WO2024016536A1 - 无刷直流电机刹车***及方法 - Google Patents

无刷直流电机刹车***及方法 Download PDF

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Publication number
WO2024016536A1
WO2024016536A1 PCT/CN2022/133040 CN2022133040W WO2024016536A1 WO 2024016536 A1 WO2024016536 A1 WO 2024016536A1 CN 2022133040 W CN2022133040 W CN 2022133040W WO 2024016536 A1 WO2024016536 A1 WO 2024016536A1
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Prior art keywords
bus voltage
threshold
duty cycle
brushless
phase inverter
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PCT/CN2022/133040
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English (en)
French (fr)
Inventor
王浩东
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江苏东成工具科技有限公司
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Priority to DE112022002873.4T priority Critical patent/DE112022002873T5/de
Priority to US18/461,481 priority patent/US20240030841A1/en
Publication of WO2024016536A1 publication Critical patent/WO2024016536A1/zh

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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
    • H02P6/24—Arrangements for stopping
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Definitions

  • the present invention relates to the field of brushless motor control, and in particular to a brushless DC motor braking system and method.
  • Some power tools have safety requirements or user feel requirements. After the user releases the switch, the motor needs to be braked to quickly stop the machine.
  • Motor braking scheme based on the conduction of the three-phase lower tube as shown in Figure 1 of the manual, by directly controlling the closing of the three upper tubes of the three-phase inverter, The lower three tubes are turned on to realize motor braking.
  • the disadvantage of this method is that when braking, the phase short-circuit current is large, which can easily cause damage to circuit components, the transition of the braking method is unstable, and the user feels poor;
  • the purpose of the present invention is to provide a brushless DC motor braking system and method, which solves the problem that the bus voltage value continues to increase during braking, causing damage to electronic components and circuits, and at the same time avoids the phase current during braking. Problems include large size, unstable tool transition, and poor user feel.
  • a brushless DC motor braking system includes a DC power supply, a three-phase inverter and a controller.
  • the DC power supply is electrically connected to the three-phase inverter through a bus circuit, and the three-phase inverter is electrically connected to The brushless DC motor;
  • the controller is electrically connected to the three-phase inverter to control and drive the operation of the brushless DC motor;
  • a voltage sampling module is electrically connected to the positive and negative ends of the DC power supply. , used to collect the bus voltage value of the bus circuit when the brushless DC motor is braking;
  • the controller includes a brake control module electrically connected to the voltage sampling module, in which a high bus voltage threshold and a low bus voltage threshold are preset.
  • a brake control module electrically connected to the voltage sampling module, in which a high bus voltage threshold and a low bus voltage threshold are preset.
  • the controller controls all six switch tubes of the three-phase inverter to close; when the bus voltage value triggers the bus voltage low threshold, the brake control module controls the three upper switches of the three-phase inverter to close, The lower three tubes are connected;
  • the brake control module controls the bus voltage value to be between the high bus voltage threshold and the low bus voltage threshold to control the brushless DC motor to perform slow braking until it stops.
  • the brake control module includes a computing module, a storage unit, a timing unit and a PWM modulation module.
  • the computing module is electrically connected to the voltage sampling module through the ADC module, and the storage unit and the timing unit are both electrically connected.
  • the operation module is electrically connected to the three-phase inverter through the PWM modulation module, and the bus voltage high threshold and the bus voltage low threshold are preset in the storage unit.
  • the ADC module is used to convert the voltage analog signal collected by the voltage sampling module into a voltage digital signal, and the voltage digital signal is the bus voltage value;
  • the operation module is used to determine whether the bus voltage value triggers the bus voltage high threshold or the bus voltage low threshold, and counts the number of times the bus voltage value triggers the bus voltage high threshold or the bus voltage low threshold. frequency;
  • the timing unit is used to control the time for the computing module to determine whether the bus voltage value triggers the bus voltage high threshold or the bus voltage low threshold;
  • the PWM modulation module generates corresponding PWM modulation signals according to the different states of the bus voltage detected by the operation module to control the closing or conduction of the six switching tubes of the three-phase inverter, thereby controlling the Brushless DC motor performs slow braking.
  • the brake control module controls the three-phase inverter.
  • the PWM duty cycle of the lower three tubes is reduced;
  • the brake control module controls the pwm duty cycle of the three lower tubes of the three-phase inverter to increase.
  • the storage unit is preset with the initial pwm duty cycle of the three lower tubes of the three-phase inverter when the brushless DC motor is braking, and the pwm duty cycle of the three upper tubes of the three-phase inverter.
  • the ratio is always zero.
  • the present invention provides a brushless DC motor braking method, which is based on the above brushless DC motor braking system and includes the following steps:
  • the ADC module converts the voltage analog signal collected by the voltage sampling module into a voltage digital signal, which is the bus voltage value;
  • S3 Use the computing module to determine in real time whether the bus voltage value is between the high bus voltage threshold and the low bus voltage threshold;
  • the pwm modulation module When the bus voltage value triggers the bus voltage high threshold, the pwm modulation module outputs a pwm modulation signal with the pwm duty cycle of the six switches of the three-phase inverter being zero;
  • the pwm modulation module When the bus voltage value triggers the bus voltage low threshold, the pwm modulation module outputs the pwm modulation signal of the three-phase inverter.
  • the pwm duty cycle of the upper three tubes is zero, and the pwm duty cycle of the lower three tubes is the initial pwm duty cycle;
  • the pwm modulation module When the bus voltage value is within time T0 and the bus voltage low threshold is triggered N0 times, the pwm modulation module outputs a pwm modulation signal with an increased pwm duty cycle of the three tubes under the three-phase inverter;
  • S8 Use the brake control module to control the bus voltage value between the high bus voltage threshold and the low bus voltage threshold to control the brushless DC motor to brake slowly until it stops.
  • the storage unit is preset with a low threshold N1 of times and a high threshold N2 of times that the bus voltage value triggers the high threshold of the bus voltage, and the high threshold N2 of times is greater than the low threshold N1 of times;
  • the pwm modulation module When the brushless DC motor performs slow braking and the number of times the bus voltage value triggers the high bus voltage threshold is greater than the number of times high threshold N2, the pwm modulation module outputs the lower three tubes of the three-phase inverter.
  • the PWM modulation signal with the PWM duty cycle gradually decreasing until the number of times the bus voltage value triggers the high bus voltage threshold is between the number of times low threshold N1 and the number of times high threshold N2;
  • the PWM modulation module When the brushless DC motor performs slow braking and the number of times the bus voltage value triggers the high bus voltage threshold is less than the number of times low threshold N1, the PWM modulation module outputs the lower three tubes of the three-phase inverter.
  • the PWM modulation signal gradually increases the PWM duty cycle until the number of times the bus voltage value triggers the high bus voltage threshold is between the number of times low threshold N1 and the number of times high threshold N2.
  • the present invention provides another brushless DC motor braking method, which is based on the above brushless DC motor braking system and includes the following steps:
  • the ADC module converts the voltage analog signal collected by the voltage sampling module into a voltage digital signal, which is the bus voltage value;
  • S3 Use the computing module to determine in real time whether the bus voltage value is between the high bus voltage threshold and the low bus voltage threshold;
  • the pwm modulation module When the bus voltage rises to the bus voltage high threshold, the pwm modulation module outputs a pwm modulation signal with zero pwm duty cycle for the six switches of the three-phase inverter;
  • the pwm modulation module When the bus voltage value drops to the bus voltage low threshold, the pwm modulation module outputs a pwm modulation signal in which the pwm duty cycle of the upper three tubes of the three-phase inverter is zero, and the pwm duty cycle of the lower three tubes is the initial pwm duty cycle. ;
  • the pwm modulation module When the number of times the bus voltage value triggers the bus voltage high threshold within time T1 is greater than the number of times high threshold N2, the pwm modulation module outputs a pwm modulation signal with a gradually decreasing pwm duty cycle of the three tubes under the three-phase inverter until the bus voltage The number of times the value triggers the high bus voltage threshold within time T1 is between the number of low thresholds N1 and the number of high thresholds N2;
  • the pwm modulation module When the bus voltage value triggers the high bus voltage threshold in time T1 less than the low threshold N1, the pwm modulation module outputs a pwm modulation signal with a gradually increasing pwm duty cycle of the three tubes under the three-phase inverter until the bus voltage
  • the number of times the value triggers the high bus voltage threshold within time T1 is between the number of low thresholds N1 and the number of high thresholds N2;
  • S8 Use the brake control module to control the bus voltage value between the high bus voltage threshold and the low bus voltage threshold to control the brushless DC motor to brake slowly until it stops.
  • the PWM modulation module outputs a three-phase inverter with a duty cycle of the upper three tubes of zero and a 5% duty cycle of the lower three tubes. PWM modulation signal with gradually decreasing space ratio;
  • the PWM modulation module When the bus voltage value triggers the high bus voltage threshold in time T1 less than the low threshold N1, the PWM modulation module outputs the three-phase inverter with a duty cycle of the upper three tubes of zero and a gradually increased duty cycle of 5% for the lower three tubes. Improved pwm modulation signal.
  • the present invention has the following beneficial effects:
  • the present invention controls the bus voltage value through the brake control module to always be between the high bus voltage threshold and the low bus voltage threshold, and uses different PWM modulation signals to control the brushless DC motor according to different bus voltage states. Brush the DC motor to slowly brake until it stops.
  • This method ensures that the bus voltage value is continuously maintained between the high bus voltage threshold and the low bus voltage threshold, protecting electronic components and circuits and extending the service life of electronic components and circuits; Secondly, it circumvents the existing hard braking method of direct conduction of the three tubes under the three-phase inverter, and significantly improves the braking feel of the brushless DC motor.
  • Figure 1 is a structural diagram of a motor brake based on the conduction of three tubes under a three-phase inverter in the prior art
  • Figure 2 is a structural diagram of a motor brake based on three-tube PWM modulation under a three-phase inverter in the prior art.
  • the directional arrows in the figure indicate the direction of current flow.
  • Figure 3 is a schematic diagram of the motor brake bus voltage based on three-tube PWM modulation under a three-phase inverter in the prior art
  • Figure 4 is a structural diagram of the brushless DC motor braking system of the present invention.
  • Figure 5 is a bus voltage control waveform diagram of the brushless DC motor braking system during braking according to the present invention
  • Figure 6 is a waveform diagram of the PWM modulation signal when the three tubes of the three-phase inverter output by the PWM modulation module of the present invention are turned on;
  • Figure 7 is a waveform diagram of the PWM modulation signal when the three tubes of the three-phase inverter output by the PWM modulation module of the present invention are closed;
  • Figure 8 is a bus voltage waveform diagram during the braking process of the brushless DC motor of the present invention.
  • a brushless DC motor braking system includes a DC power supply 1, a three-phase inverter 2 and a controller 3.
  • the DC power supply 1 is electrically connected to the three-phase inverter 2 through a bus circuit 5 , the three-phase inverter 2 is electrically connected to the brushless DC motor 4; the controller 3 is electrically connected to the three-phase inverter 2 to control and drive the operation of the brushless DC motor 4; the positive and negative terminals of the DC power supply 1 are electrically connected.
  • a voltage sampling module 6 is connected to collect the bus voltage value of the bus circuit 5 when the brushless DC motor 4 is braking; the controller 3 includes a brake control module 7 electrically connected to the voltage sampling module 6, which has a preset internal bus voltage high threshold and bus voltage low threshold.
  • the brake control module 7 controls all six switches of the three-phase inverter 2 to turn off; when the bus voltage value triggers the bus voltage low threshold, the brake control module 7
  • the upper three tubes of the three-phase inverter 2 are controlled to be closed and the lower three tubes are turned on; the brake control module 7 controls the bus voltage value to be between the high bus voltage threshold and the low bus voltage threshold to control the brushless DC motor 4 for slow braking.
  • the high bus voltage threshold is the withstand voltage value of the bus circuit. Once it exceeds the withstand voltage value, circuit components and circuits may be easily damaged; the low bus voltage threshold is the lowest braking efficiency guaranteed when the brushless DC motor is braked. Threshold. Lower than this minimum threshold will easily lead to prolonged braking time, greatly reduced braking efficiency, and reduced user experience.
  • the brake control module 7 includes a computing module 8, a storage unit 9, a timing unit 10 and a PWM modulation module 11.
  • the computing module 8 is electrically connected to the voltage sampling module 6 through the ADC module 12.
  • the storage unit 9 and timing unit 10 Both are electrically connected to the computing module 8.
  • the computing module 8 is electrically connected to the three-phase inverter 2 through the PWM modulation module 11.
  • the storage unit 9 is preset with a high bus voltage threshold and a low bus voltage threshold.
  • the ADC module 12 is used to convert the voltage analog signal collected by the voltage sampling module 6 into a voltage digital signal.
  • the voltage digital signal is the bus voltage value;
  • the operation module 8 is used to determine whether the bus voltage value triggers the bus voltage high threshold. or the bus voltage low threshold, and counts the number of times the bus voltage value triggers the bus voltage high threshold or the bus voltage low threshold;
  • the timing unit 10 is used to control the operation module 8 to determine whether the bus voltage value triggers the bus voltage high threshold or the bus voltage low threshold.
  • the pwm modulation module 11 generates corresponding pwm modulation signals according to the different states of the bus voltage value detected by the operation module 8, to control the closing or conduction of the six switching tubes of the three-phase inverter 2, and then control the brushless DC motor 4. Brake slowly.
  • the brake control module 7 controls the three-phase inverter 2.
  • the PWM duty cycle of the three tubes is reduced; when the bus voltage value is within time T0 and the bus voltage low threshold is triggered N0 times, the brake control module 7 controls the PWM duty cycle of the three tubes under the three-phase inverter 2 to increase.
  • the storage unit 9 is preset with the initial pwm duty cycle of the three lower tubes of the three-phase inverter 2 when the brushless DC motor 4 is braking, and the pwm duty cycle of the three upper tubes of the three-phase inverter 2 is always is zero.
  • the storage unit 9 is preset with the bus voltage value triggering the bus voltage high threshold, the low threshold N1, the high threshold N2, and the high threshold N2 is greater than the low threshold N1; when the brushless DC motor 4 slows down
  • the PWM modulation module 11 outputs a PWM modulation signal with a gradually decreasing PWM duty cycle of the three tubes under the three-phase inverter 2 until the bus voltage value triggers the bus
  • the number of times of the voltage high threshold is between the number of times low threshold N1 and the number of times high threshold N2; when the brushless DC motor 4 performs slow braking and the bus voltage value triggers the number of times the bus voltage high threshold is less than the number of times low threshold N1, the pwm modulation module 11 outputs The PWM modulation signal of the three-tube PWM under the three-phase inverter 2 gradually increases in duty cycle until the number of times the bus voltage value triggers the high
  • the present invention provides a brushless DC motor braking method, which includes the following steps:
  • the ADC module 12 converts the voltage analog signal collected by the voltage sampling module 6 into a voltage digital signal, which is the bus voltage value;
  • S3 Use the computing module 8 to determine in real time whether the bus voltage value is between the high bus voltage threshold and the low bus voltage threshold;
  • S8 Use the brake control module 7 to control the bus voltage value to be between the high bus voltage threshold and the low bus voltage threshold to control the brushless DC motor 4 to brake slowly until it stops;
  • the value range of time T0 is: 10ms ⁇ 100ms
  • the value range of N0 is: 5 times ⁇ 20 times.
  • the bus voltage value is recorded as Udc
  • the bus voltage high threshold is 55V
  • the bus voltage low threshold is 50V
  • the time T0 value is 50ms
  • the N0 value is 10 times.
  • the initial pwm duty cycle is 50%;
  • the ADC module 12 converts the voltage analog signal collected by the voltage sampling module 6 into a voltage digital signal, which is the bus voltage value Udc;
  • This method uses the brake control module 7 to control the bus voltage value to always be between the high bus voltage threshold and the low bus voltage threshold, and uses different PWM modulation signals to control the brushless DC motor 4 for slow braking according to different bus voltage states. Until shutdown, this method first ensures that the bus voltage value continues to be maintained between the high bus voltage threshold and the low bus voltage threshold, protects electronic components and circuits and extends the service life of electronic components and circuits; secondly, it circumvents the existing technology 3.
  • the hard braking method in which the three tubes under the phase inverter 2 are directly connected significantly improves the braking feel of the brushless DC motor 4.
  • the present invention provides another brushless DC motor braking method, which includes the following steps:
  • the ADC module 12 converts the voltage analog signal collected by the voltage sampling module 6 into a voltage digital signal, which is the bus voltage value;
  • S3 Use the computing module 8 to determine in real time whether the bus voltage value is between the high bus voltage threshold and the low bus voltage threshold;
  • the pwm modulation module 11 When the number of times the bus voltage value triggers the bus voltage high threshold within time T1 is greater than the number of times high threshold N2, the pwm modulation module 11 outputs a pwm modulation signal with a gradually decreasing pwm duty cycle of the three lower tubes of the three-phase inverter 2 until The number of times the bus voltage value triggers the high bus voltage threshold within time T1 is between the number of low thresholds N1 and the number of high thresholds N2;
  • the pwm modulation module 11 When the number of times the bus voltage value triggers the bus voltage high threshold within time T1 is less than the number of times low threshold N1, the pwm modulation module 11 outputs a pwm modulation signal with a gradually increasing pwm duty cycle of the three lower tubes of the three-phase inverter 2 until The number of times the bus voltage value triggers the high bus voltage threshold within time T1 is between the number of low thresholds N1 and the number of high thresholds N2;
  • S8 Use the brake control module 7 to control the bus voltage value to be between the high bus voltage threshold and the low bus voltage threshold to control the brushless DC motor 4 to brake slowly until it stops;
  • the value range of N1 is: 5 to 10 times
  • the value range of N2 is: 20 to 50 times
  • the value range of T1 is: 10ms to 100ms.
  • the pwm modulation module 11 when the number of times the bus voltage value triggers the bus voltage high threshold in time T1 is greater than the number of times high threshold N2, the pwm modulation module 11 outputs the duty cycle of the upper three tubes of the three-phase inverter 2 to be zero, and the duty cycle of the lower three tubes of the three-phase inverter 2 is zero.
  • the PWM modulation module 11 When the number of times the bus voltage value triggers the high bus voltage threshold in time T1 is less than the number of times low threshold N1, the PWM modulation module 11 outputs a three-phase inverter 2 with a duty cycle of the upper three tubes of zero and a duty cycle of 5% for the lower three tubes. than the gradually increasing pwm modulated signal.
  • the bus voltage value is recorded as Udc
  • the bus voltage high threshold is 55V
  • the bus voltage low threshold is 50V
  • the time T1 value is 50ms
  • the N1 value is 5 times.
  • the value of N2 is 20 times, and the initial pwm duty cycle is 50%;
  • the ADC module 12 converts the voltage analog signal collected by the voltage sampling module 6 into a voltage digital signal, which is the bus voltage value Udc;
  • the pwm modulation module 11 When Udc drops to 50V less than 5 times within 50ms, the pwm modulation module 11 outputs the pwm of the three-phase inverter 2 with the upper three tubes having a zero duty cycle and the lower three tubes gradually increasing with a 5% duty cycle. Modulate the signal until the number of times Udc drops to 50V within 50ms is between 5 and 20 times;
  • the above method (2) further optimizes the method (1), while ensuring that the bus voltage value is between the high bus voltage threshold and the low bus voltage threshold, further finely controls the PWM modulation signal to control the brushless DC motor 4. Braking slowly until shutdown, this method not only protects electronic components and circuits and extends their service life, but also greatly improves braking efficiency. At the same time, the braking feel of the brushless DC motor 4 is further improved, greatly improving the user experience.

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Abstract

本发明公开了一种无刷直流电机刹车***及方法，在无刷直流电机刹车过程中，通过刹车控制模块控制母线电压值始终位于母线电压高阈值与母线电压低阈值之间，并根据不同的母线电压状态，采用不同的pwm调制信号以控制无刷直流电机进行缓刹，直至停机。由以上可知，本发明不仅保证母线电压值持续维持在母线电压高阈值与母线电压低阈值之间，保护电子元器件及电路且延长电子元器件及电路的使用寿命，而且规避现有技术三相逆变器下三管直接导通的硬刹方法，显著提高无刷直流电机刹车手感。

Description

无刷直流电机刹车***及方法 【技术领域】
本发明涉及无刷电机控制领域，尤其涉及一种无刷直流电机刹车***及方法。
【背景技术】
一些电动工具存在安规要求或用户手感要求，在用户松开开关后需要电机刹车，实现机器快速停机。
目前，现有的几种电机刹车技术存在一些不足和缺点：(1)基于三相下管导通的电机刹车方案：如说明书附图1，通过直接控制三相逆变器上三管关闭、下三管导通，实现电机刹车，这种方式的不足之处在于刹车时，相短路电流较大，易导致电路元器件的损坏，刹车方式过渡不平稳，用户使用手感差；(2)基于三相下管PWM调制的电机刹车方案：如说明书附图2，通过三相下管pwm调制方式实现电机刹车，这种方式的不足之处在于刹车时，当pwm从on变为off状态，电流方向为负向的相电流会通过mos体二极管流入电源模块，但在背负式电动工具中，一般母线和电池包不直接连接，电池包与母线之间连接有正向二极管，导致母线电路能量不能回馈到电池包，进而使得母线电压持续升高，如说明书附图3，当母线电压值超过耐压值时，电子元器件及电路易损坏。
因此，有必要设计一种无刷直流电机刹车***及方法，以解决上述问题。
【发明内容】
针对现有技术的不足，本发明的目的在于提供一种无刷直流电机刹车***及方法，解决刹车时母线电压值持续升高，导致电子元器件及电路损坏的问题，同时避免刹车时相电流较大、工具过渡不平稳、用户使用手感差的问题。
为实现上述目的，本发明采用如下技术方案：
一种无刷直流电机刹车***，包括直流电源、三相逆变器及控制器，所述直流电源通过母线电路电连接于所述三相逆变器，所述三相逆变器电连接于所述无刷直流电机；所述控制器电连接于所述三相逆变器，用以控制驱动所述无刷直流电机的运转；所述直流电源正负极两端电连接有电压采样模块，用以采集所述无刷直流电机刹车时所述母线电路的母线电压值；
所述控制器包括与所述电压采样模块电连接的刹车控制模块，其内部预设有母线电压高阈值与母线电压低阈值，当所述母线电压值触发所述母线电压高阈值时，所述刹车控制模块控制所述三相逆变器六开关管均关闭；当所述母线电压值触发所述母线电压低阈值时，所述刹车控制模块控制所述三相逆变器上三管关闭、下三管导通；
所述刹车控制模块控制所述母线电压值位于所述母线电压高阈值与所述母线电压低阈值之间，以控制所述无刷直流电机进行缓刹，直至停机。
进一步地，所述刹车控制模块包括运算模块、存储单元、计时单元及pwm调制模块，所述运算模块通过ADC模块电连接于所述电压采样模块，所述存储单元与所述计时单元均电连接于所述运算模块，所述运算模块通过所述pwm调制模块电连接于所述三相逆变器，所述存储单元内预设有所述母线电压高阈值与所述母线电压低阈值。
进一步地，所述ADC模块用于将所述电压采样模块采集的电压模拟信号转换成电压数字信号，所述电压数字信号即为所述母线电压值；
所述运算模块用于判断所述母线电压值是否触发所述母线电压高阈值或所述母线电压低阈值，并计数所述母线电压值触发所述母线电压高阈值或所述母线电压低阈值的次数；
所述计时单元用于控制所述运算模块判断所述母线电压值是否触发所述母线电压高阈值或所述母线电压低阈值的时间；
所述pwm调制模块根据所述运算模块检测出所述母线电压值的不同状态生成相应的pwm调制信号，用以控制所述三相逆变器六开关管的关闭或导通，进而控制所述无刷直流电机进行缓刹。
进一步地，在所述无刷直流电机缓刹过程中，当所述母线电压值在时间T0内且N0次触发所述母线电压高阈值时，所述刹车控制模块控制所述三相逆变器下三管的pwm占空比降低；
当所述母线电压值在时间T0内且N0次触发所述母线电压低阈值时，所述刹车控制模块控制所述三相逆变器下三管的pwm占空比提高。
进一步地，所述存储单元内预设有所述无刷直流电机刹车时所述三相逆变器下三管的初始pwm占空比，所述三相逆变器上三管的pwm占空比始终为零。
本发明提供一种无刷直流电机刹车方法，其基于上述无刷直流电机刹车***，包括以下步骤：
S1：无刷直流电机以三相逆变器上三管pwm占空比为零、下三管pwm占空比为初始pwm占空比进行刹车；
S2：刹车过程中，通过ADC模块将电压采样模块采集的电压模拟信号转换成电压数字信号，即为母线电压值；
S3：通过运算模块实时判断母线电压值是否位于母线电压高阈值与母线电压低阈值之间；
S4：当母线电压值触发母线电压高阈值时，pwm调制模块输出三相逆变器六开关管pwm占空比均为零的pwm调制信号；
S5：当母线电压值触发母线电压低阈值时，pwm调制模块输出三相逆变器 上三管pwm占空比为零，下三管pwm占空比为初始pwm占空比的pwm调制信号；
S6：在无刷直流电机缓刹过程中，当母线电压值在时间T0内且N0次触发母线电压高阈值时，pwm调制模块输出三相逆变器下三管的pwm占空比降低的pwm调制信号；
S7：当母线电压值在时间T0内且N0次触发母线电压低阈值时，pwm调制模块输出三相逆变器下三管的pwm占空比提高的pwm调制信号；
S8：通过刹车控制模块控制母线电压值位于母线电压高阈值与母线电压低阈值之间，以控制无刷直流电机进行缓刹，直至停机。
进一步地，所述存储单元预设有所述母线电压值触发所述母线电压高阈值的次数低阈值N1、次数高阈值N2且所述次数高阈值N2大于所述次数低阈值N1；
当所述无刷直流电机进行缓刹且所述母线电压值触发所述母线电压高阈值的次数大于所述次数高阈值N2时，所述pwm调制模块输出所述三相逆变器下三管pwm占空比逐渐降低的pwm调制信号，直至所述母线电压值触发所述母线电压高阈值的次数位于所述次数低阈值N1与所述次数高阈值N2之间；
当所述无刷直流电机进行缓刹且所述母线电压值触发所述母线电压高阈值的次数小于所述次数低阈值N1时，所述pwm调制模块输出所述三相逆变器下三管pwm占空比逐渐提高的pwm调制信号，直至所述母线电压值触发所述母线电压高阈值的次数位于所述次数低阈值N1与所述次数高阈值N2之间。
本发明提供另一种无刷直流电机刹车方法，其基于上述无刷直流电机刹车***，包括以下步骤：
S1：无刷直流电机以三相逆变器上三管pwm占空比为零、下三管pwm占 空比为初始pwm占空比进行刹车；
S2：刹车过程中，通过ADC模块将电压采样模块采集的电压模拟信号转换成电压数字信号，即为母线电压值；
S3：通过运算模块实时判断母线电压值是否位于母线电压高阈值与母线电压低阈值之间；
S4：当母线电压值上升至母线电压高阈值时，pwm调制模块输出三相逆变器六开关管pwm占空比均为零的pwm调制信号；
S5：当母线电压值下降至母线电压低阈值时，pwm调制模块输出三相逆变器上三管pwm占空比为零，下三管pwm占空比为初始pwm占空比的pwm调制信号；
S6：当母线电压值在时间T1内触发母线电压高阈值的次数大于次数高阈值N2时，pwm调制模块输出三相逆变器下三管pwm占空比逐渐降低的pwm调制信号，直至母线电压值在时间T1内触发母线电压高阈值的次数位于次数低阈值N1与次数高阈值N2之间；
S7：当母线电压值在时间T1内触发母线电压高阈值的次数小于次数低阈值N1时，pwm调制模块输出三相逆变器下三管pwm占空比逐渐提高的pwm调制信号，直至母线电压值在时间T1内触发母线电压高阈值的次数位于次数低阈值N1与次数高阈值N2之间；
S8：通过刹车控制模块控制母线电压值位于母线电压高阈值与母线电压低阈值之间，以控制无刷直流电机进行缓刹，直至停机。
进一步地，当母线电压值在时间T1内触发母线电压高阈值的次数大于次数高阈值N2时，pwm调制模块输出三相逆变器上三管占空比为零、下三管以5％占空比逐渐降低的pwm调制信号；
当母线电压值在时间T1内触发母线电压高阈值的次数小于次数低阈值N1时，pwm调制模块输出三相逆变器上三管占空比为零、下三管以5％占空比逐渐提高的pwm调制信号。
与现有技术相比，本发明具有如下有益效果：
本发明在无刷直流电机刹车过程中，通过刹车控制模块控制母线电压值始终位于母线电压高阈值与母线电压低阈值之间，并根据不同的母线电压状态，采用不同的pwm调制信号以控制无刷直流电机进行缓刹，直至停机，此方式一来保证母线电压值持续维持在母线电压高阈值与母线电压低阈值之间，保护电子元器件及电路且延长电子元器件及电路的使用寿命；二来规避现有技术三相逆变器下三管直接导通的硬刹方法，显著提高无刷直流电机刹车手感。
【附图说明】
下面结合附图对本发明的具体实施方式做进一步详细的说明：
图1是现有技术中基于三相逆变器下三管导通的电机刹车结构图；
图2是现有技术中基于三相逆变器下三管pwm调制的电机刹车结构图，图中带方向的箭头表示电流流动方向。
图3是现有技术中基于三相逆变器下三管pwm调制的电机刹车母线电压示意图；
图4是本发明无刷直流电机刹车***的结构图；
图5是本发明无刷直流电机刹车***在刹车时的母线电压控制波形图；
图6是本发明pwm调制模块输出三相逆变器下三管导通的pwm调制信号波形图；
图7是本发明pwm调制模块输出三相逆变器下三管关闭的pwm调制信号波形图；
图8是本发明无刷直流电机刹车过程中的母线电压波形图；
图中附图标记的含义：
1、直流电源 2、三相逆变器 3、控制器 4、无刷直流电机 5、母线电路 6、电压采样模块 7、刹车控制模块 8、运算模块 9、存储单元 10、计时单元 11、pwm调制模块 12、ADC模块
【具体实施方式】
下面结合附图和实施方式对本发明作进一步详细说明。
参阅图4至图8所示，一种无刷直流电机刹车***，包括直流电源1、三相逆变器2及控制器3，直流电源1通过母线电路5电连接于三相逆变器2，三相逆变器2电连接于无刷直流电机4；控制器3电连接于三相逆变器2，用以控制驱动无刷直流电机4的运转；直流电源1正负极两端电连接有电压采样模块6，用以采集无刷直流电机4刹车时母线电路5的母线电压值；控制器3包括与电压采样模块6电连接的刹车控制模块7，其内部预设有母线电压高阈值与母线电压低阈值，当母线电压值触发母线电压高阈值时，刹车控制模块7控制三相逆变器2六开关管均关闭；当母线电压值触发母线电压低阈值时，刹车控制模块7控制三相逆变器2上三管关闭、下三管导通；刹车控制模块7控制母线电压值位于母线电压高阈值与母线电压低阈值之间，以控制无刷直流电机4进行缓刹，直至停机，其中，母线电压高阈值为母线电路的耐压值，一旦超过该耐压值，易导致电路元器件及电路损坏；母线电压低阈值为无刷直流电机刹车时，保证刹车效率的最低阈值，低于该最低阈值易导致刹车时间拉长，刹车效率大大降低，降低用户体验感。
参阅图4所示，刹车控制模块7包括运算模块8、存储单元9、计时单元10及pwm调制模块11，运算模块8通过ADC模块12电连接于电压采样模块6， 存储单元9与计时单元10均电连接于运算模块8，运算模块8通过pwm调制模块11电连接于三相逆变器2，存储单元9内预设有母线电压高阈值与母线电压低阈值。
本实施例中，ADC模块12用于将电压采样模块6采集的电压模拟信号转换成电压数字信号，电压数字信号即为母线电压值；运算模块8用于判断母线电压值是否触发母线电压高阈值或母线电压低阈值，并计数母线电压值触发母线电压高阈值或母线电压低阈值的次数；计时单元10用于控制运算模块8判断母线电压值是否触发母线电压高阈值或母线电压低阈值的时间；pwm调制模块11根据运算模块8检测出母线电压值的不同状态生成相应的pwm调制信号，用以控制三相逆变器2六开关管的关闭或导通，进而控制无刷直流电机4进行缓刹。
参阅图5至图8所示，在无刷直流电机4缓刹过程中，当母线电压值在时间T0内且N0次触发母线电压高阈值时，刹车控制模块7控制三相逆变器2下三管的pwm占空比降低；当母线电压值在时间T0内且N0次触发母线电压低阈值时，刹车控制模块7控制三相逆变器2下三管的pwm占空比提高。
本实施例中，存储单元9内预设有无刷直流电机4刹车时三相逆变器2下三管的初始pwm占空比，三相逆变器2上三管的pwm占空比始终为零。
继续参阅图4所示，存储单元9预设有母线电压值触发母线电压高阈值的次数低阈值N1、次数高阈值N2且次数高阈值N2大于次数低阈值N1；当无刷直流电机4进行缓刹且母线电压值触发母线电压高阈值的次数大于次数高阈值N2时，pwm调制模块11输出三相逆变器2下三管pwm占空比逐渐降低的pwm调制信号，直至母线电压值触发母线电压高阈值的次数位于次数低阈值N1与次数高阈值N2之间；当无刷直流电机4进行缓刹且母线电压值触发母线电压高阈值的次数小于次数低阈值N1时，pwm调制模块11输出三相逆变器2下三管pwm 占空比逐渐提高的pwm调制信号，直至母线电压值触发母线电压高阈值的次数位于次数低阈值N1与次数高阈值N2之间。
(一)本发明提供一种无刷直流电机刹车方法，包括以下步骤：
S1：无刷直流电机4以三相逆变器2上三管pwm占空比为零、下三管pwm占空比为初始pwm占空比进行刹车；
S2：刹车过程中，通过ADC模块12将电压采样模块6采集的电压模拟信号转换成电压数字信号，即为母线电压值；
S3：通过运算模块8实时判断母线电压值是否位于母线电压高阈值与母线电压低阈值之间；
S4：当母线电压值触发母线电压高阈值时，pwm调制模块11输出三相逆变器2六开关管pwm占空比均为零的pwm调制信号；
S5：当母线电压值触发母线电压低阈值时，pwm调制模块11输出三相逆变器2上三管pwm占空比为零，下三管pwm占空比为初始pwm占空比的pwm调制信号；
S6：在无刷直流电机4缓刹过程中，当母线电压值在时间T0内且N0次触发母线电压高阈值时，pwm调制模块11输出三相逆变器2下三管的pwm占空比降低的pwm调制信号；
S7：当母线电压值在时间T0内且N0次触发母线电压低阈值时，pwm调制模块11输出三相逆变器2下三管的pwm占空比提高的pwm调制信号；
S8：通过刹车控制模块7控制母线电压值位于母线电压高阈值与母线电压低阈值之间，以控制无刷直流电机4进行缓刹，直至停机；
其中，时间T0取值范围为：10ms～100ms，N0取值范围为：5次～20次。
上述无刷直流电机4刹车方法的工作原理为：
参阅图5至图8所示，假设电池包电压40V，母线电压值记为Udc，母线电压高阈值为55V，母线电压低阈值为50V，时间T0取值为50ms，N0取值为10次，初始pwm占空比为50％；
S1：无刷直流电机4以三相逆变器2上三管pwm占空比为零、下三管pwm占空比为初始pwm占空比进行刹车；
S2：刹车过程中，通过ADC模块12将电压采样模块6采集的电压模拟信号转换成电压数字信号，即为母线电压值Udc；
S3：通过运算模块8实时判断Udc是否位于50V与55V之间；
S4：当Udc上升至55V时，pwm调制模块11输出三相逆变器2六开关管pwm占空比均为零的pwm调制信号；当Udc下降至50V时，pwm调制模块11输出三相逆变器2上三管pwm占空比为零，下三管pwm占空比为50％的pwm调制信号；
S5：在S4刹车过程中，当Udc在50ms内且达到10次上升至55V时，pwm调制模块11输出三相逆变器2下三管的pwm占空比降低的pwm调制信号，其中，10次可为连续或非连续；
S6：在S4刹车过程中，当Udc在50ms内且达到10次下降至50V时，pwm调制模块11输出三相逆变器2下三管的pwm占空比提高的pwm调制信号；
S7：通过刹车控制模块7控制Udc位于50V与55V之间，以控制无刷直流电机4进行缓刹，直至停机；
本方法通过刹车控制模块7控制母线电压值始终位于母线电压高阈值与母线电压低阈值之间，并根据不同的母线电压状态，采用不同的pwm调制信号以控制无刷直流电机4进行缓刹，直至停机，此方法一来保证母线电压值持续维持在母线电压高阈值与母线电压低阈值之间，保护电子元器件及电路且延长电 子元器件及电路的使用寿命；二来规避现有技术三相逆变器2下三管直接导通的硬刹方法，显著提高无刷直流电机4刹车手感。
(二)本发明提供另一种无刷直流电机刹车方法，包括以下步骤：
S1：无刷直流电机4以三相逆变器2上三管pwm占空比为零、下三管pwm占空比为初始pwm占空比进行刹车；
S2：刹车过程中，通过ADC模块12将电压采样模块6采集的电压模拟信号转换成电压数字信号，即为母线电压值；
S3：通过运算模块8实时判断母线电压值是否位于母线电压高阈值与母线电压低阈值之间；
S4：当母线电压值上升至母线电压高阈值时，pwm调制模块11输出三相逆变器2六开关管pwm占空比均为零的pwm调制信号；
S5：当母线电压值下降至母线电压低阈值时，pwm调制模块11输出三相逆变器2上三管pwm占空比为零，下三管pwm占空比为初始pwm占空比的pwm调制信号；
S6：当母线电压值在时间T1内触发母线电压高阈值的次数大于次数高阈值N2时，pwm调制模块11输出三相逆变器2下三管pwm占空比逐渐降低的pwm调制信号，直至母线电压值在时间T1内触发母线电压高阈值的次数位于次数低阈值N1与次数高阈值N2之间；
S7：当母线电压值在时间T1内触发母线电压高阈值的次数小于次数低阈值N1时，pwm调制模块11输出三相逆变器2下三管pwm占空比逐渐提高的pwm调制信号，直至母线电压值在时间T1内触发母线电压高阈值的次数位于次数低阈值N1与次数高阈值N2之间；
S8：通过刹车控制模块7控制母线电压值位于母线电压高阈值与母线电压 低阈值之间，以控制无刷直流电机4进行缓刹，直至停机；
其中，N1的取值范围为：5次～10次，N2的取值范围为：20次～50次，T1的取值范围为：10ms～100ms。
本实施例中，当母线电压值在时间T1内触发母线电压高阈值的次数大于次数高阈值N2时，pwm调制模块11输出三相逆变器2上三管占空比为零、下三管以5％占空比逐渐降低的pwm调制信号；
当母线电压值在时间T1内触发母线电压高阈值的次数小于次数低阈值N1时，pwm调制模块11输出三相逆变器2上三管占空比为零、下三管以5％占空比逐渐提高的pwm调制信号。
上述无刷直流电机4刹车方法的工作原理为：
参阅图5至图8所示，假设电池包电压40V，母线电压值记为Udc，母线电压高阈值为55V，母线电压低阈值为50V，时间T1取值为50ms，N1取值为5次，N2取值为20次，初始pwm占空比为50％；
S1：无刷直流电机4以三相逆变器2上三管pwm占空比为零、下三管pwm占空比为初始pwm占空比进行刹车；
S2：刹车过程中，通过ADC模块12将电压采样模块6采集的电压模拟信号转换成电压数字信号，即为母线电压值Udc；
S3：通过运算模块8实时判断Udc是否位于50V与55V之间；
S4：当Udc上升至55V时，pwm调制模块11输出三相逆变器2六开关管pwm占空比均为零的pwm调制信号；当Udc下降至50V时，pwm调制模块11输出三相逆变器2上三管pwm占空比为零，下三管pwm占空比为50％的pwm调制信号；
S5：当Udc在50ms内上升至55V的次数大于20次时，pwm调制模块11 输出三相逆变器2上三管占空比为零、下三管以5％占空比逐渐降低的pwm调制信号，直至Udc在50ms内上升至55V的次数位于5次与20次之间；
S6：当Udc在50ms内下降至50V的次数小于5次时，pwm调制模块11输出三相逆变器2上三管占空比为零、下三管以5％占空比逐渐提高的pwm调制信号，直至Udc在50ms内下降至50V的次数位于5次与20次之间；
S7：通过刹车控制模块7控制Udc位于50V与55V之间，以控制无刷直流电机4进行缓刹，直至停机。
以上方法(二)进一步优化方法(一)，在保证母线电压值位于母线电压高阈值与母线电压低阈值之间的同时，对pwm调制信号进行进一步地精细控制，以控制无刷直流电机4进行缓刹，直至停机，本方法不仅保护电子元器件及电路、延长其使用寿命，而且极大地提高了刹车效率，同时使得无刷直流电机4刹车手感得到进一步提高，极大地改善用户的使用体验。
本发明不局限于上述具体实施方式，本领域普通技术人员可以很容易地理解到，在不脱离本发明原理和范畴的前提下，本发明的无刷直流电机刹车***及方法还有其他很多的替代方案，本发明的保护范围以权利要求书的内容为准。

Claims (9)

  1. 一种无刷直流电机刹车***，包括直流电源、三相逆变器及控制器，所述直流电源通过母线电路电连接于所述三相逆变器，所述三相逆变器电连接于所述无刷直流电机；所述控制器电连接于所述三相逆变器，用以控制驱动所述无刷直流电机的运转；其特征在于：所述直流电源正负极两端电连接有电压采样模块，用以采集所述无刷直流电机刹车时所述母线电路的母线电压值；
    所述控制器包括与所述电压采样模块电连接的刹车控制模块，其内部预设有母线电压高阈值与母线电压低阈值，当所述母线电压值触发所述母线电压高阈值时，所述刹车控制模块控制所述三相逆变器六开关管均关闭；
    当所述母线电压值触发所述母线电压低阈值时，所述刹车控制模块控制所述三相逆变器上三管关闭、下三管导通；
    所述刹车控制模块控制所述母线电压值位于所述母线电压高阈值与所述母线电压低阈值之间，以控制所述无刷直流电机进行缓刹，直至停机。
  2. 根据权利要求1所述的无刷直流电机刹车***，其特征在于：所述刹车控制模块包括运算模块、存储单元、计时单元及pwm调制模块，所述运算模块通过ADC模块电连接于所述电压采样模块，所述存储单元与所述计时单元均电连接于所述运算模块，所述运算模块通过所述pwm调制模块电连接于所述三相逆变器，所述存储单元内预设有所述母线电压高阈值与所述母线电压低阈值。
  3. 根据权利要求2所述的无刷直流电机刹车***，其特征在于：所述ADC模块用于将所述电压采样模块采集的电压模拟信号转换成电压数字信号，所述电压数字信号即为所述母线电压值；
    所述运算模块用于判断所述母线电压值是否触发所述母线电压高阈值或所述母线电压低阈值，并计数所述母线电压值触发所述母线电压高阈值或所 述母线电压低阈值的次数；
    所述计时单元用于控制所述运算模块判断所述母线电压值是否触发所述母线电压高阈值或所述母线电压低阈值的时间；
    所述pwm调制模块根据所述运算模块检测出所述母线电压值的不同状态生成相应的pwm调制信号，用以控制所述三相逆变器六开关管的关闭或导通，进而控制所述无刷直流电机进行缓刹。
  4. 根据权利要求3所述的无刷直流电机刹车***，其特征在于：在所述无刷直流电机缓刹过程中，当所述母线电压值在时间T0内且N0次触发所述母线电压高阈值时，所述刹车控制模块控制所述三相逆变器下三管的pwm占空比降低；
    当所述母线电压值在时间T0内且N0次触发所述母线电压低阈值时，所述刹车控制模块控制所述三相逆变器下三管的pwm占空比提高。
  5. 根据权利要求2所述的无刷直流电机刹车***，其特征在于：所述存储单元内预设有所述无刷直流电机刹车时所述三相逆变器下三管的初始pwm占空比，所述三相逆变器上三管的pwm占空比始终为零。
  6. 根据权利要求2所述的无刷直流电机刹车***，其特征在于：所述存储单元预设有所述母线电压值触发所述母线电压高阈值的次数低阈值N1、次数高阈值N2且所述次数高阈值N2大于所述次数低阈值N1；
    当所述无刷直流电机进行缓刹且所述母线电压值触发所述母线电压高阈值的次数大于所述次数高阈值N2时，所述pwm调制模块输出所述三相逆变器下三管pwm占空比逐渐降低的pwm调制信号，直至所述母线电压值触发所述母线电压高阈值的次数位于所述次数低阈值N1与所述次数高阈值N2之间；
    当所述无刷直流电机进行缓刹且所述母线电压值触发所述母线电压高阈值的次数小于所述次数低阈值N1时，所述pwm调制模块输出所述三相逆变器下三管pwm占空比逐渐提高的pwm调制信号，直至所述母线电压值触发所述母线电压高阈值的次数位于所述次数低阈值N1与所述次数高阈值N2之间。
  7. 一种无刷直流电机刹车方法，其基于权利要求1-5任一项所述的无刷直流电机刹车***，其特征在于：包括以下步骤：
    S1：无刷直流电机以三相逆变器上三管pwm占空比为零、下三管pwm占空比为初始pwm占空比进行刹车；
    S2：刹车过程中，通过ADC模块将电压采样模块采集的电压模拟信号转换成电压数字信号，即为母线电压值；
    S3：通过运算模块实时判断母线电压值是否位于母线电压高阈值与母线电压低阈值之间；
    S4：当母线电压值触发母线电压高阈值时，pwm调制模块输出三相逆变器六开关管pwm占空比均为零的pwm调制信号；
    S5：当母线电压值触发母线电压低阈值时，pwm调制模块输出三相逆变器上三管pwm占空比为零，下三管pwm占空比为初始pwm占空比的pwm调制信号；
    S6：在无刷直流电机缓刹过程中，当母线电压值在时间T0内且N0次触发母线电压高阈值时，pwm调制模块输出三相逆变器下三管的pwm占空比降低的pwm调制信号；
    S7：当母线电压值在时间T0内且N0次触发母线电压低阈值时，pwm调制模块输出三相逆变器下三管的pwm占空比提高的pwm调制信号；
    S8：通过刹车控制模块控制母线电压值位于母线电压高阈值与母线电压低阈值之间，以控制无刷直流电机进行缓刹，直至停机。
  8. 一种无刷直流电机刹车方法，其基于权利要求1-6任一项所述的无刷直流电机刹车***，其特征在于：包括以下步骤：
    S1：无刷直流电机以三相逆变器上三管pwm占空比为零、下三管pwm占空比为初始pwm占空比进行刹车；
    S2：刹车过程中，通过ADC模块将电压采样模块采集的电压模拟信号转换成电压数字信号，即为母线电压值；
    S3：通过运算模块实时判断母线电压值是否位于母线电压高阈值与母线电压低阈值之间；
    S4：当母线电压值上升至母线电压高阈值时，pwm调制模块输出三相逆变器六开关管pwm占空比均为零的pwm调制信号；
    S5：当母线电压值下降至母线电压低阈值时，pwm调制模块输出三相逆变器上三管pwm占空比为零，下三管pwm占空比为初始pwm占空比的pwm调制信号；
    S6：当母线电压值在时间T1内触发母线电压高阈值的次数大于次数高阈值N2时，pwm调制模块输出三相逆变器下三管pwm占空比逐渐降低的pwm调制信号，直至母线电压值在时间T1内触发母线电压高阈值的次数位于次数低阈值N1与次数高阈值N2之间；
    S7：当母线电压值在时间T1内触发母线电压高阈值的次数小于次数低阈值N1时，pwm调制模块输出三相逆变器下三管pwm占空比逐渐提高的pwm调制信号，直至母线电压值在时间T1内触发母线电压高阈值的次数位于次数低阈值N1与次数高阈值N2之间；
    S8：通过刹车控制模块控制母线电压值位于母线电压高阈值与母线电压低阈值之间，以控制无刷直流电机进行缓刹，直至停机。
  9. 根据权利要求8所述的无刷直流电机刹车方法，其特征在于：当母线电压值在时间T1内触发母线电压高阈值的次数大于次数高阈值N2时，pwm调制模块输出三相逆变器上三管占空比为零、下三管以5％占空比逐渐降低的pwm调制信号；
    当母线电压值在时间T1内触发母线电压高阈值的次数小于次数低阈值N1时，pwm调制模块输出三相逆变器上三管占空比为零、下三管以5％占空比逐渐提高的pwm调制信号。
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