CN117375335B - Method for adjusting line sequence of Hall sensor by motor, control device and BLDC motor - Google Patents
Method for adjusting line sequence of Hall sensor by motor, control device and BLDC motor Download PDFInfo
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- CN117375335B CN117375335B CN202311678762.2A CN202311678762A CN117375335B CN 117375335 B CN117375335 B CN 117375335B CN 202311678762 A CN202311678762 A CN 202311678762A CN 117375335 B CN117375335 B CN 117375335B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/0006—Disassembling, repairing or modifying dynamo-electric machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/18—Indicating phase sequence; Indicating synchronism
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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Abstract
The invention discloses a method for adjusting a line sequence of a Hall sensor by a motor, a control device and a BLDC motor. The method for adjusting the line sequence of the Hall sensor by the motor comprises the following steps: partitioning a rotation plane of a motor rotor according to a preset rule to obtain six areas, and generating preset Hall sensor data corresponding to each area; rotating the motor rotor into a preset region, controlling the motor rotor to rotate for one circle, and acquiring Hall sensor data when the motor rotor passes through each region; and determining the line sequence of each Hall sensor according to the sequentially acquired plurality of Hall sensor data and the plurality of preset Hall sensor data. According to the invention, the motor rotor is rotated for one circle to obtain the data of the plurality of Hall sensors, and the line sequence of each Hall sensor is adjusted to enable the adjusted data of the plurality of Hall sensors to be equal to the data of the plurality of preset Hall sensors, so that the aim of completing motor debugging under the condition that three-phase Hall sensor lines and three-phase power lines are randomly connected is fulfilled.
Description
Technical Field
The invention relates to the field of motors, in particular to a method for adjusting a line sequence of a Hall sensor by a motor, a control device and a BLDC motor.
Background
The three-phase BLDC (Brushless Direct Current Motor) motor is a dc brushless motor, the rotor of the BLDC motor is a permanent magnet, the rotor is rotated by changing the direction of a magnetic field generated by surrounding coils, and the rotation of the rotor is controlled by controlling the direction and magnitude of current to the coils. BLDC motors often employ six-step commutation control, wherein three-phase power lines and three hall sensors are required to be in one-to-one correspondence to correctly drive a circuit, and each phase is controlled to generate a magnetic field to control rotation of the rotor after detecting the position of the rotor by the hall sensors.
In actual commissioning work, the power lines of many motors and the line sequence of the hall sensor lines are unknown. In the prior art, the correct wire sequence is obtained by continuously adjusting the wire sequence of the power wire or the wire sequence of the Hall sensor. Either way requires continuous attempts and takes a long time.
Disclosure of Invention
The invention mainly aims to provide a method for adjusting the line sequence of a Hall sensor by a motor, which aims to improve the efficiency of motor debugging.
In order to achieve the above object, the present invention provides a method for adjusting a line sequence of a hall sensor of a motor, the method comprising:
partitioning a rotation plane of a motor rotor according to a preset rule to obtain six areas, and generating preset Hall sensor data corresponding to each area; wherein, the preset rule is: determining a preset line sequence of a three-phase Hall sensor line corresponding to a motor three-phase power line according to the motor three-phase power line, and dividing a position of the Hall sensor data unchanged into an area when a motor rotor rotates;
rotating the motor rotor into preset areas, controlling the motor rotor to rotate for one circle, and acquiring Hall sensor data when the motor rotor passes through each area;
according to the sequentially acquired multiple Hall sensor data and multiple preset Hall sensor data, adjusting the line sequence of each Hall sensor;
the step of determining the line sequence of each Hall sensor specifically comprises the following steps of:
determining whether first hall sensor data in the plurality of hall sensor data are equal to first preset hall sensor data in the plurality of preset hall sensor data or not, and obtaining a first determination result;
According to a first determination result, adjusting the line sequence of each Hall sensor, and obtaining a plurality of Hall sensor data after line sequence adjustment so that the first Hall sensor data in the plurality of Hall sensors is equal to the first preset Hall sensor data;
determining whether second Hall sensor data in the plurality of Hall sensor data after the line sequence adjustment are equal to second preset Hall sensor data in the plurality of preset Hall sensor data or not, and obtaining a second determination result;
according to the second determination result, the line sequence of each Hall sensor is adjusted, and a plurality of Hall sensor data after line sequence modification is obtained, so that the plurality of Hall sensor data are equal to the plurality of preset Hall sensor data; or,
the step of determining the line sequence of each Hall sensor specifically comprises the following steps of:
inverting the first Hall sensor data in the plurality of Hall sensors, determining whether the inverted data is equal to the first preset Hall sensor data in the plurality of preset Hall sensor data, and obtaining a third determination result;
According to the third determination result, the line sequence of each Hall sensor is adjusted, and a plurality of Hall sensor data with changed line sequence are obtained, so that the value of the first Hall sensor data in the plurality of Hall sensor data after being inverted is equal to the first preset Hall sensor data;
inverting the second Hall sensor data in the plurality of Hall sensor data after the line changing, and determining whether the inverted data is equal to the second Hall sensor data in the plurality of preset Hall sensor data or not to obtain a fourth determination result;
and adjusting the line sequence of each Hall sensor according to the fourth determination result, and obtaining a plurality of Hall sensor data after changing the line sequence so as to make the plurality of Hall sensor data equal to the plurality of preset Hall sensor data.
Optionally, the step of generating the preset hall sensor data corresponding to each area specifically includes:
the output values of the three Hall sensors are formed into a three-bit binary number according to the preset line sequence;
and respectively obtaining the values of the three-bit binary numbers when the rotor is in the six areas, and taking the values as preset Hall sensor data corresponding to the areas.
Optionally, the step of rotating the motor rotor into the preset area specifically includes:
and switching on two power lines in the three-phase power lines of the motor so as to enable the motor rotor to rotate into a corresponding area.
Optionally, the step of controlling the motor rotor to rotate for one circle and acquiring the hall sensor data when the motor rotor passes through each region specifically includes:
the motor power lines are conducted in a preset sequence in a pairwise conduction mode, so that the rotor rotates for one circle;
hall sensor data is recorded as the motor rotor passes each of the zones separately during one revolution of the rotor.
Optionally, the step of adjusting the line sequence of each hall sensor according to the first determination result specifically includes:
when the first Hall sensor data is not equal to the first preset Hall sensor data, adjusting the line sequence of each Hall sensor so that the first Hall sensor data after line sequence adjustment is equal to the first preset Hall sensor data;
when the first Hall sensor data is equal to the first preset Hall sensor data, not adjusting the line sequence of each Hall sensor;
The adjusting the line sequence of each hall sensor according to the second determination result includes:
when the second Hall sensor data is not equal to the second preset Hall sensor data, adjusting the line sequence of each Hall sensor so that the second Hall sensor data after line sequence adjustment is equal to the second preset Hall sensor data;
and when the second Hall sensor data is equal to the second preset Hall sensor data, not adjusting the line sequence of each Hall sensor.
Optionally, the adjusting the line sequence of each hall sensor according to the third determination result includes:
when the data after the data of the first Hall sensor is inverted is not equal to the data of the first preset Hall sensor, the line sequence of each Hall sensor is adjusted so that the data after the data of the first Hall sensor is inverted after the line sequence is adjusted is equal to the data of the first preset Hall sensor;
when the data after the data of the first Hall sensor is inverted is equal to the data of the first preset Hall sensor, the line sequence of each Hall sensor is not adjusted;
The adjusting the line sequence of each hall sensor according to the fourth determination result includes:
when the data after the second Hall sensor data is inverted is not equal to the second preset Hall sensor data, adjusting the line sequence of each Hall sensor so that the data after the second Hall sensor data after the line sequence is adjusted is equal to the second preset Hall sensor data;
and when the data after the data of the second Hall sensor is inverted is equal to the data of the second preset Hall sensor, not adjusting the line sequence of each Hall sensor.
The invention also proposes a control device comprising:
a memory;
a processor; the method comprises the steps of,
and the motor Hall sensor line sequence adjusting program is stored on the memory and executed by the processor, and when the motor Hall sensor line sequence adjusting program is executed by the processor, the motor Hall sensor line sequence adjusting method is realized.
The invention also provides a BLDC motor, which comprises the control device.
The invention provides a method for adjusting a line sequence of a Hall sensor by a motor, a control device and a BLDC motor. The method comprises the following steps: partitioning a rotation plane of a motor rotor according to a preset rule to obtain six areas, and generating preset Hall sensor data corresponding to each area; wherein, the preset rule is: determining a preset line sequence of a three-phase Hall sensor line corresponding to a motor three-phase power line according to the motor three-phase power line, and dividing a position of the Hall sensor data unchanged into an area when a motor rotor rotates; rotating the motor rotor into preset areas, controlling the motor rotor to rotate for one circle, and acquiring Hall sensor data when the motor rotor passes through each area; and determining the line sequence of each Hall sensor according to the sequentially acquired plurality of Hall sensor data and the plurality of preset Hall sensor data. According to the invention, the motor rotor is rotated for one circle to obtain the data of the plurality of Hall sensors, and the line sequence of each Hall sensor is adjusted to enable the adjusted data of the plurality of Hall sensors to be equal to the data of the plurality of preset Hall sensors, so that the motor can be driven correctly, and the aim of completing motor debugging under the condition of improving the random connection of the three-phase Hall sensor lines and the three-phase power lines is fulfilled.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a method for adjusting a Hall sensor line sequence of a motor according to the present invention;
FIG. 2 is a flow chart of another embodiment of a method for adjusting a line sequence of a Hall sensor of a motor according to the present invention; FIG. 3 is a flow chart of a method for adjusting the line sequence of a Hall sensor of a motor according to another embodiment of the present invention;
FIG. 4 is a flow chart of a method for adjusting the line sequence of a Hall sensor for a motor according to another embodiment of the present invention;
FIG. 5 is a flow chart of a method for adjusting the line sequence of a Hall sensor of a motor according to another embodiment of the present invention;
FIG. 6 is a schematic diagram showing a three-phase stator and three Hall sensors according to an embodiment of a method for adjusting a line sequence of Hall sensors of a motor according to the present invention;
fig. 7 is a schematic view illustrating a rotor plane area division of an embodiment of a method for adjusting a line sequence of a hall sensor of a motor according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
A BLDC motor with hall sensor typically employs six-step commutation control. The three-phase power lines A, B and C are in one-to-one correspondence with the three-phase Hall lines HA, HB and HC, otherwise abnormal motor driving occurs, and in actual work, the line sequence of the power lines and the Hall sensor lines of a plurality of motors is unknown, and the line sequence of the Hall sensor lines matched with the power lines of the motors is required to be continuously tried to be obtained; in addition, since the industry is not standard for the order of the wire sequence, the definition of the wire sequence by the motor manufacturer may not be consistent with the definition of the drive. This often requires a hardware connection to continually try different wire orders or to modify the software drive to accommodate different motors, which is inefficient.
The BLDC six-step phase-change control is to judge the current position of a motor rotor according to the level of three Hall sensors, and conduct two phases in a three-phase power line after determining the position, so that the rotor obtains a torque in a certain direction, and simultaneously the magnitude of the torque is controlled through the PWM duty ratio of the two phases, so that the BLDC motor is controlled to run according to a given target, wherein the target can be the position, the speed and the torque.
In actual use, the high and low levels output by the three hall sensors under the action of the motor rotor form a three-bit binary number which is the hall sensor data of the motor rotor at the position. The three-bit binary number comprises three Hall sensors, wherein a zero bit, a first bit and a second bit in the three-bit binary number are respectively in one-to-one correspondence with the three Hall sensors, and the line sequence of the Hall sensors is the correspondence between the high and low levels output by the three Hall sensors and the digits in the three-bit binary number. In the motor, three hall sensors correspond to three stator windings of the motor, and the mounting positions of the three hall sensors are fixed. The three-phase power line control device comprises a motor, a control device, a three-phase power line control device and a three-phase power line control device, wherein the three-phase power line control device is connected with the motor through wires of three Hall sensors, the control device forms a three-bit binary number from high and low levels output by the three Hall sensors, and the three-phase power line control device can adjust the energizing condition of the three-phase power line according to the three-bit binary number to operate the motor; the control means may be a drive of the motor. Under the condition that the motor normally operates, three binary numbers consisting of high and low levels are output by the three Hall sensors to correctly reflect the operation condition of the motor rotor, namely, the Hall sensor data correctly reflect the operation condition of the rotor, so that the motor can normally operate. The control device can determine the line sequence of each Hall sensor through the positions of the ports respectively connected with the three Hall sensor lines, and in all the connection states of the three Hall sensor lines and the three ports, only one connection state enables the Hall sensor data to correctly reflect the running condition of the motor rotor, and the motor can be normally driven; in other connection states, the motor cannot be driven normally.
Because the Hall sensor data is a three-bit binary number, the line sequence of each Hall sensor is changed to change the Hall sensor data, so that the operating position of a motor rotor is correctly reflected after the line sequence of the Hall sensor data consisting of high and low levels output by the improperly connected Hall sensor lines is changed, and the purpose of correctly driving the motor can be achieved by changing the line sequence of the Hall sensors under the condition that the three-phase power line and the three-phase Hall sensor line of the motor are randomly connected, and the motor debugging efficiency is improved.
The invention provides a method for adjusting a line sequence of a Hall sensor by a motor.
Referring to fig. 1, the method includes:
step S100, partitioning a rotation plane of a motor rotor according to a preset rule to obtain six areas, and generating preset Hall sensor data corresponding to each area; wherein, the preset rule is: determining a preset line sequence of a three-phase Hall sensor line corresponding to a motor three-phase power line according to the motor three-phase power line, and dividing a position of the Hall sensor data unchanged into an area when a motor rotor rotates;
step 200, rotating the motor rotor into preset areas, controlling the motor rotor to rotate for one circle, and acquiring Hall sensor data when the motor rotor passes through each area;
And step S300, adjusting the line sequence of each Hall sensor according to the sequentially acquired data of the plurality of Hall sensors and the data of the plurality of preset Hall sensors.
The three-phase power line is connected with the three stator windings of the motor respectively, and the three Hall sensors correspond to the three stator windings respectively; three-phase power lines may be divided, for example: in an embodiment of the present invention, referring to fig. 6, the three power lines may be divided into A, B, C, and corresponding hall sensor lines corresponding to the three power lines may be divided into HA, HB, and HC; the A power line corresponds to the HA Hall sensor line, the B power line corresponds to the HB Hall sensor line, and the C power line corresponds to the HC Hall sensor line. The stator windings represented by the respective power lines correspond to hall sensors represented by their respective hall sensor lines, such as: the stator winding represented by the A power line corresponds to the Hall sensor represented by the HA Hall sensor line. In another embodiment of the present invention, the three-phase power line may be expressed as U, V, W three power lines.
And determining a preset line sequence of the three-phase Hall sensor line corresponding to the motor three-phase power line according to the motor three-phase power line. The motor stator windings are distributed at 120 degrees intervals, any one stator winding can be used as a reference, the line sequence of the Hall sensor is selected, and the line sequence of the Hall sensor is used as a preset line sequence; it is noted that the control device refers to the preset line sequence and controls the power line to be electrified according to the Hall sensor data; referring to fig. 7, in an embodiment of the present invention, the program for controlling the power line to be energized according to the hall sensor data in the control device includes the preset line sequence. When the rotor of the motor rotates, the three Hall sensors respectively output high and low levels according to a magnetic field driven by the rotation of the rotor; the Hall sensor can output a high level when the magnetic field intensity is strong, and output a low level when the magnetic field intensity is weak; and the high and low levels output by the three Hall sensors form Hall sensor data according to the preset line sequence. Dividing the position of the Hall sensor, which is unchanged in data, into an area when the motor rotor rotates; since there are three stator windings and three hall sensors in the motor in total, the hall sensor data are alternately switched among six fixed data when the motor rotates, so the rotation plane of the motor rotor can be divided into six areas; wherein the areas of the six areas are equal. It is easy to understand that the three-phase power lines are connected with the three stator windings in a one-to-one correspondence manner, any one of the power lines or the corresponding stator winding thereof can be used as a reference, the line sequence of the hall sensor can be selected to determine the hall sensor data corresponding to the six areas, and the corresponding hall sensor data can be used as preset hall sensor data. The preset Hall sensor data represents that three-bit binary numbers are corresponding to the time zone when the high electric level output by the three-phase Hall sensor wires is combined according to a preset wire sequence; six preset hall sensor data are provided.
And rotating the motor rotor into the preset areas, controlling the motor rotor to rotate for one circle, and acquiring Hall sensor data when the motor rotor passes through each area. The motor rotor rotates to a preset area; the preset area is one of six areas, and the Hall sensor data corresponding to the preset area is the first Hall sensor data in the plurality of Hall sensor data. Because the rotation plane of the motor rotor has six areas, the motor rotor rotates for one circle, and the motor rotor passes through the six areas, so that six Hall sensor data corresponding to the six areas can be obtained. It should be noted that, the stator windings of the motor are distributed 120 degrees apart, and the hall sensors corresponding to the stator windings are also distributed 120 degrees apart, specifically, the positions of the corresponding stator windings, the center point of the rotor and the hall sensors may be on a straight line; when a power line or a corresponding stator winding is selected as a reference, the preset area is the area where the stator winding is located or the area where the Hall sensor corresponding to the stator winding is located, and corresponding preset Hall sensor data can be obtained. In an embodiment of the present invention, a line sequence of hall sensors may be selected, where output values of hall sensors corresponding to the stator winding may be used as a second bit of hall sensor data, and output values of two other hall sensors may be used as a first bit and a zeroth bit of hall sensor data in a clockwise order on an electronic rotor plane; thus, a preset hall sensor data is obtained.
With reference to fig. 7, in an embodiment of the present invention, the rotor of the motor may be manually rotated into a preset area; it is easy to understand that the rotor inside the motor and the motor shaft of the motor have a mechanical connection relationship, a mark can be made on the motor housing, and the motor shaft is marked, when the rotor rotates to the preset area corresponding to the three stator windings, the motor shaft is positioned corresponding to the mark of the motor housing. Thus, after the power line or the stator winding serving as a reference is determined, the electronic rotor is rotated to a corresponding preset area. In another embodiment of the present invention, the motor rotor may be rotated into a preset area by turning on a power line of the motor; when one power line or the corresponding stator winding is selected as a reference, the other two power lines are conducted in a mode of current input from the one power line and output from the other power line, so that the rotor can be rotated to the area where the stator winding serving as the reference is located or to the area where the corresponding hall sensor of the stator winding is located; when the direction of the power lines is changed, the directions of the synthesized magnetic fields of the stator windings corresponding to the two power lines are opposite under the action of different currents flowing to ensure that the rotating areas of the motor rotor are different, and the rotor is rotated to the area where the stator winding serving as a reference is positioned or the area where the Hall sensor corresponding to the stator winding is positioned.
With respect to the method of controlling the rotor of the motor to rotate one revolution, in one embodiment of the present invention, the motor shaft may be manually rotated to rotate the rotor one revolution. In another embodiment of the invention, two of the three-phase power lines may be turned on in a two-by-two conductive manner in a sequence to cause the motor rotor to rotate one revolution, wherein the sequence may be determined by a developer and written into a motor control program. Note that, in rotating the motor rotor one rotation, the rotor may be rotated one rotation clockwise or rotated one rotation counterclockwise according to actual circumstances. The direction in which the rotor rotates is not limited herein.
It is clear that the preset hall sensor data can be determined according to the three-phase power line, and the preset line sequence is the line sequence of each hall sensor when the motor is correctly driven. When the line sequence of each Hall sensor is not regulated, the line sequence of each Hall sensor may be different from the preset line sequence, and the motor cannot be driven correctly; the motor can be driven correctly by adjusting the line sequence of each Hall sensor until the data of the Hall sensor is the same as the data of the preset Hall sensor; wherein the line sequence may be the same as the preset line sequence.
After the motor rotor passes through each region to acquire the Hall sensor data of the region, the line sequence of each Hall sensor can be determined according to a plurality of Hall sensor data and a plurality of preset Hall sensor data which are acquired in sequence. After determining the line sequence of each hall sensor, the plurality of hall sensor data are the same as the plurality of preset hall sensor data according to the plurality of hall sensor data obtained after the line sequence adjustment after the determination. Specifically, since the stator windings are distributed 120 degrees apart and the three hall sensors are distributed 120 degrees apart, the positions of the corresponding stator windings, the center point of the rotor and the hall sensors may be on a straight line. So that the motor rotor outputs the same level signal in any area on the rotation plane of the motor rotor, and two hall sensors in the three hall sensors output level signals inconsistent with the level signals; for example: two hall sensors output high level and one hall sensor outputs low level. Alternatively, two hall sensors output a low level and one hall sensor outputs a high level.
It is easy to understand that, in the case that two hall sensors output the same level signal, whether the two hall sensors output the high level or the low level is related to the preset area where the motor rotor is located. In an embodiment of the present invention, when the motor rotor is in the area where the stator winding as a reference is located, the two hall sensors output a high level, and the hall sensor corresponding to the stator winding as a reference outputs a low level, i.e., the other hall sensor outputs a low level. In another embodiment of the present invention, when the motor rotor is in the area where the hall sensor corresponding to the stator winding serving as the reference is located, the hall sensor outputs a high level, and the other two hall sensors output a low level. A high level may be represented by 1 and a low level by 0; the range of the Hall sensor data is between 1 and 6. In one embodiment of the present invention, when there are two high levels, one low level, in the composition of the hall sensor data; the corresponding relation between the three levels and the data bit number of the Hall sensors can be changed, namely the line sequence of each Hall sensor is changed, so that the value of the Hall sensor data is changed, and the value can be changed in 6, 5 and 3; wherein, the binary number corresponding to 6 is 110,5, the binary number corresponding to 101,3, and the binary number corresponding to 011. In another embodiment of the present invention, when there are two low levels, one high level, in the composition of the hall sensor data; the corresponding relation between the three levels and the data bit number of the Hall sensor can be changed, namely the line sequence of each Hall sensor is changed, so that the value of the Hall sensor data is changed, and the value can be changed in 1,2 and 4; wherein, the binary number corresponding to 1 is 001,2, the binary number corresponding to 010,4, and the binary number corresponding to 100.
It is easy to understand that, among six areas divided by the rotation plane, two adjacent areas, wherein the hall sensor data of one area is composed of two high levels and one low level, and the hall sensor data of the other area is composed of two low levels and one high level; the data of the Hall sensors in two adjacent areas cannot be obtained by changing the line sequence transformation of the Hall sensors; however, the composition type of the hall sensor data of two regions each separated by one region is identical, and the hall sensor data of the two regions can be obtained by changing the line sequence transformation of each hall sensor. For example: in an embodiment of the present invention, the output level of the hall sensor corresponding to the stator winding serving as the reference may be used as the second bit of the hall sensor data, and the other two hall sensor data may be respectively used as the first bit and the zeroth bit of the hall sensor data according to the sequence of the numbers. The six regions may be numbered clockwise; when the area where the hall sensor corresponding to the stator winding is located is taken as a preset area, the values of the hall sensor data of the first area to the sixth area can be 4,6,2,3,1,5 respectively; when the area where the stator winding is located is taken as a preset area, the values of the hall sensor data of the first area to the sixth area may be 3,1,5,4,6,2 respectively. In addition, the six areas may also be numbered counterclockwise; when the area where the hall sensor corresponding to the stator winding is located is taken as a preset area, the values of the hall sensor data of the first area to the sixth area can be 4,5,1,3,2,6 respectively; when the area where the stator winding is located is taken as a preset area, the values of the hall sensor data of the first area to the sixth area may be 3,2,6,4,5,1 respectively. In this embodiment, the hall sensor data of two areas separated by one area may be obtained by changing the line sequence of each hall sensor; in addition, the hall sensor data of one region can be inverted to obtain the hall sensor data of two regions separated from the region, for example: 3 and 4,2 and 5, and 6 and 1. As can be seen from the above embodiments, the hall sensor data of the first to sixth regions can be obtained by the following data chain: 3,2,6,4,5,1. The hall sensor data of the preset area determines the hall sensor data of the first area, and the serial numbers of the six areas sequentially determine the change selection direction of the data chain, for example: when the six regions are numbered counter-clockwise, the data in the data chain may be selected from left to right, such as 4,5,1,3,2,6 described above; when the six regions are numbered clockwise, the data in the data chain may be selected from right to left, such as 3,1,5,4,6,2 described above.
It should be noted that one of the six regions may be arbitrarily selected as a preset region, and is not limited to the region where the stator winding serving as the reference is located and the region where the corresponding hall sensor is located; and determining the Hall sensor data of the first area in the data chain according to the Hall sensor data of the selected preset area. For example: when the area as the preset area is changed, in an embodiment of the present invention, the first area hall sensor data may be 5, and the rotor may rotate one revolution, and the hall sensor data obtained from the first area to the sixth area may be 5,1,3,2,6,4. The hall sensor data of the first to sixth areas may also be 5,4,6,2,3,1 if the rotation direction of the rotor is changed. In the motor, the directions of the stator windings are two; when the current is supplied according to a predetermined current supply sequence, the winding directions are different, and the directions of magnetic fields generated after the stator winding is supplied are opposite. For example: the stator winding direction changes, thereby changing the area to which the rotor is directed after energization, i.e. changing the value of the hall sensor data of the first area. In an embodiment of the present invention, the hall sensor data of the first area may be 5, and the hall sensor data obtained from the first area to the sixth area may be 5,1,3,2,6,4. The hall sensor data of the first to sixth regions may be 2,6,4,5,1,3 when the winding is changed.
The number of the six regions represents the number of regions through which the rotor of the motor passes, for example, the second region represents the second region through which the rotor passes. The number direction of the six regions represents the rotation direction of the motor rotor. After the motor rotor rotates a circle to obtain a plurality of Hall sensor data, the whole Hall sensor data can be determined only by determining the first Hall sensor data and the second Hall sensor data in the Hall sensor data. The first Hall sensor data represents a preset area, and the second Hall sensor data represents a change selection direction of the data chain.
In practical situations, the control device receives the data output by each hall sensor, and the data of a plurality of hall sensors obtained by combining the data are inconsistent with the data of a plurality of preset hall sensors, so that the motor cannot be driven correctly; the line sequence of each Hall sensor is adjusted, so that the adjusted data of a plurality of Hall sensors are equal to the data of a plurality of preset Hall sensors; the motor can be driven correctly. In addition, since the motor stator winding or its corresponding power line as a reference may be changed, it is not fixed as a specific motor stator winding or its corresponding power line; therefore, motor debugging can be completed under the condition that the three-phase Hall sensor wire and the three-phase power wire are connected at will, and the connection mode of the Hall sensor wire or the power wire does not need to be changed.
The invention provides a method for adjusting a line sequence of a Hall sensor by a motor, a control device and a BLDC motor. The method comprises the following steps: partitioning a rotation plane of a motor rotor according to a preset rule to obtain six areas, and generating preset Hall sensor data corresponding to each area; wherein, the preset rule is: determining a preset line sequence of a three-phase Hall sensor line corresponding to a motor three-phase power line according to the motor three-phase power line, and dividing a position of the Hall sensor data unchanged into an area when a motor rotor rotates; rotating the motor rotor into preset areas, controlling the motor rotor to rotate for one circle, and acquiring Hall sensor data when the motor rotor passes through each area; and determining the line sequence of each Hall sensor according to the sequentially acquired plurality of Hall sensor data and the plurality of preset Hall sensor data. According to the invention, the motor rotor is rotated for one circle to obtain the data of the plurality of Hall sensors, and the line sequence of each Hall sensor is adjusted to enable the adjusted data of the plurality of Hall sensors to be equal to the data of the plurality of preset Hall sensors, so that the motor can be driven correctly, and the aim of completing motor debugging under the condition of improving the random connection of the three-phase Hall sensor lines and the three-phase power lines is fulfilled.
Referring to fig. 2, in an embodiment of the present invention, the step of generating preset hall sensor data corresponding to each area specifically includes:
step S110, the output values of the three Hall sensors are formed into a three-bit binary number according to the preset line sequence;
and step 120, respectively obtaining the values of the three-bit binary numbers when the rotor is in the six areas, and taking the values as preset Hall sensor data corresponding to the area.
In this embodiment, the output values of the three hall sensors are formed into a three-bit binary number according to the preset line sequence; wherein, the three hall sensors output high and low levels respectively, and the high levels can be represented by 1 and 0 respectively. The output values of the three Hall sensors can be formed into a three-bit binary number according to a preset line sequence, the zero bit, the first bit and the second bit in the three-bit binary number are respectively in one-to-one correspondence with the three Hall sensors, and the line sequence of the Hall sensors is the corresponding relation between the high and low levels output by the three Hall sensors and the digits in the three-bit binary number; the preset line sequence can be determined by a research and development personnel, and the corresponding relation between the high and low levels output by the three Hall sensors and digits in the three-digit binary number is determined under the condition that the motor can be normally driven, wherein the three-digit binary number is the Hall sensor data of the motor rotor at the position. The output values of the three hall sensors respectively can be obtained when the rotor is in the six areas. After the output values of the three Hall sensors are combined according to a preset line sequence, the three binary values, namely the values of the Hall sensor data, can be obtained when the rotor is in the six areas respectively; the values of the Hall sensor data are obtained by combining the output values of the three Hall sensors according to the preset line sequence, and the values can be used as preset Hall sensor data corresponding to the area.
In an embodiment of the present invention, the step of rotating the motor rotor into the preset area specifically includes:
and switching on two power lines in the three-phase power lines of the motor so as to enable the motor rotor to rotate into a corresponding area.
In this embodiment, since the stator windings and the three hall sensors respectively connected with the three-phase power lines are respectively distributed 120 degrees apart, when one power line or the corresponding stator winding is selected as a reference, the other two power lines are conducted in a manner of inputting current from one power line and outputting current from the other power line, so that the rotor can be turned to the region where the stator winding serving as the reference is located or to the region where the hall sensor corresponding to the stator winding is located; when the direction of the two power lines for electrifying is changed, the directions of the synthesized magnetic fields of the stator windings corresponding to the two power lines are opposite under the action of different currents flowing to ensure that the turned areas of the motor rotor are different, and the rotor is turned to the area where the stator winding serving as a reference is located or the area where the Hall sensor corresponding to the stator winding is located. Two of the three-phase power lines of the motor can be controlled to be conducted so as to enable the motor rotor to rotate into a corresponding area; the corresponding region may be the preset region. When the two-phase power lines are changed, the areas to which the motor rotors rotate are different.
Referring to fig. 3, in an embodiment of the present invention, the step of controlling the motor rotor to rotate one revolution and acquiring the hall sensor data of the motor rotor passing through each of the areas specifically includes:
step S210, conducting motor power lines in a preset sequence in a pairwise conduction mode, so that the rotor rotates for one circle;
and step 220, recording Hall sensor data when the motor rotor passes through each area respectively between the rotor rotation cycles.
In this embodiment, in actual use, it is generally used to sequentially turn on two phases of the three-phase power line in a predetermined turn-on sequence, so as to generate a varying magnetic field to bring the motor rotor into rotation; the two-to-two conduction mode can be to sequentially conduct two phases of the three-phase power line according to a preset conduction sequence so as to rotate the rotor. The turn-on sequence is determined by the developer. The rotor rotates for one circle in a two-to-two conduction mode, the rotor rotates for one circle to pass through six areas, and when the rotor passes through six areas, the data of the Hall sensors formed by the output values of the three Hall sensors are changed. It should be noted that, the control device may determine the line sequence of each hall sensor through the positions of the ports to which the three hall sensor lines are connected respectively, and in all the connection states of the three hall sensor lines and the three ports, only one connection state enables the hall sensor data to correctly reflect the running condition of the motor rotor, and the motor can be driven normally; in other connection states, the motor cannot be driven normally. At this time, possibly due to the connection relationship of the hall sensor wires, the wire sequence of the hall sensor is not the same as the preset wire sequence, that is, the hall sensor data formed by combining the high and low levels output by the three sensors is not the same as the preset hall sensor data. At this time, when the motor rotor passes through each region, the high and low levels output by the three hall sensors are combined into hall sensor data, and the hall sensor data is recorded.
Referring to fig. 4, in an embodiment of the present invention, the step of determining a line sequence of each hall sensor according to the sequentially acquired plurality of hall sensor data and the plurality of preset hall sensor data specifically includes:
step S310, determining whether first Hall sensor data in the plurality of Hall sensor data are equal to first preset Hall sensor data in the plurality of preset Hall sensor data, and obtaining a first determination result;
step S320, adjusting the line sequence of each Hall sensor according to a first determination result, and obtaining a plurality of Hall sensor data after line sequence adjustment so that the first Hall sensor data in the plurality of Hall sensors is equal to the first preset Hall sensor data;
step S330, determining whether second Hall sensor data in the plurality of Hall sensor data after the line sequence adjustment is equal to second preset Hall sensor data in the plurality of preset Hall sensor data, and obtaining a second determination result;
and step 340, adjusting the line sequence of each Hall sensor according to the second determination result, and obtaining a plurality of Hall sensor data after changing the line sequence so as to make the plurality of Hall sensor data equal to the plurality of preset Hall sensor data.
As can be seen from the above embodiments, two winding directions exist in the stator winding of the motor, and when the actual winding direction of the stator winding is the same as the defined winding direction, the rotation direction of the rotor is the same as the expected rotation direction after the power line is energized according to the preset sequence; when the actual winding direction of the stator winding is different from the defined winding direction, the rotation direction of the rotor is opposite to the expected rotation direction after the power lines are electrified according to the preset sequence. In this embodiment, the winding manner of the stator is the same as the winding manner defined. Determining whether the first hall sensor data and the first preset hall sensor data are equal, and determining whether the second hall sensor data and the second preset hall sensor data are equal; and adjusting the line sequence of each Hall sensor according to the determined result so as to make the data of the plurality of Hall sensors equal to the data of the plurality of preset Hall sensors, thereby being capable of correctly driving the motor. Specifically, whether first hall sensor data in the plurality of hall sensor data are equal to first preset hall sensor data in the plurality of preset hall sensor data or not is determined to obtain a first determination result, and a line sequence is adjusted according to the first determination result so that the first hall sensor data are equal to the first preset hall sensor data. As can be seen from the above embodiments, the first hall sensor data represents hall sensor data of a preset area. After the line sequence is adjusted, determining whether second Hall sensor data in the Hall sensor data after the line sequence is adjusted are equal to second preset Hall sensor data in the preset Hall sensor data to obtain a second determination result, and adjusting the line sequence of each Hall sensor according to the second determination result so that the Hall sensor data are equal to the preset Hall sensor data, thereby being capable of correctly driving the motor.
According to the above embodiment, the number of the six regions represents the number of regions through which the rotor of the motor passes, for example, the second region represents the second region through which the rotor passes. The number direction of the six regions represents the rotation direction of the motor rotor. After the motor rotor rotates a circle to obtain a plurality of Hall sensor data, the whole Hall sensor data can be determined only by determining the first Hall sensor data and the second Hall sensor data in the Hall sensor data. The first Hall sensor data represents a preset area, and the second Hall sensor data represents a change selection direction of the data chain. As can be seen from this embodiment, a first one of the plurality of hall sensor data and a first one of the plurality of preset hall sensor data are equalized and a second one of the plurality of hall sensor data and the second hall sensor data are equalized by changing the line order. It is easy to understand that when the first hall sensor data corresponds to the first preset hall sensor data and the second hall sensor data corresponds to the second preset hall sensor data, the plurality of hall sensor data and the plurality of preset hall sensor data are equal in one-to-one correspondence, and the plurality of hall sensor data and the plurality of preset hall sensor data are equal.
In an embodiment of the present invention, the step of adjusting the line sequence of each hall sensor according to the first determination result specifically includes:
when the first Hall sensor data is not equal to the first preset Hall sensor data, adjusting the line sequence of each Hall sensor so that the first Hall sensor data after line sequence adjustment is equal to the first preset Hall sensor data;
when the first Hall sensor data is equal to the first preset Hall sensor data, not adjusting the line sequence of each Hall sensor;
the adjusting the line sequence of each hall sensor according to the second determination result includes:
when the second Hall sensor data is equal to the second preset Hall sensor data, adjusting the line sequence of each Hall sensor so that the second Hall sensor data after line sequence adjustment is equal to the second preset Hall sensor data;
and when the second Hall sensor data is equal to the second preset Hall sensor data, not adjusting the line sequence of each Hall sensor.
Referring to fig. 5, in an embodiment of the present invention, the step of determining a line sequence of each hall sensor according to the sequentially acquired plurality of hall sensor data and the plurality of preset hall sensor data specifically includes:
Step S350, inverting the first Hall sensor data in the plurality of Hall sensors, and determining whether the inverted data is equal to the first preset Hall sensor data in the plurality of preset Hall sensor data, so as to obtain a third determination result;
step S360, adjusting the line sequence of each Hall sensor according to the third determination result, and obtaining a plurality of Hall sensor data with changed line sequence, so that the value of the first Hall sensor data in the plurality of Hall sensor data after being inverted is equal to the first preset Hall sensor data;
step S370, inverting the second hall sensor data in the plurality of hall sensor data after the line sequence modification, and determining whether the inverted data is equal to the second hall sensor data in the plurality of preset hall sensor data, to obtain a fourth determination result;
and step 380, adjusting the line sequence of each Hall sensor according to the fourth determination result, and obtaining a plurality of Hall sensor data after changing the line sequence so as to make the plurality of Hall sensor data equal to the plurality of preset Hall sensor data.
In this embodiment, the winding direction of the stator is opposite to the defined winding direction. Because the winding mode of the stator is opposite to the defined winding mode, when the motor rotor rotates to a corresponding area by a method of conducting two phase power lines in the three-phase power lines of the motor, the magnetic field generated by the stator enables the rotor to rotate to an area opposite to the corresponding area, and the corresponding area is a preset area when the direction of the stator winding is the same as the defined direction, namely, an area corresponding to preset Hall sensor data; and performing inverse operation on the data of the Hall sensors in the opposite areas, wherein the data after inverse operation is equal to the data of the preset Hall sensors.
Determining whether the data of the first Hall sensor after the data inversion is equal to the data of the first preset Hall sensor, and determining whether the data of the second Hall sensor after the data inversion is equal to the data of the second preset Hall sensor; and adjusting the line sequence of each Hall sensor according to the determined result so that the data of the Hall sensors are equal to the data of the preset Hall sensors after being inverted, thereby being capable of correctly driving the motor. Specifically, whether the data obtained by inverting the first Hall sensor data in the plurality of Hall sensor data is equal to the first preset Hall sensor data in the plurality of preset Hall sensor data or not is determined to obtain a third determination result, and the line sequence is adjusted according to the third determination result so that the data obtained by inverting the first Hall sensor data is equal to the first preset Hall sensor data. As can be seen from the above embodiments, the data of the first hall sensor after the inversion represents the hall sensor data of the preset area. After the line sequence is adjusted, determining whether the data obtained by inverting the second Hall sensor data in the Hall sensor data after the line sequence is adjusted is equal to the second preset Hall sensor data in the preset Hall sensor data to obtain a fourth determination result, and adjusting the line sequence of each Hall sensor according to the fourth determination result so as to enable the data obtained by inverting the Hall sensor data to be equal to the preset Hall sensor data, thereby correctly driving the motor.
According to the above embodiment, after the plurality of hall sensor data obtained by one rotation of the motor rotor, the entire plurality of hall sensor data may be determined by determining only the first hall sensor data and the second hall sensor data of the plurality of hall sensor data. The first Hall sensor data represents a preset area, and the second Hall sensor data represents a change selection direction of the data chain. According to the embodiment, the data obtained by inverting the first hall sensor data in the plurality of hall sensor data is equal to the first preset hall sensor data in the plurality of preset hall sensors, and the data obtained by inverting the second hall sensor data in the plurality of hall sensor data is equal to the second hall sensor data by changing the line sequence. It is easy to understand that, when the data after the inversion of the first hall sensor data corresponds to the first preset hall sensor data, and the data after the inversion of the second hall sensor data corresponds to the second preset hall sensor data, the data after the inversion of the plurality of hall sensor data corresponds to the plurality of preset hall sensor data one to one, and the data after the inversion of the plurality of hall sensor data corresponds to the plurality of preset hall sensor data one to one. Namely, the motor can be driven correctly by adjusting the line sequence under the condition that the direction of the stator winding is inconsistent with the defined direction.
In an embodiment of the present invention, the adjusting the line sequence of each hall sensor according to the third determination result includes:
when the data after the data of the first Hall sensor is inverted is not equal to the data of the first preset Hall sensor, the line sequence of each Hall sensor is adjusted so that the data after the data of the first Hall sensor is inverted after the line sequence is adjusted is equal to the data of the first preset Hall sensor;
when the data after the data of the first Hall sensor is inverted is equal to the data of the first preset Hall sensor, the line sequence of each Hall sensor is not adjusted;
the adjusting the line sequence of each hall sensor according to the fourth determination result includes:
when the data after the second Hall sensor data is inverted is not equal to the second preset Hall sensor data, adjusting the line sequence of each Hall sensor so that the data after the second Hall sensor data after the line sequence is adjusted is equal to the second preset Hall sensor data;
and when the data after the data of the second Hall sensor is inverted is equal to the data of the second preset Hall sensor, not adjusting the line sequence of each Hall sensor.
The invention also provides a control device which comprises a memory, a processor and a motor adjusting Hall sensor line sequence program stored in the memory and executed by the processor, wherein the motor adjusting Hall sensor line sequence program realizes the motor adjusting Hall sensor line sequence method according to any one of the above steps when being executed by the processor.
It should be noted that, because the control device of the present invention includes all the technical solutions of all the embodiments of the method for adjusting the line sequence of the hall sensor by using the motor, at least all the beneficial effects brought by the technical solutions of the method for adjusting the line sequence of the hall sensor by using the motor are not described in detail herein.
The invention also provides a BLDC motor, which comprises the control device or the method for adjusting the line sequence of the Hall sensor by the motor.
It should be noted that, since the control device of the present invention includes the method for adjusting the line sequence of the hall sensor of the motor and all the technical solutions of all the embodiments of the control device, at least the method for adjusting the line sequence of the hall sensor of the motor and all the beneficial effects brought by the technical solutions of the control device are not described in detail herein.
The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention 7.
Claims (8)
1. A method for adjusting a line sequence of hall sensors by a motor, the method comprising:
partitioning a rotation plane of a motor rotor according to a preset rule to obtain six areas, and generating preset Hall sensor data corresponding to each area; wherein, the preset rule is: determining a preset line sequence of a three-phase Hall sensor line corresponding to a motor three-phase power line according to the motor three-phase power line, and dividing a position of the Hall sensor data unchanged into an area when a motor rotor rotates;
rotating the motor rotor into preset areas, controlling the motor rotor to rotate for one circle, and acquiring Hall sensor data when the motor rotor passes through each area;
according to the sequentially acquired multiple Hall sensor data and multiple preset Hall sensor data, adjusting the line sequence of each Hall sensor;
The step of determining the line sequence of each Hall sensor specifically comprises the following steps of:
determining whether first hall sensor data in the plurality of hall sensor data are equal to first preset hall sensor data in the plurality of preset hall sensor data or not, and obtaining a first determination result;
according to a first determination result, adjusting the line sequence of each Hall sensor, and obtaining a plurality of Hall sensor data after line sequence adjustment so that the first Hall sensor data in the plurality of Hall sensors is equal to the first preset Hall sensor data;
determining whether second Hall sensor data in the plurality of Hall sensor data after the line sequence adjustment are equal to second preset Hall sensor data in the plurality of preset Hall sensor data or not, and obtaining a second determination result;
according to the second determination result, the line sequence of each Hall sensor is adjusted, and a plurality of Hall sensor data after line sequence modification is obtained, so that the plurality of Hall sensor data are equal to the plurality of preset Hall sensor data; or,
The step of determining the line sequence of each Hall sensor specifically comprises the following steps of:
inverting the first Hall sensor data in the plurality of Hall sensors, determining whether the inverted data is equal to the first preset Hall sensor data in the plurality of preset Hall sensor data, and obtaining a third determination result;
according to the third determination result, the line sequence of each Hall sensor is adjusted, and a plurality of Hall sensor data with changed line sequence are obtained, so that the value of the first Hall sensor data in the plurality of Hall sensor data after being inverted is equal to the first preset Hall sensor data;
inverting the second Hall sensor data in the plurality of Hall sensor data after the line changing, and determining whether the inverted data is equal to the second Hall sensor data in the plurality of preset Hall sensor data or not to obtain a fourth determination result;
and adjusting the line sequence of each Hall sensor according to the fourth determination result, and obtaining a plurality of Hall sensor data after changing the line sequence so as to make the plurality of Hall sensor data equal to the plurality of preset Hall sensor data.
2. The method for adjusting the line sequence of hall sensors by using a motor according to claim 1, wherein the step of generating the preset hall sensor data corresponding to each region specifically comprises:
the output values of the three Hall sensors are formed into a three-bit binary number according to the preset line sequence;
and respectively obtaining the values of the three-bit binary numbers when the rotor is in the six areas, and taking the values as preset Hall sensor data corresponding to the areas.
3. The method for adjusting the line sequence of hall sensors according to claim 1, wherein the step of rotating the motor rotor to a predetermined region comprises:
and switching on two power lines in the three-phase power lines of the motor so as to enable the motor rotor to rotate into a corresponding area.
4. The method of claim 1, wherein the step of controlling the motor rotor to rotate one revolution and acquiring the hall sensor data of the motor rotor passing each of the areas comprises:
the motor power lines are conducted in a preset sequence in a pairwise conduction mode, so that the rotor rotates for one circle;
hall sensor data is recorded as the motor rotor passes each of the zones separately during one revolution of the rotor.
5. The method for adjusting the line sequence of hall sensors according to claim 1, wherein the step of adjusting the line sequence of each hall sensor according to the first determination result specifically comprises:
when the first Hall sensor data is not equal to the first preset Hall sensor data, adjusting the line sequence of each Hall sensor so that the first Hall sensor data after line sequence adjustment is equal to the first preset Hall sensor data;
when the first Hall sensor data is equal to the first preset Hall sensor data, not adjusting the line sequence of each Hall sensor;
the adjusting the line sequence of each hall sensor according to the second determination result includes:
when the second Hall sensor data is not equal to the second preset Hall sensor data, adjusting the line sequence of each Hall sensor so that the second Hall sensor data after line sequence adjustment is equal to the second preset Hall sensor data;
and when the second Hall sensor data is equal to the second preset Hall sensor data, not adjusting the line sequence of each Hall sensor.
6. The method for adjusting the line sequence of the hall sensors according to claim 1, wherein the adjusting the line sequence of each hall sensor according to the third determination result comprises:
when the data after the data of the first Hall sensor is inverted is not equal to the data of the first preset Hall sensor, the line sequence of each Hall sensor is adjusted so that the data after the data of the first Hall sensor is inverted after the line sequence is adjusted is equal to the data of the first preset Hall sensor;
when the data after the data of the first Hall sensor is inverted is equal to the data of the first preset Hall sensor, the line sequence of each Hall sensor is not adjusted;
the adjusting the line sequence of each hall sensor according to the fourth determination result includes:
when the data after the second Hall sensor data is inverted is not equal to the second preset Hall sensor data, adjusting the line sequence of each Hall sensor so that the data after the second Hall sensor data after the line sequence is adjusted is equal to the second preset Hall sensor data;
and when the data after the data of the second Hall sensor is inverted is equal to the data of the second preset Hall sensor, not adjusting the line sequence of each Hall sensor.
7. A control device, characterized in that the control device comprises:
a memory;
a processor; the method comprises the steps of,
a motor hall sensor line sequence adjustment program stored on the memory and executed by the processor, which when executed by the processor, implements a method of motor hall sensor line sequence adjustment as claimed in any one of claims 1 to 6.
8. A BLDC motor comprising the control apparatus of claim 7.
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| CN112087168A (en) * | 2020-08-19 | 2020-12-15 | 北京自动化控制设备研究所 | Method for automatically generating brushless direct current motor reversing meter and automatically identifying phase sequence |
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