[go: up one dir, main page]

CN103684120A - Inductive brushless direct current motor drive method - Google Patents

Inductive brushless direct current motor drive method Download PDF

Info

Publication number
CN103684120A
CN103684120A CN201210321206.5A CN201210321206A CN103684120A CN 103684120 A CN103684120 A CN 103684120A CN 201210321206 A CN201210321206 A CN 201210321206A CN 103684120 A CN103684120 A CN 103684120A
Authority
CN
China
Prior art keywords
motor
drive
inductive
driving
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201210321206.5A
Other languages
Chinese (zh)
Other versions
CN103684120B (en
Inventor
毕磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fengji Technology Shenzhen Co Ltd
Original Assignee
Fortior Technology Shenzhen Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fortior Technology Shenzhen Co Ltd filed Critical Fortior Technology Shenzhen Co Ltd
Priority to CN201210321206.5A priority Critical patent/CN103684120B/en
Priority to PCT/CN2013/076637 priority patent/WO2014032446A1/en
Priority to TW102123154A priority patent/TW201412009A/en
Publication of CN103684120A publication Critical patent/CN103684120A/en
Application granted granted Critical
Publication of CN103684120B publication Critical patent/CN103684120B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/15—Controlling commutation time
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/181—Circuit arrangements for detecting position without separate position detecting elements using different methods depending on the speed
    • 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
    • H02P6/20—Arrangements for starting

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

本发明公开了一种有感无刷直流电机驱动方法，其特征在于，主要包括以下步骤：（1）启动电源后，系统自动进入有感电机启动模式，然后按有感驱动模式运行；（2）系统根据转子位置传感器的信号计算电机转速n；（3）判定该电机转速n是否大于预定的“有感”驱动转换到“无感”驱动的门槛转速na等步骤。本发明不仅可以有效减小霍尔传感器的位置误差对无刷直流电机的运行效率和噪音的影响，而且本发明还可以有效提高单相无刷直流电机生产的良品率，从而降低电机的生产成本。

The invention discloses a method for driving a sensored brushless DC motor, which is characterized in that it mainly includes the following steps: (1) After starting the power supply, the system automatically enters the sensored motor start mode, and then operates in the sensored drive mode; (2) ) The system calculates the motor speed n according to the signal of the rotor position sensor; (3) Determine whether the motor speed n is greater than the predetermined threshold speed n a for switching from "inductive" drive to "non-inductive" drive. The present invention can not only effectively reduce the influence of the position error of the Hall sensor on the operation efficiency and noise of the brushless DC motor, but also can effectively improve the yield rate of single-phase brushless DC motor production, thereby reducing the production cost of the motor .

Description

A kind of thoughts brshless DC motor driving method
Technical field
The present invention relates to a kind of drive system, specifically refer to a kind of thoughts brshless DC motor driving method.
Background technology
Brushless DC motor (hereinafter to be referred as motor) is because the cost of its motor and driver is lower, and the feature such as structure is comparatively simple and being used in widely such as the cooling electric fan of computer and the fields such as draining pump of washing machine.In actual use, this class monophase machine adopts Hall unit to be used as the transducer of motor rotor position conventionally, to produce the needed control signal of switch current according to rotor-position.
In order to ensure the accuracy of its control signal, these Hall units must be arranged on accurately, reliably motor rotor magnetic steel near, to guarantee that Hall element can detect the changes of magnetic field of rotor magnetic steel accurately, reliably.If deviation occurs in the position of Hall unit, the efficiency of motor not only can decline, and can increase the operation noise of motor.People are in order to reduce costs at present, and many single-phase brushless direct-current motors cannot adopt complicated Hall element securing member.In addition, because production process must be simplified, cannot to the positional precision of hall device, test in process of production, these factors unavoidably cause the Hall element position of motor to occur deviation, have reduced motor production qualification rate; In addition,, because the Hall unit of motor is through after the operation of motor a period of time, often also can there are some skews because of reasons such as vibrations in its position, also can reduce the efficiency of motor and the noise of increase motor.
Summary of the invention
The object of the invention is to overcome current brushless DC motor and produce position deviation because a variety of causes causes its Hall element, thereby cause the defect that motor production qualification rate declines and noise increases, a kind of thoughts brshless DC motor driving method that can thoroughly solve above defect is provided.
The present invention is achieved through the following technical solutions: a kind of thoughts brshless DC motor driving method, mainly comprises the following steps:
(1) start after power supply, system enters thoughts electric motor starting pattern automatically, then by the operation of thoughts drive pattern;
(2) system is according to the calculated signals motor speed n of Hall element;
(3) judge whether this motor speed n is greater than predetermined " thoughts " and drives the threshold rotation speed n that is transformed into " noninductive " driving a
(4) if motor speed n> threshold rotation speed n a, system is switched to noninductive drive pattern, and execution step (5), otherwise system determines whether and continues operation according to the operation control signal of input; If judge, continue to carry out, system reenters thoughts drive pattern, otherwise system is out of service;
(5) system is calculated motor speed n according to motor position signal;
(6) judge whether motor speed n is greater than predetermined " noninductive " and drives the threshold rotation speed n that is transformed into " thoughts " driving b?
(7) if motor speed n>n b, system continues to move under noninductive drive pattern; If n ￡ is n b, according to running status control signal, again determine whether and continue operation, be that system is returned to step (1) and reentered thoughts drive pattern, otherwise system is out of service.
Wherein, " system is switched to noninductive drive pattern " described in step (4), specifically comprises the following steps:
(41) utilize thoughts position signalling or the detection to the zero crossing of back-emf, calculate motor speed and driving frequency, and by the electrical degree in default steady operation Dai electricity district, generate the width in lower half Dai electricity district;
(42) do you judge that half cycle frequency is greater than the frequency of default minimum speed?
(43) be, detect the zero crossing of negative half period or positive half cycle back-emf, calculate its frequency, and by the electrical degree in default steady operation Dai electricity district, generate the width in lower half Dai electricity district; No, system is out of service;
(44) do you judge that half cycle frequency is greater than the frequency of default minimum speed? to return to step (41); No, system is out of service.
" calculating motor driving frequency " described in step (41) and step (43) refers to the electric voltage frequency that calculates positive half cycle or negative half period back-emf according to formula, wherein, and t newfor the time of the rotor-position that just detected, t oldfor t newthe upper time that rotor-position detects before.
" and by the width in the electrical degree generation lower half Dai electricity district in default steady operation Dai electricity district " described in step (41) and step (43) is according to formula T hC/ (180 °/β surely) calculate, wherein, β surelyfor the electrical degree in default steady operation Dai electricity district, T hCtime span for this half period.
In order to ensure result of use, the span of the width in the lower half Dai electricity district generating is 5 °～90 ° electrical degrees, and " thoughts " described in step (1) drive the threshold rotation speed n that is transformed into " noninductive " driving abe greater than " noninductive " and drive the threshold rotation speed n that is transformed into " thoughts " driving b.
A thoughts brshless DC motor driving method, mainly comprises the following steps:
(1) start after power supply, system enters thoughts electric motor starting pattern automatically, then by the operation of thoughts drive pattern;
(2) system is according to the calculated signals motor speed n of Hall element, and is recorded in the number of turns N of the rotor under thoughts drive pattern state;
(3) the Duty ratio control voltage u of judgement PWM pwmwhether over default, from " thoughts ", be driven into the conversion threshold voltage u that " noninductive " drives a, and the number of turns N rotating under thoughts drive pattern when motor surpasses default value N a, proceed to step (4); If the value N that number of turns N< is default a, and control signal requires to continue operation, the thoughts that return to step (1) drive; If control signal requires to stop, driving process stops;
(4) system enters noninductive drive pattern, and calculates motor speed n according to the position signalling of rotor;
(5) in noninductive driving process, if u pwmhigher than the default noninductive threshold changing voltage u that is driven into thoughts driving b, system continues to move under noninductive drive pattern; If u pwmlower than the default noninductive threshold changing voltage u that is driven into thoughts driving b, and control signal requires to continue operation, and the thoughts that proceed to step (1) drive, otherwise system is out of service.
The present invention compared with prior art, has the following advantages and beneficial effect:
(1) impact of the site error that the present invention not only can effectively reduce Hall element on the operational efficiency of brshless DC motor and noise, but also can effectively improve the yields that brshless DC motor is produced, thus reduce the production cost of motor;
(2) the present invention adopts the running current of optimization, can in the operational efficiency that improves brshless DC motor, reduce the operation noise of motor, can also reduce the impact of the site error of Hall element, the present invention can improve the reliability of brshless DC motor simultaneously;
(3) the present invention can be switched automatically according to external condition after starting between thoughts drive pattern and noninductive drive pattern, thereby automatically adjusts motor operating state.
Accompanying drawing explanation
Fig. 1 is integrated circuit structural representation of the present invention;
Fig. 2 is the schematic diagram that is related to of the correct output waveform of Hall element when Hall element is installed and the counter potential waveform of armature winding;
Fig. 3 is the schematic diagram that is related to of the output waveform of Hall element of the installation position of Hall element while being equipped with deviation and the counter potential waveform of armature winding;
Fig. 4 is the implementation flow chart of the conversion between thoughts of the present invention and noninductive drive pattern while judging based on motor speed;
Fig. 5 is that system is at the flow chart of noninductive drive pattern;
Fig. 6 is system testing circuit of the present invention;
The implementation flow chart that Fig. 7 is conversion between thoughts of the present invention and noninductive drive pattern when PWM duty ratio voltage is judged;
Fig. 8 is that the duty-cycle of PWM is 100% voltage oscillogram;
Fig. 9 is that the duty-cycle of PWM is 50% voltage oscillogram.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Thoughts drive, its for full name be the abbreviation of " with the driving of hall position sensor ", and " noninductive driving " for full name be the abbreviation of " without the driving of hall position sensor ".
embodiment 1
As shown in Fig. 1～6, drive system of the present invention is connected to form by the coil of motor and the single-phase drive axle of a H type, wherein the single-phase drive axle of this H type consists of jointly field effect transistor MOT1, field effect transistor MOT2, field effect transistor MOT3 and field effect transistor MOT4, be that field effect transistor MOT1 and field effect transistor MOT3 are in series, field effect transistor MOT2 and field effect transistor MOT4 are in series, the drain D of field effect transistor MOT1 and field effect transistor MOT2 is connected with input voltage Vdd jointly, and field effect transistor MOT3 is connected rear ground connection with the source S of field effect transistor MOT4.The bridge contact (being tie point) of the bridge contact (being tie point) of field effect transistor MOT1 and field effect transistor MOT3 and field effect transistor MOT2 and field effect transistor MOT4 is connected with MOT_B with two port MOT_A of the armature winding of claw electrode synchronization electromotor respectively.
If Hall element is installed correct, it can send conducting and the disconnection of controlling 4 MOSFET pipes according to the polarity of back-emf (back-emf), make the winding of motor when its back-emf is positive, MOSFET pipe Mot_AH and Mot_BL conducting and Mot_BH & Mot_AL turn-offs, so that the electric current of winding is forward; When back-emf is when being negative, MOSFET pipe Mot_AH and Mot_BL turn-off and Mot_BH & Mot_AL conducting, so that the electric current of winding is negative sense.The electromagnetic torque that electric current produces that can guarantee like this to flow into coil be always on the occasion of, motor is rotated in the forward, the relation between its output signal and the back-emf of motor winding detects voltage waveform as shown in Figure 2 as schemed it.
There is no phase difference between the two.In this case, the signal that Hall element produces can allow MOSFET pipe Mot_AH and Mot_BL by only conducting when back-EMF is positive.Now, drive current is flow to and is flowed out by Mot_B by the port Mot_A of armature winding.When back-emf is when negative, the signal that Hall element produces can allow MOSFET pipe Mot_AL and Mot_BH conducting, and drive current is flow to and flowed out by Mot_A by port Mot_B.Rely on such type of drive, the electric current of forward is all forward with the electromagnetic torque that back-emf effect with forward makes motor produce in any sub-position all the time, thereby rotor can be by the forward electromagnetic torque institute Continuous Drive of motor.
If there is deviation the position of Hall element in motor, have part forward electric current can with the back-emf effect of negative sense, and have part negative sense electric current can with the back-emf effect of forward, produce negative torque.If there is once in a while the torque of negative sense when motor is rotated in the forward, can make deterioration of efficiency, vibration and the noise of motor increase.Now, the signal of sending of transducer as shown in Figure 3, at this time has phase difference between the output signal of Hall element and back-emf.In such cases, the electric current that MOSFET pipe produces in armature winding can produce in componental movement region the electromagnetic torque of negative sense.When the average of forward electromagnetic torque is greater than the average of negative sense torque, rotor still can be rotated in the forward, but the existence of negative sense electromagnetic torque increases the loss of motor and noise.
When rotor-position can be detected exactly, in order to produce forward torque, MOSFET pipe Mot_AH and Mot_BL are by only conducting when back-EMF is positive.Now, drive current is flow to and is flowed out by Mot_B by the port Mot_A of armature winding.When back-emf is when negative, now, MOSFET pipe Mot_AL and Mot_BH conducting, and drive current is flow to and is flowed out by Mot_A by port Mot_B.Rely on such type of drive, no matter the electric current in armature winding is for just or negative, and the torque that motor produces is positive forever.And, can pass through the judgement to the value of back-emf various piece, can guarantee that drive current is optimal current.
Back-emf changes and can obtain from its zero crossing (zero crossing point is called for short ZCP).The present invention adopts this technology to detect the situation of back-emf.Fig. 6 has shown the circuit diagram of realizing this technology.Adopt comparator can obtain the information of back-emf change in polarity.Can detect back-emf of short duration during, all MOSFET pipes are in off state.Now the voltage signal of armature winding port is the signal of back-emf.Therefore, during machine operation, motor works in respectively " Dai electricity district " and " driving district ", and near ZCP generation area, drive operation is carried out the position of motor and the detection of the polarity of back-emf in " Dai electricity district ".After the polarity discriminating of back-emf is clear, machine operation in " driving district " to produce driving torque.Because the value of back-emf in " Dai electricity district " is less, and this interval is shorter, and Dai electricity district is less on the impact of motor torque in existence.
Adopt the present invention, the span of the width in the lower half Dai electricity district generating is 5 °～90 ° electrical degrees, but the scope that its best width span is 5 °～30 ° of electrical degrees.Adopt after this noninductive technology, the commutation of drive circuit determines by rotor-position, so power frequency is that load by motor determines.When load is larger, motor speed is slower, and the switching frequency of electric current is just lower.
Aforementioned single-phase noninductive drive scheme is very effective in the normal operation of motor, but has problem in electric motor starting and low cruise, because now the back-emf of motor is very low, ZCP cannot be detected, and also just cannot realize the sensorless drive of motor.Therefore at electric motor starting and low cruise and when back-emf cannot be detected effectively, the present invention still considers to adopt traditional operating scheme that has transducer.
Technical scheme of the present invention is not only effective to monophase machine, and three phase electric machine and other polyphase machines are also had to same effect.Use time of the present invention, the driving of motor is comprised of two links, and thoughts drive and noninductive driving, and its idiographic flow is as follows:
(1) start after power supply, system enters thoughts electric motor starting pattern automatically, then by the operation of thoughts drive pattern;
(2) system is according to the calculated signals motor speed n of Hall element;
(3) judge whether this motor speed n is greater than predetermined " thoughts " and drives the threshold rotation speed n that is transformed into " noninductive " driving a;
(4) if motor speed n> threshold rotation speed n a, system is switched to noninductive drive pattern, and execution step (5), otherwise system determines whether and continues operation according to the operation control signal of input; If judge, continue to carry out, system reenters thoughts drive pattern, otherwise system is out of service;
(5) system is calculated motor speed n according to motor position signal;
(6) judge whether motor speed n is greater than predetermined " noninductive " and drives the threshold rotation speed n that is transformed into " thoughts " driving bin actual setting up procedure, this threshold rotation speed n bbe less than threshold rotation speed n arotating speed;
(7) if motor speed n>n b, system continues to move under noninductive drive pattern; If n ￡ is n b, according to running status control signal, again determine whether and continue operation, be that system is returned to step (1) and reentered thoughts drive pattern, otherwise system is out of service.
When reality is used, described " thoughts " drive and are transformed into the threshold rotation speed n that " noninductive " drives abe greater than " noninductive " and drive the threshold rotation speed n that is transformed into " thoughts " driving b.And described " system is switched to noninductive drive pattern " specifically comprises the following steps:
(41) utilize thoughts position signalling or the detection to the zero crossing of back-emf, calculate motor speed and driving frequency, and by the electrical degree in default steady operation Dai electricity district, generate the width in lower half Dai electricity district;
(42) do you judge that half cycle frequency is greater than the frequency of default minimum speed?
(43) be, detect the zero crossing of negative half period or positive half cycle back-emf, calculate its frequency, and by the electrical degree in default steady operation Dai electricity district, generate the width in lower half Dai electricity district; No, system is out of service;
(44) do you judge that half cycle frequency is greater than the frequency of default minimum speed? to return to step (41); No, system is out of service.
Meanwhile, " the calculating motor driving frequency " described in step (41) and step (43) refers to according to formula
Figure 657949DEST_PATH_IMAGE001
calculate the electric voltage frequency of positive half cycle or negative half period back-emf, wherein, t newfor the time of the rotor-position that just detected, t oldfor t newthe upper time that rotor-position detects before.
" and by the width in the electrical degree generation lower half Dai electricity district in default steady operation Dai electricity district " described in step (41) and step (43) is according to formula T hC/ (180 °/β surely) calculate, wherein, β surelyfor the electrical degree in default steady operation Dai electricity district, T hCtime span for this half period.
embodiment 2
Embodiment 1 judges the transfer process between thoughts of the present invention and noninductive drive pattern according to motor speed, the present embodiment is to judge the transfer process between thoughts and noninductive drive pattern according to PWM Duty ratio control voltage, be that embodiment 1 adjusts start-up mode with motor speed, the present embodiment is to adjust with the control voltage of PWM.
As shown in Fig. 7～9, Fig. 8, Fig. 9 have represented respectively the waveform of the driving voltage when the duty ratio that drives district PWM is 100% and 50%, with the drive current that such method forms, are optimum naturally.
Its detailed process as shown in Figure 9, comprises the following steps:
(1) start after power supply, system enters thoughts electric motor starting pattern automatically, then by the operation of thoughts drive pattern;
(2) system is according to the calculated signals motor speed n of Hall element, and is recorded in the number of turns N of the rotor under thoughts drive pattern state;
(3) the Duty ratio control voltage u of judgement PWM pwmwhether over default, from " thoughts ", be driven into the conversion threshold voltage u that " noninductive " drives a, and the number of turns N rotating under thoughts drive pattern when motor surpasses default value N a, proceed to step (4); If the value N that number of turns N< is default a, and control signal requires to continue operation, the thoughts that return to step (1) drive; If control signal requires to stop, driving process stops;
(4) system enters noninductive drive pattern, and calculates motor speed n according to the position signalling of rotor;
(5) in noninductive driving process, if u pwmhigher than the default noninductive threshold changing voltage u that is driven into thoughts driving b, system continues to move under noninductive drive pattern; If u pwmlower than the default noninductive threshold changing voltage u that is driven into thoughts driving b, and control signal requires to continue operation, and the thoughts that proceed to step (1) drive, otherwise system is out of service.When actual motion, this threshold changing voltage u bbe less than threshold voltage u a.
As mentioned above, just can realize preferably the present invention.

Claims (7)

1.一种有感无刷直流电机驱动方法，其特征在于，主要包括以下步骤： 1. A brushless DC motor drive method with sense, is characterized in that, mainly comprises the following steps: （1）启动电源后，系统自动进入有感电机启动模式，然后按有感驱动模式运行； (1) After turning on the power, the system automatically enters the sensored motor start mode, and then operates in the sensored drive mode; （2）系统根据霍尔传感器的信号计算电机转速n； (2) The system calculates the motor speed n according to the signal of the Hall sensor; （3）判定该电机转速n是否大于预定的“有感”驱动转换到“无感”驱动的门槛转速na? (3) Determine whether the motor speed n is greater than the predetermined threshold speed n a for switching from "inductive" drive to "non-inductive" drive? （4）若电机转速n>门槛转速na ，则系统切换到无感驱动模式，并执行步骤（5），否则系统根据输入的运行控制信号再判定是否继续运行；若判定继续执行，则系统重新进入有感驱动模式，否则，系统停止运行； (4) If the motor speed n>threshold speed n a , the system switches to the non-inductive drive mode and executes step (5), otherwise the system judges whether to continue running according to the input operation control signal; if it judges to continue to execute, the system Re-enter the sensory drive mode, otherwise, the system stops running; （5）系统根据电机位置信号计算电机转速n； (5) The system calculates the motor speed n according to the motor position signal; （6）判定电机转速n是否大于预定的“无感”驱动转换到“有感”驱动的门槛转速nb？ (6) Determine whether the motor speed n is greater than the predetermined threshold speed n b for switching from "non-inductive" drive to "inductive" drive? （7）若电机转速n>nb，则系统继续在无感驱动模式下运行；若n￡nb, 则根据运行状态控制信号再次判定是否继续运行，是则系统返回步骤（1）重新进入有感驱动模式，否则系统停止运行。 (7) If the motor speed n>n b , the system will continue to run in the non-inductive drive mode; if n￡n b , then judge whether to continue running according to the running state control signal, and if so, the system will return to step (1) and re-enter Inductive drive mode, otherwise the system stops running. 2.根据权利要求1所述的一种有感无刷直流电机驱动方法，其特征在于，步骤（4）中所述的“系统切换到无感驱动模式”，具体包括以下步骤： 2. A method for driving a sensed brushless DC motor according to claim 1, characterized in that the "switching the system to the non-sensing drive mode" described in step (4) specifically includes the following steps: （41）利用有感位置信号或者对反电势的过零点的检测，计算电机转速和驱动频率，并按预设的稳态运行的待电区的电角度生成下半周的待电区的宽度； (41) Use the sensed position signal or the detection of the zero-crossing point of the back EMF to calculate the motor speed and drive frequency, and generate the width of the standby area in the second half of the cycle according to the electrical angle of the standby area in the preset steady state operation; （42）判定半周频率是否大于预设最低速度的频率？ (42) Determine whether the half-cycle frequency is greater than the frequency of the preset minimum speed? （43）是，则检测负半周或正半周反电势的过零点，计算其频率，并按预设的稳态运行的待电区的电角度生成下半周的待电区的宽度；否，则系统停止运行； (43) If yes, then detect the zero-crossing point of the back EMF in the negative half cycle or positive half cycle, calculate its frequency, and generate the width of the standby area in the second half cycle according to the electrical angle of the standby area in the preset steady state operation; if not, then the system stops functioning; （44）判定半周频率是否大于预设最低速度的频率？是，则返回步骤（41）；否，则系统停止运行。 (44) Determine whether the half cycle frequency is greater than the frequency of the preset minimum speed? If yes, return to step (41); if no, the system stops running. 3.根据权利要求2所述的一种有感无刷直流电机驱动方法，其特征在于，步骤（41）和步骤（43）中所述的“计算电机驱动频率”是指根据公式                                                
Figure 33993DEST_PATH_IMAGE001
来计算正半周或者负半周反电势的电压频率，其中，tnew 为刚检测到的转子位置的时间，told 为tnew 之前的上一个转子位置检测到的时间。 3. A method for driving a sensed brushless DC motor according to claim 2, characterized in that the "calculating the motor drive frequency" in steps (41) and (43) refers to the formula
Figure 33993DEST_PATH_IMAGE001
To calculate the voltage frequency of the positive half-cycle or negative half-cycle back EMF, where t new is the time of the rotor position just detected, and t old is the time when the last rotor position was detected before t new . 4.根据权利要求2所述的一种有感无刷直流电机驱动方法，其特征在于，步骤（41）和步骤（43）中所述的“并按预设的稳态运行的待电区的电角度生成下半周的待电区的宽度”根据公式THC/（180°/β稳）来计算，其中，β稳为预设的稳态运行的待电区的电角度，THC为本半周期的时间长度。 4. A method for driving a sensed brushless DC motor according to claim 2, characterized in that the standby area described in step (41) and step (43) "and operates in a preset steady state The electrical angle to generate the width of the standby area in the second half of the cycle" is calculated according to the formula TH HC /(180°/ βstable ), where βstable is the preset electrical angle of the standby area for steady-state operation, and T HC is The length of time for this half cycle. 5.根据权利要求4所述的一种有感无刷直流电机驱动方法，其特征在于，所生成的下半周待电区的宽度的取值范围为5°～90°电角度。 5 . The method for driving a sensed brushless DC motor according to claim 4 , wherein the generated width of the second half cycle standby area ranges from 5° to 90° electrical angle. 6 . 6.根据权利要求1所述的一种有感无刷直流电机驱动方法，其特征在于，步骤（1）中所述的“有感”驱动转换到“无感”驱动的门槛转速na大于“无感”驱动转换到“有感”驱动的门槛转速nb。 6. A sensory brushless DC motor driving method according to claim 1, characterized in that, the threshold speed n a for switching from "sensory" drive to "sensorless" drive in step (1) is greater than Threshold speed n b for switching from "sensorless" drive to "sensory" drive. 7.一种有感无刷直流电机驱动方法，其特征在于，主要包括以下步骤： 7. A sensed brushless DC motor driving method is characterized in that it mainly comprises the following steps: （1）启动电源后，系统自动进入有感电机启动模式，然后按有感驱动模式运行； (1) After turning on the power, the system automatically enters the sensored motor start mode, and then operates in the sensored drive mode; （2）系统根据霍尔传感器的信号计算电机转速n，并记录在有感驱动模式状态下的转子旋转的圈数N； (2) The system calculates the motor speed n according to the signal of the Hall sensor, and records the number of turns N of the rotor in the inductive drive mode; （3）判断PWM的占空比控制电压upwm 是否超过预设的从“有感”驱动到“无感”驱动的转换门槛电压ua，并且当电机在有感驱动模式下旋转的圈数N超过预设的值Na， 则转入步骤（4）；若圈数N<预设的值Na，而控制信号要求继续运行，则重返步骤（1）的有感驱动；如果控制信号要求停止，则驱动过程停止； (3) Determine whether the PWM duty ratio control voltage u pwm exceeds the preset conversion threshold voltage u a from "inductive" drive to "inductive" drive, and the number of turns when the motor rotates in the inductive drive mode If N exceeds the preset value N a , go to step (4); if the number of turns N<the preset value N a , and the control signal requires to continue running, return to the sensory drive of step (1); if the control If the signal requires to stop, the driving process stops; （4）系统进入无感驱动模式，并且根据转子的位置信号计算电机速度n； (4) The system enters the non-inductive drive mode, and calculates the motor speed n according to the position signal of the rotor; （5）在无感驱动过程中，如果upwm 高于预设的无感驱动到有感驱动的门槛转换电压ub，则系统继续在无感驱动模式下运行；如果upwm低于预设的无感驱动到有感驱动的门槛转换电压ub，而控制信号要求继续运行，则转入步骤 (1) 的有感驱动，否则系统停止运行。 (5) During the non-inductive driving process, if u pwm is higher than the preset transition voltage u b from non-inductive driving to sensory driving, the system will continue to operate in the non-inductive driving mode; if u pwm is lower than the preset The conversion voltage ub from the non-inductive drive to the sensory drive threshold, and the control signal requires continuous operation, then turn to step (1) for the inductive drive, otherwise the system stops running.
CN201210321206.5A 2012-09-03 2012-09-03 A kind of thoughts brshless DC motor driving method Active CN103684120B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201210321206.5A CN103684120B (en) 2012-09-03 2012-09-03 A kind of thoughts brshless DC motor driving method
PCT/CN2013/076637 WO2014032446A1 (en) 2012-09-03 2013-06-03 Method for driving inductive brushless direct current motor
TW102123154A TW201412009A (en) 2012-09-03 2013-06-28 Method for driving inductive brushless direct current motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210321206.5A CN103684120B (en) 2012-09-03 2012-09-03 A kind of thoughts brshless DC motor driving method

Publications (2)

Publication Number Publication Date
CN103684120A true CN103684120A (en) 2014-03-26
CN103684120B CN103684120B (en) 2016-05-25

Family

ID=50182444

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210321206.5A Active CN103684120B (en) 2012-09-03 2012-09-03 A kind of thoughts brshless DC motor driving method

Country Status (3)

Country Link
CN (1) CN103684120B (en)
TW (1) TW201412009A (en)
WO (1) WO2014032446A1 (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015154696A1 (en) * 2014-04-11 2015-10-15 常州雷利电机科技有限公司 Direct current brushless motor system for drain pump, and control method and control device thereof
CN105929332A (en) * 2016-06-20 2016-09-07 南京百邻悦科技服务有限公司 Device used for detecting drive system with built-in sensed brushless direct current motor and method
CN107947647A (en) * 2017-12-19 2018-04-20 深圳市创科维信电子有限公司 Three-phase brushless motor drive circuit and its control method
JP2018186694A (en) * 2017-04-27 2018-11-22 エルエス産電株式会社Lsis Co., Ltd. Method for controlling high-voltage inverter and system comprising the same
WO2019015350A1 (en) * 2017-07-21 2019-01-24 深圳市道通智能航空技术有限公司 Motor control-mode fault detection method and device
CN109510405A (en) * 2018-11-21 2019-03-22 邵琪 A kind of induction less brush-less motor and its blocking rotation control method
CN109905064A (en) * 2017-12-08 2019-06-18 杭州海康机器人技术有限公司 A kind of motor electrical angle determines method, device and equipment
CN115898890A (en) * 2022-09-23 2023-04-04 台州韩浪机电有限公司 Power supply integrated water pump
CN119921507A (en) * 2025-04-01 2025-05-02 天津立恒实业有限公司 Integrated motor for dual control modes of rotary wing drones

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI580173B (en) * 2014-10-13 2017-04-21 Sensorless motor control device and method thereof
CN107241035B (en) * 2017-05-24 2019-08-09 北京控制工程研究所 A Brushless DC Motor Drive System with Conductive Ring Fault Tolerance
TWI683530B (en) * 2018-05-25 2020-01-21 茂達電子股份有限公司 Motor driving circuit and method thereof
CN110161927B (en) * 2019-06-04 2024-07-26 广东好太太科技集团股份有限公司 Lifting speed regulating and controlling device and regulating and controlling method for clothes airing machine
CN112994542B (en) * 2021-04-29 2023-07-11 常州工业职业技术学院 Brushless direct current motor noninductive control method based on commutation point commutation
CN118157424B (en) * 2024-05-09 2024-08-06 临工重机股份有限公司 Brushless motor, positioning steering control method thereof and overhead working truck
CN119871361B (en) * 2025-03-17 2025-10-10 江淮前沿技术协同创新中心 A method and system for switching encoder faults in robot joint control

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2048131U (en) * 1989-05-23 1989-11-22 王荣栓 Dc electric fan
CN1742427A (en) * 2003-01-24 2006-03-01 特库姆塞制品公司 Brushless and sensorless DC motor control system with locked and stopped rotor detection
CN101505127A (en) * 2008-03-20 2009-08-12 天津航天鑫茂稀土机电科技有限公司 Method for enhancing position detection accuracy of permanent magnet brushless DC motor
US20110084639A1 (en) * 2009-10-08 2011-04-14 Microchip Technology Incorporated Synchronized minimum frequency pulse width modulation drive for sensorless brushless direct current motor
US20120049777A1 (en) * 2010-09-01 2012-03-01 Kern Lynn R Natural Commutation for Three Phase Brushless Direct Current (BLDC) Motors

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7538505B2 (en) * 2007-05-01 2009-05-26 Alberkrack Jade H Noise suppresion suppression for hall sensor arrangements
TWI414803B (en) * 2010-03-26 2013-11-11 Ind Tech Res Inst Device of and method for measuring the electromotive force constant of fan motors
TW201213828A (en) * 2010-09-28 2012-04-01 Metal Ind Res & Dev Ct A Back-EMF measuring method for a multi-phase BLDC motor
CN202261162U (en) * 2011-10-14 2012-05-30 峰岹科技（深圳）有限公司 Claw-pole motor driving system and fan driving system applying same

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2048131U (en) * 1989-05-23 1989-11-22 王荣栓 Dc electric fan
CN1742427A (en) * 2003-01-24 2006-03-01 特库姆塞制品公司 Brushless and sensorless DC motor control system with locked and stopped rotor detection
CN101505127A (en) * 2008-03-20 2009-08-12 天津航天鑫茂稀土机电科技有限公司 Method for enhancing position detection accuracy of permanent magnet brushless DC motor
US20110084639A1 (en) * 2009-10-08 2011-04-14 Microchip Technology Incorporated Synchronized minimum frequency pulse width modulation drive for sensorless brushless direct current motor
US20120049777A1 (en) * 2010-09-01 2012-03-01 Kern Lynn R Natural Commutation for Three Phase Brushless Direct Current (BLDC) Motors

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015154696A1 (en) * 2014-04-11 2015-10-15 常州雷利电机科技有限公司 Direct current brushless motor system for drain pump, and control method and control device thereof
CN105929332B (en) * 2016-06-20 2019-04-19 南京百邻悦科技服务有限公司 The device and method of thoughts BLDCM Drive System built in a kind of detection
CN105929332A (en) * 2016-06-20 2016-09-07 南京百邻悦科技服务有限公司 Device used for detecting drive system with built-in sensed brushless direct current motor and method
US10425016B2 (en) 2017-04-27 2019-09-24 Lsis Co., Ltd. Method for controlling medium-voltage inverter and system comprising the same
JP2018186694A (en) * 2017-04-27 2018-11-22 エルエス産電株式会社Lsis Co., Ltd. Method for controlling high-voltage inverter and system comprising the same
WO2019015350A1 (en) * 2017-07-21 2019-01-24 深圳市道通智能航空技术有限公司 Motor control-mode fault detection method and device
CN109286353A (en) * 2017-07-21 2019-01-29 深圳市道通智能航空技术有限公司 A kind of motor control mode fault detection method and device
CN109286353B (en) * 2017-07-21 2021-01-19 深圳市道通智能航空技术有限公司 Motor control mode fault detection method and device
CN109905064A (en) * 2017-12-08 2019-06-18 杭州海康机器人技术有限公司 A kind of motor electrical angle determines method, device and equipment
CN107947647A (en) * 2017-12-19 2018-04-20 深圳市创科维信电子有限公司 Three-phase brushless motor drive circuit and its control method
CN107947647B (en) * 2017-12-19 2024-03-12 深圳市创科维信电子有限公司 Three-phase brushless motor driving circuit and control method thereof
CN109510405A (en) * 2018-11-21 2019-03-22 邵琪 A kind of induction less brush-less motor and its blocking rotation control method
CN115898890A (en) * 2022-09-23 2023-04-04 台州韩浪机电有限公司 Power supply integrated water pump
CN119921507A (en) * 2025-04-01 2025-05-02 天津立恒实业有限公司 Integrated motor for dual control modes of rotary wing drones

Also Published As

Publication number Publication date
TW201412009A (en) 2014-03-16
TWI497900B (en) 2015-08-21
CN103684120B (en) 2016-05-25
WO2014032446A1 (en) 2014-03-06

Similar Documents

Publication Publication Date Title
CN103684120A (en) Inductive brushless direct current motor drive method
CN102577086B (en) Variable Pulse Width Modulation for Reduced Zero-Crossing Granularity in Sensorless Brushless DC Motors
CN103563241B (en) Brushless motor control device and brushless motor control method
CN106452225B (en) Brushless DC motor without position sensor commutation phase System with Real-Time and method
CN103580563B (en) The control method of brshless DC motor
US11114962B2 (en) Semiconductor device, motor drive system, and motor control program
JP5364138B2 (en) Motor drive control device and air conditioner
CN101841291A (en) Control method of direct current brushless motor
CN102291068B (en) Control method for four-quadrant switched reluctance motor without position sensor
JP2008141828A (en) Motor driving device and motor driving method
CN103684140B (en) Brshless DC motor and rotor-position localization method, startup method
CN110476348A (en) The magnetic field position detection method of motor
WO2014064505A2 (en) Method and apparatus for windowless bemf detection
CN104079216B (en) Three-phase has sensor BLDC motor driven systems and driving method thereof
JP5923437B2 (en) Synchronous motor drive system
JP6495528B1 (en) Method of driving motor
CN106953556B (en) Sensorless three-phase motor driving system and method thereof
JP5326948B2 (en) Inverter control device, electric compressor and electrical equipment
CN102013862B (en) Sensor-free driving method of permanent magnet alternating-current motor
JP2009011014A (en) Inverter controller, electric compressor, and household electrical equipment
EP2704308A1 (en) Brushless motor control device and brushless motor control method
Zhang et al. A controller of PMSM for elctrical bicycle with hall effect sensors
WO2020121368A1 (en) Motor drive device and motor drive method
JP2014087217A (en) Motor drive apparatus
CN210297582U (en) Rotor phase-change control system for brushless direct current motor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CP03 Change of name, title or address
CP03 Change of name, title or address

Address after: 518000 Shenzhen Software Park, 1 Shenzhen Software Park (2 phase), No. 2, No. 1, Nanshan District high tech District, Shenzhen City, Guangdong province (limited office)

Patentee after: Fengji Technology (Shenzhen) Co., Ltd

Address before: 518000, Seaview Plaza, No. 18 Prince Edward Road, Shenzhen, Guangdong, Nanshan District 17C

Patentee before: FORTIOR TECHNOLOGY (SHENZHEN) Co.,Ltd.