CN1728534A - Hall sensor alignment for BLDC motor - Google Patents
Hall sensor alignment for BLDC motor Download PDFInfo
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- CN1728534A CN1728534A CNA200510077006XA CN200510077006A CN1728534A CN 1728534 A CN1728534 A CN 1728534A CN A200510077006X A CNA200510077006X A CN A200510077006XA CN 200510077006 A CN200510077006 A CN 200510077006A CN 1728534 A CN1728534 A CN 1728534A
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- phase difference
- hall
- phase place
- counting circuit
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Abstract
The present invention provides a technique for determining an alignment error of a Hall sensor location in a brushless DC motor drive, by measuring the back EMF waveform, preferably while the motor is coasting. According to the technique, an angular offset is calculated between a selected BEMF waveform and a selected Hall signal. Such offsets are preferably calculated for each phase individually. The offsets may be advantageously stored in the motor control unit and used to adjust the output motor control signals for maximum torque.
Description
Technical field
The present invention relates to brushless direct-current (BLDC) motor driver, and relate more particularly to a kind of method and system that is used for determining at such driver the position error of Hall element, it is advantageously used in the position optimum that makes Hall element.The application is based on and requires the priority of No. the 60/579037th, the U.S. Provisional Application submitted on June 11st, 2004, its full content with reference to property be herein incorporated.
Background technology
The brshless DC motor driver uses hall effect sensor to measure rotor-position usually.The magnetic field of the epitrochanterian magnet of Hall element sensing, and produce a digital picture that is illustrated in the rotor-position in one of 6 possibility sectors.Owing to the resolution of the relative mechanical location of Hall element and magnet, transducer and accuracy, sensing magnet extremely wide, and sensing magnet and rotor between physical relation introduced error.Because these potential error sources, the position of being measured by Hall element can not meet real rotor-position definitely.This site error can impel generation than low torque under a given electric current.
Summary of the invention
In order to solve and avoid these potential error sources, developed the position error of a kind of technology with the Hall element position of determining to be arranged in a brshless DC motor driver, this technological selection ground is realized by measuring back electromotive force (back EMF) waveform when motor is in coast.
This technology is characterised in that: angular displacement of calculating between selected back electromotive force (BEMF) waveform and selected hall signal.Preferably each phase place is calculated such angular displacement respectively.Can advantageously be stored in described angular displacement in the motor control unit and use described angular displacement adjustment to be used for the output motor control signal of breakdown torque.
In other words, the invention provides one and be used for leggy control of DC system, comprising: a leggy motor-drive circuit; One is used for from the circuit of described motor-drive circuit output back-emf signal; Hall effect sensor and a circuit that is used for exporting hall signal from the described transducer of expression rotor-position; And counting circuit that is used to calculate the phase difference between hall signal and the back-emf signal.
The present invention also provides a kind of leggy control of DC method that is used for, and described motor has a leggy motor-drive circuit, circuit, hall effect sensor and a circuit that is used for exporting from the described transducer of expression rotor-position hall signal that is used for from described motor-drive circuit output back-emf signal; Described method comprises the step of calculating the phase difference between hall signal and the back-emf signal.
The technology of the disclosure has been carried out test and has been found not rely on the change of speed substantially and the test result that obtains.
Further feature of the present invention and advantage will be tangible from the description of following embodiments of the invention with reference to the accompanying drawings.
Description of drawings
Fig. 1 is a schematic chart that is used to implement circuit arrangement of the present invention;
Fig. 2 is a chart of explaining the phase deviation of the type that will measure on the whole;
Fig. 3 is an explaination chart that phase place U hall signal and phase place U back electromotive force (BEMF) signal are analyzed according to an embodiment of the invention;
Fig. 4 is a chart that shows a phase place W hall signal and a phase place U BEMF signal;
Fig. 5 has explained a kind of computational methods that can use on phase place W hall signal and phase place U BEMF signal;
Fig. 6 is a chart that shows a phase place W hall signal and a phase place W BEMF signal; With
Fig. 7 has explained a kind of computational methods that can use on phase place W hall signal and phase place W BEMF signal.
Embodiment
The present invention has developed a kind of technology, relies on one of this technology can control the BLDC motor through test and external unit with inlet of visit motor phase voltage can measure and show how to proofread and correct the Hall location.
Figure 1 illustrates an example of such layout, it comprises a PC10, communication converter 12, a motor 14 and a power supply 16 that has electronic control unit (ECU).In the example of a test program, PC control communication converter starting Hall location.Communication converter control ECU is with selected speed operated motor and enter the Hall station-keeping mode.ECU stops motor driver then, allow the motor coast, and communication converter begins Hall and the BEMF signal of sensing on circuit 18 and circuit CANH/CANL.Proofread and correct the Hall calibration error if desired, communication converter just calculates a phase place in advance, and control ECU is stored in such phase place among the EEPROM in advance, for example this phase place is used in advance to proofread and correct in the rotor-position signal to produce breakdown torque to be used to controlling motor-driven.
Referring to the general explaination of Fig. 2 for this method.A Hall element offset detection is the phase error D between the local minimum M of the edge of hall signal H (being the drop edge) and back-EMF signal B here.In case measure, phase error D can be stored in the motor control unit, thereby use it for the small electromotor control signal and increase the torque that is generated.
In an embodiment of this technology, phase place U hall signal will with phase place U BEMF signal alignment.All Measuring Time are conversely with reference to hall signal.See Fig. 3.
Suppose motor with constant speed W (RPM) rotation, hall signal will have a frequency f that is provided by following formula (Hz) so:
f＝3×w/60 (1)
Usually, the signal of one-period can be expressed as a Fourier series:
G(t)＝a
0/2+a
1cos(2лf×t)+b
1sin(2лf×t)+a
2cos(4лf×t)+b
2sin(4лf×t)+…
(2)
Suppose that we have defined constantly=the 0th, at the place, rising edge of hall signal, the Fourier series of hall signal can be expressed as so:
G(t)＝a
0/2+b
1sin(2лf×t)+b
2sin(4лf×t)+b
3sin(6лf×t)+…(3)
If we ignore or the supposition DC component is 0, i.e. a
0=0, so:
G(t)＝b
1sin(2лf×t)+b
2sin(4лf×t)+b
3sin(6лf×t)+… (4)
And when t=n/f (n=0 wherein, 1,2,3 ...), G (t)=0 (5) so
Alternatively, we can be written as by only considering fundamental frequency:
As sin (G (t)=0 (6) during 2 л f * t)=0
2лf×t＝n×2л (7)
f×t-n＝0 (8)
Equation (8) is most important equation.We can not suppose that f is constant, promptly
Δf＝df/dt≠0。Yet we will suppose d
2F/dt
2=0, promptly acceleration is constant.
Frequency is actually the function of time, just:
F(t)＝f-Δf×t (9)
Motor will have a decline frequency when the motor coast, and therefore available F (t) replaces in the f substitution equation (4), and we obtain:
G(t)＝b
1sin(2л(f-Δf×t)×t)+b
2sin(4л(f-Δf×t)×t)+b
3sin(6л
(f-Δf×t)×t)+… (10)
Equation (6)-(8) can be written as following equation again:
As sin (2 л (G (t)=0 (11) during f-Δ f * t) * t)=0
2л(f-Δf×t)×t＝n×2л (12)
(f-Δf×t)×t-n＝0 (13)
Δf×t
2-f×t+n＝0 (14)
In Fig. 1, can see the moment=T
1Represent that first zero point is promptly when n=1 and the moment=T
1+ T
2Represent that second zero point is promptly when n=2.
Therefore, can be with these substitution equations (14):
Δf×T
1 2-f×T
1+1＝0 (15)
Δf×(T
1+T
2)
2-f×(T
1+T
2)+2＝0 (16)
In practice, we can accurately measure T constantly to use DSP
1And T
2We can and can separate this two equations for two unknown number f and Δ f these time substitution equations (15) and (16).Usually, the answer of f and Δ f can be expressed as followsin:
f＝(T
2 2+2×T
1×T
2-T
1 2)/(T
1×T
2×(T
1+T
2)) (17)
Δf＝(f×T
1-1)/T
1 2 (18)
Measure in the next procedure in the phase place position error is to seek the time/angle that produces the local minimum of BEMF at this place about hall signal.This local minimum will take place at л/6 radians or 60 degree places ideally.
Although can use DSP to follow the tracks of BEMF and directly measure moment of local minimum, in fact to this measurement constantly because noise will be subjected to the influence of error.A method of optionally avoiding error effect more is that an any threshold voltage that is used for the BEMF waveform is set.When signal rises above this threshold voltage, the moment/angle is identified as the moment=B
1, and drop to when being lower than this threshold voltage when signal, constantly/angle is the moment=B
2By output this threshold value is set and further reduces the noise error based on a moving average.In this case, with the moment=B
1Be arranged on and form last sampling instant place that moving average equals or exceeds this threshold value for the first time.With the moment=B
2Be arranged on and form moving average for being equal to or less than for the first time first sampling instant place of this threshold value.
Moment B
1The time that expression begins from the first hall signal edge, and this time be engraved in the hall signal and can change at an angle:
2 л (f-Δ f * t) * t=θ (radian) (19)
360 (f-Δ f * t) * t=θ (degree) (20)
360 (f-Δ f * T
B1) * T
B1=θ
B1(degree) (21)
For time B
2:
360 (f-Δ f * T
B2) * T
B2=θ
B2(degree) (22)
To at this place the mean value that accurate estimation is these two angles simply at the angle of local minimum taking place, that is:
θ
B＝θ
B2+θ
B1/2 (23)
Last position error can be calculated as now:
Position error=(θ
B2+ θ
B1)/2-420 degree
After deliberation distortion and the discovery on the aforementioned techniques be useful.As shown in Figure 4, for example can contrast phase place W hall signal Measurement Phase U BEMF.Ideally, the drop edge of Hall W signal should overlap with the local minimum among the phase place U BEMF.Referring to Fig. 5,, at first to find out time T in order to calculate Hall location factor
1, B
1, B
2And H (referring to Fig. 2 and Fig. 5).Secondly calculate (B
2-B
1)/2 are to measure B (Fig. 2).At last, the location of the Hall in number of degrees factor is defined as (B-H) * 360/T
1
In the 3rd embodiment, phase place W BEMF is relevant with phase place W hall signal.
Ideally, the front of the local minimum of the rising edge of Hall W signal in the BEMF waveform accurately is 60 degree.Referring to Fig. 6.
Calculate the Hall location, can use following step:
Step 1: find out time T
1, B
1, B
2And H (referring to Fig. 7)
Step 2: calculate B=(B
2-B
1)/2
Step 3: calculate Hall location (degree)=(B-(H-T
1/ 6)) * 360/T
1
Although described the present invention according to the particular embodiment of the present invention, many other variation and change and other application will be tangible for those knack persons of this area.Therefore, the present invention can't help wherein concrete open the qualification.
Claims (20)
1, one is used for leggy control of DC system, comprising:
A leggy motor-drive circuit;
One is used for from the circuit of described motor-drive circuit output back-emf signal;
Hall effect sensor and a circuit that is used for exporting hall signal from the described transducer of expression rotor-position; With
A counting circuit that is used to calculate the phase difference between hall signal and the back-emf signal.
2, according to the control system of claim 1, in described motor-drive circuit, further comprise a memory circuit, thus the described phase difference of this memory circuitry stores and proofread and correct described rotor-position by proofreading and correct described output hall signal according to described phase difference.
3,, comprise the hall signal separately and the back-emf signal of each phase place that is used for described motor according to the control system of claim 1; With
It is poor that wherein said counting circuit calculates each the respective phase that is used for described phase place.
4, according to the control system of claim 3, in described motor-drive circuit, further comprise a memory circuit, thus the described phase difference of this memory circuitry stores and proofread and correct described rotor-position by proofreading and correct described output hall signal according to described phase difference.
5, according to the control system of claim 1, wherein said counting circuit calculates the phase difference between phase place U hall signal and the phase place U back-emf signal.
6, according to the control system of claim 1, wherein said counting circuit calculates the phase difference between phase place W hall signal and the phase place U back-emf signal.
7, according to the control system of claim 1, wherein said counting circuit calculates the phase difference between phase place W hall signal and the phase place W back-emf signal.
8, according to the control system of claim 1, wherein said counting circuit calculates the described phase difference between the local minimum of the rising of described hall signal or drop edge and described back-emf signal.
9, control system according to Claim 8, wherein said counting circuit is by carrying out the local minimum that interpolation is calculated described back-emf signal between the rising of described back-emf signal and drop edge.
10,, carry out interpolation between the point that wherein said counting circuit is crossed predetermined threshold in the described rising and the drop edge of described back-emf signal according to the control system of claim 9.
11, a kind of leggy control of DC method that is used for, described motor have a leggy motor-drive circuit, circuit, hall effect sensor and a circuit that is used for exporting from the described transducer of expression rotor-position hall signal that is used for from described motor-drive circuit output back-emf signal; Described method comprises the step of calculating the phase difference between hall signal and the back-emf signal.
12, according to the control method of claim 11, thus further comprise the described phase difference of storage and according to described phase difference by proofreading and correct the step that described output hall signal is proofreaied and correct described rotor-position.
13,, wherein there be the hall signal separately and the back-emf signal of each phase place that is used for described motor according to the control method of claim 11; With
It is poor that wherein said counting circuit calculates each the respective phase that is used for described phase place.
14, according to the control method of claim 13, thus further comprise the described phase difference of storage and according to described phase difference by proofreading and correct the step that described output hall signal is proofreaied and correct described rotor-position.
15, according to the control method of claim 11, wherein said counting circuit calculates the phase difference between phase place U hall signal and the phase place U back-emf signal.
16, according to the control method of claim 11, wherein said counting circuit calculates the phase difference between phase place W hall signal and the phase place U back-emf signal.
17, according to the control method of claim 11, wherein said counting circuit calculates the phase difference between phase place W hall signal and the phase place W back-emf signal.
18, according to the control method of claim 11, wherein said counting circuit calculates the described phase difference between the local minimum of the rising of described hall signal or drop edge and described back-emf signal.
19, according to the control method of claim 18, wherein said counting circuit is by carrying out the local minimum that interpolation is calculated described back-emf signal between the rising of described back-emf signal and drop edge.
20,, carry out interpolation between the point that wherein said counting circuit is crossed predetermined threshold in the described rising and the drop edge of described back-emf signal according to the control method of claim 19.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US57903704P | 2004-06-11 | 2004-06-11 | |
| US60/579,037 | 2004-06-11 | ||
| US11/149,735 | 2005-06-10 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1728534A true CN1728534A (en) | 2006-02-01 |
Family
ID=35927611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200510077006XA Pending CN1728534A (en) | 2004-06-11 | 2005-06-13 | Hall sensor alignment for BLDC motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1728534A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101398316B (en) * | 2007-09-25 | 2010-09-08 | 奇瑞汽车股份有限公司 | Method for demarcating motor rotor position sensor |
| CN101933222B (en) * | 2008-01-31 | 2013-03-27 | 西门子公司 | Method for ascertaining a correction value for the angle of the rotor of an electrically commuted reversible synchronous motor |
| CN104871424A (en) * | 2012-10-04 | 2015-08-26 | 马维尔国际贸易有限公司 | Driving a rotating device based on a combination of speed detection by a sensor and sensor-less speed detection |
| CN105119538A (en) * | 2015-09-17 | 2015-12-02 | 矽力杰半导体技术(杭州)有限公司 | Driving circuit and method of permanent magnet synchronous motor |
| CN104269977B (en) * | 2014-10-08 | 2016-08-17 | 兰州飞行控制有限责任公司 | A kind of brshless DC motor Hall Plate Adjustment Tests platform |
| CN106470004A (en) * | 2015-08-17 | 2017-03-01 | 英飞凌科技股份有限公司 | System and method for carrying out motor control using position sensor |
| WO2017036303A1 (en) * | 2015-09-02 | 2017-03-09 | 南京德朔实业有限公公司 | Electric tool and drive method of brushless motor thereof |
| CN109831129A (en) * | 2017-11-23 | 2019-05-31 | 株式会社电装 | Control device, the rotating electric machine including the control device and control method |
| CN111049456A (en) * | 2020-01-06 | 2020-04-21 | 江苏科技大学 | Hall sensor installation deviation identification and compensation method and device |
| CN113424433A (en) * | 2018-12-13 | 2021-09-21 | 梅维尔Edt共同股份公司 | Method for calibrating an electric machine |
| WO2024083271A1 (en) * | 2023-03-31 | 2024-04-25 | 浙江联宜电机有限公司 | Stm32-based hall phase calibration method and apparatus |
-
2005
- 2005-06-13 CN CNA200510077006XA patent/CN1728534A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101398316B (en) * | 2007-09-25 | 2010-09-08 | 奇瑞汽车股份有限公司 | Method for demarcating motor rotor position sensor |
| CN101933222B (en) * | 2008-01-31 | 2013-03-27 | 西门子公司 | Method for ascertaining a correction value for the angle of the rotor of an electrically commuted reversible synchronous motor |
| CN104871424A (en) * | 2012-10-04 | 2015-08-26 | 马维尔国际贸易有限公司 | Driving a rotating device based on a combination of speed detection by a sensor and sensor-less speed detection |
| CN104269977B (en) * | 2014-10-08 | 2016-08-17 | 兰州飞行控制有限责任公司 | A kind of brshless DC motor Hall Plate Adjustment Tests platform |
| CN106470004A (en) * | 2015-08-17 | 2017-03-01 | 英飞凌科技股份有限公司 | System and method for carrying out motor control using position sensor |
| CN106470004B (en) * | 2015-08-17 | 2019-08-02 | 英飞凌科技股份有限公司 | System and method for using position sensor to carry out motor control |
| US10256701B2 (en) | 2015-09-02 | 2019-04-09 | Nanjing Chervon Industry Co., Ltd. | Electric power tool and method for driving brushless motor thereof |
| WO2017036303A1 (en) * | 2015-09-02 | 2017-03-09 | 南京德朔实业有限公公司 | Electric tool and drive method of brushless motor thereof |
| CN105119538A (en) * | 2015-09-17 | 2015-12-02 | 矽力杰半导体技术(杭州)有限公司 | Driving circuit and method of permanent magnet synchronous motor |
| CN105119538B (en) * | 2015-09-17 | 2018-06-26 | 矽力杰半导体技术(杭州)有限公司 | The driving circuit and driving method of a kind of permanent magnet synchronous motor |
| CN109831129A (en) * | 2017-11-23 | 2019-05-31 | 株式会社电装 | Control device, the rotating electric machine including the control device and control method |
| CN109831129B (en) * | 2017-11-23 | 2023-09-01 | 株式会社电装 | Control device, rotating electrical machine including the same, and control method |
| CN113424433A (en) * | 2018-12-13 | 2021-09-21 | 梅维尔Edt共同股份公司 | Method for calibrating an electric machine |
| CN111049456A (en) * | 2020-01-06 | 2020-04-21 | 江苏科技大学 | Hall sensor installation deviation identification and compensation method and device |
| WO2024083271A1 (en) * | 2023-03-31 | 2024-04-25 | 浙江联宜电机有限公司 | Stm32-based hall phase calibration method and apparatus |
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