CN116865634A - Inductive control method and control device for brushless DC motor - Google Patents
Inductive control method and control device for brushless DC motor Download PDFInfo
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- CN116865634A CN116865634A CN202310872853.3A CN202310872853A CN116865634A CN 116865634 A CN116865634 A CN 116865634A CN 202310872853 A CN202310872853 A CN 202310872853A CN 116865634 A CN116865634 A CN 116865634A
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- 230000001939 inductive effect Effects 0.000 title description 4
- 238000000819 phase cycle Methods 0.000 claims abstract description 58
- 238000001514 detection method Methods 0.000 claims description 11
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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
- 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
- H02P29/025—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a power interruption
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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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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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
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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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
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The application provides a sensorial control method of a brushless direct current motor, wherein a control module acquires Hall signals when the motor operates, records and stores jump edges of the Hall signals and phase change time of adjacent phase sequences, and outputs processed PWM signals; the three-phase full-bridge inverter circuit controls the motor to operate according to the PWM signal output by the control module; when a certain phase failure occurs in the motor, the control module determines the phase failure phase through the Hall signal, when the jump edge of the Hall signal of the phase prior to the phase failure phase is detected, the phase is directly changed to the current phase failure phase, then the predicted phase change is carried out according to the phase change time of the adjacent phase sequence recorded before, and the predicted phase change is carried out, so that the phase is switched to the measurable phase of the Hall signal.
Description
Technical Field
The application belongs to the field of motor control, and particularly relates to a sensorless control method and a sensorless control device for a brushless direct current motor.
Background
Brushless direct current (BLDC) motors have the characteristics of small size, high efficiency, low noise, low loss and the like, and are increasingly widely applied to the fields of small electric tools, intelligent home furnishings, medical equipment and the like.
The current control method of BLDC can be divided into sensorless control and sensorless control. In the running process of the BLDC motor controlled by the sensor, feedback signals in a control loop, such as Hall signals, are lost due to the conditions of electrical aging, external interference or line loosening and the like, so that phase failure is caused. When the phase failure occurs, the current can be increased, the motor shakes, and the circuit burnout condition can occur under serious conditions.
In the prior art, there is a method of judging whether a phase is lost by comparing a real-time phase voltage with a set voltage and recording a count of a comparison result.
There is also a scheme in which the BLDC motor is normally turned on in a six-phase twelve-state, and is turned on in a three-phase six-state manner after a phase failure occurs, so as to realize that the motor is guaranteed to operate stably while the phase failure is detected, but the motor is required to have two sets of three-phase stator windings.
Therefore, it is necessary to provide a BLDC motor phase loss control device and control method with high precision and wider application range.
Disclosure of Invention
In order to solve the problems in the prior art, the application provides a sensorless control method and a motor control device for a brushless direct current motor.
The application solves the problems existing in the prior art by using the following technical scheme:
a sensing control method for a brushless direct current motor comprises the following steps:
the control module acquires a Hall signal when the motor operates, records and stores a jump edge of the Hall signal and phase change time of an adjacent phase sequence, and outputs a processed PWM signal;
the three-phase full-bridge inverter circuit controls the motor to operate according to the PWM signal output by the control module;
when a certain phase failure occurs in the motor, the control module determines the phase failure phase through the Hall signal, when the jump edge of the Hall signal of the phase prior to the phase failure phase is detected, the phase is directly changed to the current phase failure phase, then the phase is predicted and changed according to the phase change time of the adjacent phase sequence recorded before, and the phase is switched to the measurable phase of the Hall signal.
Further, the control module comprises a processor, a Hall signal capturing unit, a PWM signal output unit, a six-step phase-change unit and an H-bridge control unit.
Further, the Hall signal capturing unit is used for capturing a motor Hall signal and sending the motor Hall signal to the processor;
the processor is preset with configuration information of each unit in the control module, and the configuration information comprises: the PWM output unit outputs the frequency and the duty ratio of the signal; in the six-step phase change unit, the PWM modulation mode corresponding to each phase change state and the jump edge of the input signal corresponding to the phase change are detected; the Hall signal capturing unit captures signal polarity; an initialization output in the H-bridge control unit; when interruption occurs, the operation to be executed in the interruption task is entered;
the processor is used for judging the current phase of the motor according to the received Hall signal and sending the current phase information to the six-step phase-changing unit; the six-step phase change unit records and stores the phase change time of the adjacent phase sequence,
the six-step phase change unit outputs PWM modulation signals conforming to the current phase sequence to the H bridge control unit according to the received current phase information;
the PWM signal output unit is used for outputting PWM signals to the H-bridge control unit according to the pre-configuration;
the H-bridge control unit is used for completing mode configuration according to the PWM modulation signals sent by the six-step phase conversion unit, and outputting six paths of PWM signals to the three-phase full-bridge inverter circuit by taking the PWM signals output by the PWM signal unit as input sources;
the three-phase full-bridge inverter circuit is used for controlling the motor to operate according to the received six paths of PWM signals.
Further, when the phase loss occurs, the processor judges the phase loss phase according to the Hall signal captured by the Hall signal capturing unit; the processor detects rising edges and falling edges of a phase preceding the open-phase, controls the six-step phase-change unit according to a pre-configured program after detecting the jump edges of the phase preceding the open-phase, switches the phase sequence to the current open-phase sequence, sends a new PWM (pulse width modulation) control signal to the H-bridge control unit, and outputs a PWM signal matched with the current open-phase sequence; simultaneously, the six-step phase-change unit starts to count, when the counting time meets the phase-change time of the adjacent phase sequence stored by the six-step phase-change unit before, the processor controls the six-step phase-change unit to output a forced phase-change signal and a PWM (pulse-width modulation) signal to the H bridge control unit, outputs a new PWM signal to the three-phase full-bridge inverter circuit, and simultaneously, the six-step phase-change unit switches the phase sequence state from the phase-missing phase sequence to the next phase sequence of the phase-missing phase sequence; when the open phase persists, the above process is repeated.
Further, the method for judging the phase loss phase by the processor according to the Hall signal captured by the Hall signal capturing unit is that the Hall signal capturing unit generates an interrupt once when capturing the jump edge; the processor records an interrupt signal, when a certain phase failure occurs, the level of the phase failure phase does not jump, and the processor judges the specific phase failure phase according to the interrupt signal recorded before.
The application also provides a motor control device using the sensorless control method of the brushless direct current motor, which comprises a processor, a Hall signal capturing unit, a PWM signal output unit, a six-step phase-changing unit, an H-bridge control unit, a three-phase full-bridge inverter circuit and a Hall detection circuit, wherein the Hall signal capturing unit is used for detecting the phase change of the motor;
the output end of the Hall sensor of the motor is connected with the input end of the Hall detection circuit, the input end of the Hall signal capturing unit is connected with the output end of the Hall detection circuit, and the output end of the Hall signal capturing unit is connected with the processor;
the output end of the processor is respectively connected with the input end of the PWM signal output unit, the input end of the six-step phase-change unit and the input end of the H bridge control unit;
the first input end of the H bridge control unit is connected with the output end of the PWM signal output unit; the second input end of the H bridge control unit is connected with the output end of the six-step phase change unit;
the output end of the H-bridge control unit is connected with the input end of the three-phase full-bridge inverter circuit;
the output end of the three-phase full-bridge inverter circuit is connected with the motor.
Further, the PWM signal output unit is a timer.
Compared with the prior art, the technical scheme of the application has the advantages that:
when the motor is in open phase in the inductive operation process, the motor can still normally operate without stopping the motor;
open-phase detection and forced commutation based on inductive control improve the accuracy of motor control.
Drawings
Fig. 1 is a basic flowchart of a sensorless control method for a brushless dc motor according to an embodiment of the present application.
Fig. 2 is a basic structural diagram of a motor control device according to an embodiment of the present application.
Fig. 3 is a schematic diagram of hall signal change in a sensing control method of a brushless dc motor according to an embodiment of the present application.
Description of the embodiments
The present application will be further described by the following detailed description and the accompanying drawings.
The control method of the brushless direct current motor (BLDC) can be classified into a sensorless control and a sensorless control. In the sensory control method, a photoelectric encoder or a hall sensor is generally used as the sensor. The sensor used by the brushless direct current motor is a Hall sensor.
The change rule of the hall signal is that the interval between rising edge jump or falling edge jump of every adjacent two phases is 120 degrees of electric angle time, the level duration of each phase sequence is 180 degrees of electric angle time, and the output has six kinds of changes according to the sequence of HALLU, HALLV, HALLW: 001. 101, 100, 110, 010, 011, and after finishing, six phase sequences of HALL1, HALL5, HALL4, HALL6, HALL2, and HALL3 are used. According to the change rule between the six phase sequences, it can be seen that there is always a phase level jump when every two phase sequences change, for example, there is a jump of the rising edge of HALLV when HALL4 is switched to HALL6, and there is a jump of the rising edge of HALLW when HALL2 is switched to HALL 3.
When the HALU phase failure occurs, the three-phase level signals are as follows: 001. 001, 000, 010, 011; when the HALV phase loss occurs, the three-phase level signals are as follows: 001. 101, 100, 000, 001; when the HALW phase loss occurs, the three-phase level signal is: 000. 100, 110, 010. When the phase loss is observed, the level change can find that the same level signal exists in the six phase sequences during the phase loss, so that the phase sequence can not be switched by utilizing the change of the jump edge, and therefore, the Hall signal during the phase loss needs to be processed, and the motor can still normally operate in the phase loss state. The embodiment of the application provides a sensorless control method of a brushless direct current motor, wherein a control module acquires a Hall signal when the motor operates, records and stores a jump edge of the Hall signal and phase change time of adjacent phase sequences, and outputs a processed PWM signal;
the three-phase full-bridge inverter circuit controls the motor to operate according to the PWM signal output by the control module;
when a certain phase failure occurs in the motor, the control module determines the phase failure phase through the Hall signal, and when the jump edge of the Hall signal of the phase preceding the phase failure phase is detected, the control module switches to the phase failure phase sequence; according to the previously recorded phase change time of the adjacent phase sequence, the six-step phase change unit starts to count, and after the count value reaches the previously stored phase change time, the phase is directly changed to the next phase of the open-phase.
In one embodiment, the control module further comprises a processor, a hall signal capturing unit, a PWM signal output unit, a six-step commutation unit, and an H-bridge control unit.
As shown in fig. 1, the sensing control method of the brushless direct current motor comprises the following specific steps:
the Hall signal capturing unit captures a Hall signal of the motor and sends the Hall signal to the processor;
the processor is preset with configuration information of each unit in the control module, and the configuration information comprises: the PWM output unit outputs the frequency and the duty ratio of the signal; in the six-step phase change unit, the PWM modulation mode corresponding to each phase change state and the jump edge of the input signal corresponding to the phase change are detected; the Hall signal capturing unit captures signal polarity; an initialization output in the H-bridge control unit; when interruption occurs, the operation to be executed in the interruption task is entered;
the processor judges the current phase of the motor according to the received Hall signal and sends the current phase information to the six-step phase-changing unit; the six-step phase change unit records and stores the phase change time of the adjacent phase sequence;
the six-step phase change unit outputs PWM modulation signals conforming to the current phase sequence to the H bridge control unit according to the received current phase information;
the PWM signal output unit is used for outputting PWM signals to the H-bridge control unit according to the pre-configuration;
the H bridge control unit is used for completing mode configuration according to the PWM modulation signals sent by the six-step phase-change unit, namely determining a PWM output mode of upper tube modulation lower tube constant opening, upper tube constant opening lower tube or complementary modulation according to the PWM modulation signals output by the six-step phase-change unit; meanwhile, the H-bridge control unit takes the PWM signals output by the PWM signal unit as input sources, and outputs six paths of PWM signals to the three-phase full-bridge inverter circuit according to mode configuration;
the three-phase full-bridge inverter circuit is used for controlling the motor to operate according to the received six paths of PWM signals.
When the phase loss occurs, the processor judges the phase loss phase according to the Hall signal captured by the Hall signal capturing unit, the basis is that the Hall signal capturing unit generates an interrupt once when capturing a jump edge, the processor records an interrupt signal, when the phase loss occurs, the level of the phase loss phase does not jump, and the processor can judge the specific phase loss phase according to the interrupt signal recorded before;
after determining a specific open-phase, the processor detects the rising edge and the falling edge of the phase before the open-phase, after detecting the jump edge of the phase before the open-phase, the processor controls the six-step phase-changing unit according to a pre-configured program, switches the phase sequence to the current open-phase sequence, sends a new PWM (pulse width modulation) control signal to the H-bridge control unit, and outputs a PWM signal matched with the current open-phase sequence; simultaneously, the six-step phase change unit starts to count, when the counting time meets the phase change time of the adjacent phase sequence stored by the six-step phase change unit, the processor controls the six-step phase change unit to output a forced phase change signal and a PWM modulation signal to the H-bridge control unit, and outputs a new PWM signal to be sent to the three-phase full-bridge inverter circuit, and meanwhile, the six-step phase change unit switches the phase sequence state from the phase-missing phase sequence to the next phase sequence of the phase-missing phase sequence; when the open phase persists, the above process is repeated.
In one embodiment, when a HALLW open phase occurs, the three phase level signal is: 000. 100, 110, 010, always low; meanwhile, the processor continuously detects the rising edge or the falling edge of the HALW previous phase HALLU, controls the six-step phase-change unit according to a pre-configured program after detecting the corresponding jump edge, switches the phase sequence to the current HALW phase-missing phase sequence, sends a corresponding new PWM modulation control signal to the H bridge control unit, and outputs a PWM signal matched with the HALW phase-missing sequence; the six-step commutation unit starts counting; when the counting time reaches the phase change time between the V phase and the U phase adjacent jump edges saved by the processor, the phase change time is considered to be satisfied, the jump edges of the HALLW are not detected, the processor controls the six-step phase change unit to output a forced phase change signal and a PWM modulation signal to the H bridge control unit, a new PWM signal is output to the three-phase full-bridge inverter circuit, and the motor is controlled to directly change the phase to the phase sequence corresponding to the HALLV; the above process is repeated while the HALLW continues to open phase.
In one embodiment, when a HALLV open phase occurs, the three phase level signal is: 001. 101, 100, 000, 001, all the time low; meanwhile, the processor continuously detects the rising edge or the falling edge of the HALW of the previous HALV phase, after detecting the corresponding jump edge, the processor controls the six-step phase-change unit according to a pre-configured program, switches the phase sequence to the current HALV phase-missing phase sequence, sends a corresponding new PWM modulation control signal to the H bridge control unit, and outputs a PWM signal matched with the HALV phase-missing sequence; the six-step commutation unit starts counting; when the counting time reaches the phase change time between the adjacent jump edges of the W phase and the U phase saved by the processor, the phase change time is considered to be satisfied, the jump edges of the HALLV are not detected, the processor controls the six-step phase change unit to output a forced phase change signal and a PWM modulation signal to the H bridge control unit, and outputs a new PWM signal to the three-phase full-bridge inverter circuit to control the motor to directly change the phase to the phase sequence corresponding to the HALLU; the above process is repeated while the HALLV continues to open phase.
In one embodiment, when a HALLU phase loss occurs, the three-phase level signal is: 001. 001, 000, 010, 011, all the time low; meanwhile, the processor continuously detects the rising edge or the falling edge of the HALLU of the previous phase, after detecting the corresponding jump edge, the processor controls the six-step phase change unit according to a pre-configured program, switches the phase sequence to the current HALLU phase-missing phase sequence, sends a corresponding new PWM modulation control signal to the H-bridge control unit, and outputs a PWM signal matched with the HALLU phase-missing sequence; the six-step commutation unit starts counting; when the counting time reaches the phase change time between the adjacent jump edges of the W phase and the V phase saved by the processor, the phase change time is considered to be satisfied, the jump edges of the HALW are not detected, the processor controls the six-step phase change unit to output a forced phase change signal and a PWM modulation signal to the H bridge control unit, and outputs a new PWM signal to the three-phase full-bridge inverter circuit to control the motor to directly change the phase to the phase sequence corresponding to the HALW; the above process is repeated while the HALLU is continuously open-phased.
In one embodiment, as shown in fig. 2, the application provides a motor control device using the sensorial control method of the brushless dc motor, which comprises a processor 002, a hall signal capturing unit 001, a PWM signal output unit 003, a six-step phase-change unit 004, an H-bridge control unit 005, a three-phase full-bridge inverter circuit 006, and a hall detection circuit 008, wherein the three-phase full-bridge inverter circuit 006 and the hall detection circuit 008 form a driving circuit, the motor control device obtains hall signals when the motor 007 operates, and when the motor 007 is in phase failure, the motor 007 is controlled to forcedly change phase, so that the motor 007 can still operate normally in the phase failure.
The Hall signal capturing unit 001 is a timer with capturing and comparing functions; the input end of the Hall signal capturing unit 001 is connected with the motor 007 through a Hall detection circuit 008, and the output end of the Hall signal capturing unit 001 is connected with the processor 002 through a data bus; the processor 002 is a processor chip, on which the configuration information of each unit of the control module is burned in advance, and the output end of the processor 002 is respectively connected with the input end of the PWM signal output unit 003, the input end of the six-step commutation unit 004, the third input end of the H-bridge control unit 005, and the input end of the hall signal capturing unit 001; the PWM signal output unit 003 is a timer, and the six-step commutation unit 004 is a circuit module integrating a timing counting function and a six-step commutation algorithm; a first input end of the H-bridge control unit 005 is connected with an output end of the PWM signal output unit 003; the second input end of the H-bridge control unit 005 is connected with the output end of the six-step phase-change unit 004; the output end of the H-bridge control unit 005 is connected with the input end of the three-phase full-bridge inverter circuit 006; the output terminals of the three-phase full-bridge inverter circuit 006 are connected to the motor 007.
After the motor control device is electrified, the Hall signal capturing unit 001 acquires a Hall signal of the position of the motor rotor through the Hall monitoring detection circuit 008 and sends the Hall signal to the processor 002; the processor 002 calculates the current phase sequence of the motor according to the current Hall signal, and outputs the PWM signal corresponding to the current phase sequence by configuring the initial values of the PWM signal output unit 003, the six-step phase change unit 004 and the H bridge control unit 005, so that the motor is started and runs in an open loop.
In the running process of the motor, the Hall signal capturing unit 001 continuously detects the change of the Hall signal, and the processor 002 controls the signals corresponding to the PWM signal output unit 003 and the six-step phase-change unit 004 to the H-bridge control unit 005 according to the Hall signal sent by the Hall signal capturing unit 001; the first end of the H-bridge control unit 005 is connected with the PWM signal output unit 003, the second end is connected with the output end of the six-step phase-change unit 004, the PWM output is determined to be in an upper-tube modulation lower-tube constant-opening modulation or complementary modulation mode according to the PWM modulation mode output by the six-step phase-change unit 004, and six paths of PWM signals are output to control the three-phase full-bridge inverter circuit 006 to act to output three-phase voltage signals to control the motor 007 to operate.
When the HALU phase loss occurs, the three-phase level signal is: 001. 001, 000, 010, 011, all the time low; at this time, the processor 002 continuously detects the rising edge or the falling edge of the previous HALLV of the HALLU, and after detecting the corresponding jump edge, the processor 002 controls the six-step phase-change unit 004 according to the preconfigured program, switches the phase sequence to the current HALLU phase-missing phase sequence, and sends the corresponding new PWM modulation control signal to the H-bridge control unit 005, and outputs the PWM signal matched with the HALLU phase-missing sequence; the six-step commutation unit 004 starts counting; when the counting time reaches the phase change time between the adjacent jump edges of the W phase and the V phase saved by the processor, namely the phase change time is considered to be satisfied, the jump edges of the HALW are not detected, the processor 002 controls the six-step phase change unit 004 to output a forced phase change signal and a PWM modulation signal to the H bridge control unit 005, and outputs a new PWM signal to the three-phase full-bridge inverter circuit 006, so that the motor 007 is controlled to directly change the phase to the phase sequence corresponding to the HALW; the above process is repeated while the HALLU is continuously open-phased. The above examples are merely illustrative and explanatory of the technical aspects of the present application, and the specific embodiments of the present application should not be construed as being limited to these illustrations. It is apparent to those skilled in the art that the present application can be simply deduced or replaced without departing from the spirit of the present application, and the present application still falls within the scope of the technical scheme.
Claims (7)
1. A sensing control method of a brushless DC motor is characterized in that,
the control module acquires a Hall signal when the motor operates, records and stores a jump edge of the Hall signal and phase change time of an adjacent phase sequence, and outputs a processed PWM signal;
the three-phase full-bridge inverter circuit controls the motor to operate according to the PWM signal output by the control module;
when a certain phase failure occurs in the motor, the control module determines the phase failure phase through the Hall signal, when the jump edge of the Hall signal of the phase prior to the phase failure phase is detected, the phase is directly changed to the current phase failure phase, then the phase is predicted and changed according to the phase change time of the adjacent phase sequence recorded before, and the phase is switched to the measurable phase of the Hall signal.
2. The sensorless control method of a brushless dc motor of claim 1, wherein the control module includes a processor, a hall signal capturing unit, a PWM signal output unit, a six-step commutation unit, and an H-bridge control unit.
3. The method for sensorless control of a brushless DC motor according to claim 2,
the Hall signal capturing unit is used for capturing a motor Hall signal and sending the motor Hall signal to the processor;
the processor is preset with configuration information of each unit in the control module; the processor is used for judging the current phase of the motor according to the received Hall signal and sending the current phase information to the six-step phase change unit;
the six-step phase change unit records and stores the time between two adjacent jump edges according to the jump of the Hall signal, and the time is used as phase change time; the six-step phase change unit outputs PWM modulation signals conforming to the current phase sequence to the H-bridge control unit according to the received current phase information;
the PWM signal output unit is used for outputting PWM signals to the H-bridge control unit according to the pre-configuration;
the H-bridge control unit is used for completing mode configuration according to the PWM modulation signals sent by the six-step phase-change unit, and outputting six paths of PWM signals to the three-phase full-bridge inverter circuit by taking the PWM signals output by the PWM signal output unit as input sources;
the three-phase full-bridge inverter circuit is used for generating three-phase sine waves to control the operation of the motor according to the received six paths of PWM signals.
4. The sensorless control method of a brushless dc motor as claimed in claim 3, wherein the processor judges a phase loss according to the hall signal captured by the hall signal capturing unit when the phase loss occurs; the processor detects rising edges and falling edges of a phase preceding the open-phase, controls the six-step phase-change unit according to a pre-configured program after detecting the jump edges of the phase preceding the open-phase, switches the phase sequence to the current open-phase sequence, sends a new PWM (pulse width modulation) control signal to the H-bridge control unit, and outputs a PWM signal matched with the current open-phase sequence; simultaneously, the six-step phase-change unit starts to count, and when the counting time meets the phase-change time of the adjacent phase sequence stored by the six-step phase-change unit, the processor controls the six-step phase-change unit to output a forced phase-change signal and a PWM (pulse-Width modulation) signal to the H bridge control unit; the H-bridge control unit outputs a new PWM signal to the three-phase full-bridge inverter circuit, and the six-step phase-change unit switches the phase sequence state from the phase-missing phase sequence to the next phase sequence of the phase-missing phase sequence; when the open phase persists, the above process is repeated.
5. The method for controlling the inductance of a brushless direct current motor according to claim 4, wherein the processor judges the phase loss according to the hall signal captured by the hall signal capturing unit, and the hall signal capturing unit generates an interrupt once when capturing a jump edge; the processor records an interrupt signal, when a certain phase loss occurs, the level of the phase loss phase does not jump, and the processor judges the specific phase loss phase according to the interrupt signal recorded before.
6. A motor control device using the sensorless control method of the brushless dc motor according to any one of claims 1 to 5, comprising a processor, a hall signal capturing unit, a PWM signal output unit, a six-step commutation unit, an H-bridge control unit, a three-phase full-bridge inverter circuit, and a hall detection circuit;
the input end of the Hall detection circuit is connected with the output end of the motor Hall sensor, and the output end of the Hall detection circuit is connected with the input end of the Hall signal capturing unit;
the output end of the Hall signal capturing unit is connected with the input end of the processor;
the output end of the processor is respectively connected with the input end of the PWM signal output unit, the input end of the six-step phase-change unit and the third input end of the H bridge control unit;
the first input end of the H-bridge control unit is connected with the output end of the PWM signal output unit; the second input end of the H-bridge control unit is connected with the output end of the six-step phase-change unit;
the output end of the H-bridge control unit is connected with the input end of the three-phase full-bridge inverter circuit;
and the output end of the three-phase full-bridge inverter circuit is connected with the motor.
7. The motor control device according to claim 6, wherein the PWM signal output unit is a timer.
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| CN202310872853.3A CN116865634A (en) | 2023-07-17 | 2023-07-17 | Inductive control method and control device for brushless DC motor |
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