4A CN115441802B (en) | 2022-09-06 | 2022-09-06 | Software method for detecting and starting motor in forward and reverse directions |
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| CN115441802B true CN115441802B (en) | 2023-12-01 |
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