阅读说明：本技术 无刷直流电机的转子定位方法、定位装置和控制系统 (Rotor positioning method, positioning device and control system of brushless direct current motor ) 是由 万德康 王浩东 吴偏偏 于 2018-03-30 设计创作，主要内容包括：本发明公开了一种无刷直流电机的转子定位方法、定位装置和控制系统,其中,定位方法包括以下步骤：按照预设导通方式对电机的定子绕组进行导通控制时,依次在电机的定子绕组的不同相位施加电压检测脉冲,并通过获取定子绕组在每个相位的电流值达到预设电流值所需的时间以获得多个时间；根据预设导通方式获取预设的时间-扇区关系表；根据多个时间和预设的时间-扇区关系表获取电机的转子所在的扇区,并根据电机的转子所在的扇区获得电机的转子位置。由此,能够快速且准确的获取到电机的转子位置,且不会出现异响和抖动以及定位错误的问题,而且方法简单且能实现无盲区定位。(The invention discloses a rotor positioning method, a positioning device and a control system of a brushless direct current motor, wherein the positioning method comprises the following steps: when conducting control is carried out on the stator winding of the motor according to a preset conducting mode, voltage detection pulses are sequentially applied to different phases of the stator winding of the motor, and a plurality of times are obtained by obtaining the time required by the current value of the stator winding at each phase to reach a preset current value; acquiring a preset time-sector relation table according to a preset conduction mode; and acquiring the sector where the rotor of the motor is located according to the plurality of times and a preset time-sector relation table, and acquiring the rotor position of the motor according to the sector where the rotor of the motor is located. Therefore, the rotor position of the motor can be quickly and accurately obtained, the problems of abnormal sound, shaking and positioning errors can be avoided, the method is simple, and blind-area-free positioning can be realized.)

1. A rotor positioning method of a brushless direct current motor is characterized by comprising the following steps:

when conducting control is carried out on a stator winding of a motor according to a preset conducting mode, voltage detection pulses are sequentially applied to different phases of the stator winding of the motor, and a plurality of times are obtained by obtaining the time required by a current value of the stator winding in each phase to reach a preset current value, wherein after the time required by the current value of the stator winding in any phase to reach the preset current value is obtained, a reverse voltage detection pulse with a first preset time is further applied to any phase to offset the energy accumulated on the stator winding by the voltage detection pulse, and the method further comprises the following steps before the reverse voltage detection pulse with the first preset time is applied to any phase:

taking the first preset time as the time required for the current value of the current phase to reach the preset current value;

correspondingly adjusting the first preset time to enable the pulse current in the stator winding to be monotonically decreased, and determining a corresponding second preset time as the second preset time when the pulse current in the stator winding is monotonically decreased to a minimum value;

acquiring a preset time-sector relation table according to the preset conduction mode;

and acquiring the sector where the rotor of the motor is located according to the plurality of times and the preset time-sector relation table, and acquiring the rotor position of the motor according to the sector where the rotor of the motor is located.

2. The method according to claim 1, wherein when the predetermined conduction mode is a two-phase conduction mode, the predetermined time-sector relationship table is as follows:

relative magnitude of time relationship Sector number (T_BA<T _ CB) and (T _ CB)<T _ AC) and (T _ BC)<T _ AB) and (T _ AB)<T_CA) I (T_AC<T _ CB) and (T _ CB)<T _ BA) and (T _ BC)<T _ CA) and (T _ CA)<T_AB) III (T_AC<T _ BA) and (T _ BA)<T _ CB) and (T _ AB)<T _ CA) and (T _ CA)<T_BC) II (T_CB<T _ BA) and (T _ BA)<T _ AC) and (T _ AB)<T _ BC) and (T _ BC)<T_CA) VI (T_CB<T _ AC) and (T _ AC)<T _ BA) and (T _ CA)<T _ BC) and (T _ BC)<T_AB) IV (T_BA<T _ AC) and (T _ AC)<T _ CB) and (T _ CA)<T _ AB) and (T _ AB)<T_BC) V

The time required for the current values of the stator windings in the AB phase, the BC phase, the CA phase, the BA phase, the CB phase and the AC phase to reach the preset current value is respectively T _ AB, T _ BC, T _ CA, T _ BA, T _ CB and T _ AC.

3. The method according to claim 1, wherein when the predetermined conduction pattern is a three-phase conduction pattern, the predetermined time-sector relationship table is as follows:

and the time required for the current values of the stator windings in the A + phase, the B + phase, the C + phase, the A-phase, the B-phase and the C-phase to reach the preset current value is respectively T _ A +, T _ B +, T _ C +, T _ A-, T _ B-and T _ C-.

4. The method according to any one of claims 1 to 3, wherein when the plurality of times do not satisfy the preset time-sector relationship table, a shortest time among the plurality of times is further obtained, a direction to be rotated of the motor is obtained, and a sector in which a rotor of the motor is located is obtained according to the shortest time and the direction to be rotated.

5. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method for positioning a rotor of a brushless dc motor according to any one of claims 1-4.

6. A rotor positioning device for a brushless dc motor, comprising:

a given unit for applying voltage detection pulses at different phases of a stator winding of the motor;

the current obtaining unit is used for obtaining the current value of the stator winding at each phase;

the time acquisition unit is used for acquiring the time required by the current value of the stator winding at each phase to reach a preset current value;

the control unit is used for sequentially applying voltage detection pulses to different phases of the stator winding of the motor through the given unit when conducting control is carried out on the stator winding of the motor according to a preset conducting mode, acquiring the time required by the current value of the stator winding in each phase to reach a preset current value through the time acquisition unit to obtain a plurality of times, acquiring a preset time-sector relation table according to the preset conducting mode, acquiring the sector where the rotor of the motor is located according to the plurality of times and the preset time-sector relation table, and acquiring the position of the rotor of the motor according to the sector where the rotor of the motor is located, wherein after the time required by the current value of the stator winding in any phase to reach the preset current value is acquired through the time acquisition unit, the control unit is further configured to apply a reverse voltage detection pulse for a first preset time at the any phase through the given unit to cancel energy accumulated on the stator winding by the voltage detection pulse, wherein the control unit is further configured to, before applying the reverse voltage detection pulse for the first preset time at the any phase through the given unit:

taking the first preset time as the time required for the current value of the current phase to reach the preset current value;

and correspondingly adjusting the first preset time to enable the pulse current in the stator winding to be monotonically decreased, and determining a corresponding second preset time as the second preset time when the pulse current in the stator winding is monotonically decreased to a minimum value.

7. The apparatus according to claim 6, wherein when the predetermined conduction mode is a two-phase conduction mode, the predetermined time-sector relationship table is as follows:

relative magnitude of time relationship Sector number (T_BA<T _ CB) and (T _ CB)<T _ AC) and (T _ BC)<T _ AB) and (T _ AB)<T_CA) I (T_AC<T _ CB) and (T _ CB)<T _ BA) and (T _ BC)<T _ CA) and (T _ CA)<T_AB) III (T_AC<T _ BA) and (T _ BA)<T _ CB) and (T _ AB)<T _ CA) and (T _ CA)<T_BC) II (T_CB<T _ BA) and (T _ BA)<T _ AC) and (T _ AB)<T _ BC) and (T _ BC)<T_CA) VI (T_CB<T _ AC) and (T _ AC)<T _ BA) and (T _ CA)<T _ BC) and (T _ BC)<T_AB) IV (T_BA<T _ AC) and (T _ AC)<T _ CB) and (T _ CA)<T _ AB) and (T _ AB)<T_BC) V

The time required for the current values of the stator windings in the AB phase, the BC phase, the CA phase, the BA phase, the CB phase and the AC phase to reach the preset current value is respectively T _ AB, T _ BC, T _ CA, T _ BA, T _ CB and T _ AC.

8. The rotor positioning apparatus of a brushless dc motor according to claim 6, wherein when the predetermined conduction pattern is a three-phase conduction pattern, the predetermined time-sector relationship table is as follows:

relative magnitude of time relationship Sector number (T _ B + < T _ A +) and (T _ A + < T _ C +) and (T _ A- < T _ B-) and (T _ B- < T _ C-) I (T _ B + < T _ C +) and (T _ C + < T _ A +) and (T _ C- < T _ B-) and (T _ B- < T _ A-) III (T _ A + < T _ C +) and (T _ C + < T _ B +) and (T _ C- < T _ A-) and (T _ A- < T _ B-) II (T _ A + < T _ B +) and (T _ B + < T _ C +) and (T _ B- < T _ A-) and (T _ A- < T _ C-) VI (T _ C + < T _ B +) and (T _ B + < T _ A +) and (T _ B- < T _ C-) and (T _ C- < T _ A-) IV (T _ C + < T _ A +) and (T _ A + < T _ B +) and (T _ A- < T _ C-) and (T _ C- < T _ B-) V

And the time required for the current values of the stator windings in the A + phase, the B + phase, the C + phase, the A-phase, the B-phase and the C-phase to reach the preset current value is respectively T _ A +, T _ B +, T _ C +, T _ A-, T _ B-and T _ C-.

9. The rotor positioning apparatus of a brushless dc motor according to any one of claims 6 to 8, wherein when the plurality of times do not satisfy the preset time-sector relationship table, the control unit further acquires a shortest time among the plurality of times, and acquires a direction to be rotated of the motor, and acquires a sector in which a rotor of the motor is located, according to the shortest time and the direction to be rotated.

10. A control system for a brushless dc motor, comprising a rotor positioning device for a brushless dc motor according to any one of claims 6 to 9.