Rotor positioning method, positioning device and control system of brushless direct current motor
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 王浩东 万德康 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第一预设时间的电压检测脉冲,并通过获取定子绕组在每个相位的电流值以获得多个电流值；根据预设导通方式获取预设的电流-扇区关系表；根据多个电流值和预设的电流-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 a stator winding of the motor according to a preset conducting mode, voltage detection pulses of first preset time are sequentially applied to different phases of the stator winding of the motor, and a plurality of current values are obtained by obtaining the current value of the stator winding in each phase; acquiring a preset current-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 current values and a preset current-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 performed on a stator winding of a motor according to a preset conducting mode, sequentially applying voltage detection pulses for a first preset time to different phases of the stator winding of the motor, and obtaining a plurality of current values by obtaining a current value of the stator winding at each phase, wherein before the voltage detection pulses for the first preset time are sequentially applied to the different phases of the stator winding of the motor, the method further includes:
estimating the first preset time according to the inductance of the stator winding;
correspondingly adjusting the first preset time to control the pulse current in the stator winding to be within a range which can be borne by a power device in a three-phase inverter bridge connected with the motor;
determining the adjusted first preset time as the first preset time;
acquiring a preset current-sector relation table according to the preset conduction mode;
and acquiring the sector where the rotor of the motor is located according to the current values and the preset current-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 current-sector relationship table is as follows:
The current values of the stator winding in the AB phase, the BC phase, the CA phase, the BA phase, the CB phase and the AC phase are respectively equal to the current values of the stator winding in the iAB phase, the iBC phase, the CA phase, the BA phase, the CB phase and the AC phase.
3. The method according to claim 1, wherein when the predetermined conduction pattern is a three-phase conduction pattern, the predetermined current-sector relationship table is as follows:
wherein iA +, iB +, iC +, iA-, iB-and iC-are the current values of the stator winding in the A + phase, the B + phase, the C + phase, the A-phase, the B-phase and the C-phase respectively.
4. The method according to any one of claims 1 to 3, wherein when the plurality of current values do not satisfy the preset current-sector relationship table, a maximum current value among the plurality of current values 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 maximum current value and the direction to be rotated.
5. The method of positioning a rotor of a brushless dc motor according to any one of claims 1 to 4, wherein after obtaining a current value of the stator winding at any one phase, applying a reverse voltage detection pulse for a second preset time at the any one phase to cancel energy accumulated in the stator winding by the voltage detection pulse for the first preset time, wherein the applying the reverse voltage detection pulse for the second preset time at the any one phase further comprises:
taking the second preset time as the first preset time;
and correspondingly adjusting the second preset time to enable the pulse current in the stator winding to be monotonically decreased, and determining the corresponding second preset time as the second preset time when the pulse current in the stator winding is monotonically decreased to a minimum value.
6. 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 1-5.
7. A rotor positioning device for a brushless dc motor, comprising:
a given unit configured to apply voltage detection pulses for a first preset time to different phases of a stator winding of the motor, wherein the given unit is further configured to, before applying the voltage detection pulses for the first preset time to the different phases of the stator winding of the motor:
estimating the first preset time according to the inductance of the stator winding;
correspondingly adjusting the first preset time to control the pulse current in the stator winding to be within a range which can be borne by a power device in a three-phase inverter bridge connected with the motor;
determining the adjusted first preset time as the first preset time;
the current obtaining unit is used for obtaining the current value of the stator winding at each phase;
the control unit is used for sequentially applying voltage detection pulses for first preset time to different phases of the stator winding of the motor through the given unit when conducting control is conducted on the stator winding of the motor according to a preset conducting mode, acquiring a current value of the stator winding at each phase through the current acquisition unit to obtain a plurality of current values, acquiring a preset current-sector relation table according to the preset conducting mode, acquiring a sector where a rotor of the motor is located according to the plurality of current values and the preset current-sector relation table, and acquiring a rotor position of the motor according to the sector where the rotor of the motor is located.
8. The apparatus according to claim 7, wherein when the predetermined conduction mode is a two-phase conduction mode, the predetermined current-sector relationship table is as follows:
The current values of the stator winding in the AB phase, the BC phase, the CA phase, the BA phase, the CB phase and the AC phase are respectively equal to the current values of the stator winding in the iAB phase, the iBC phase, the CA phase, the BA phase, the CB phase and the AC phase.
9. The rotor positioning apparatus of a brushless dc motor according to claim 7, wherein when the predetermined conduction mode is a three-phase conduction mode, the predetermined current-sector relationship table is as follows:
Wherein iA +, iB +, iC +, iA-, iB-and iC-are the current values of the stator winding in the A + phase, the B + phase, the C + phase, the A-phase, the B-phase and the C-phase respectively.
10. The rotor positioning apparatus for a brushless dc motor according to any one of claims 7 to 9, wherein when the plurality of current values do not satisfy the preset current-sector relationship table, the control unit further obtains a maximum current value among the plurality of current values, obtains a direction to be rotated of the motor, and obtains a sector in which a rotor of the motor is located, based on the maximum current value and the direction to be rotated.
11. The rotor positioning apparatus of a brushless dc motor according to any one of claims 7 to 10, wherein after the current value of the stator winding in any phase is obtained by the current obtaining unit, the control unit further applies a reverse voltage detection pulse for a second preset time in any phase by the given unit to cancel the energy accumulated on the stator winding by the voltage detection pulse for the first preset time, wherein the given unit is further configured to, before the reverse voltage detection pulse for the second preset time is applied in any phase:
taking the second preset time as the first preset time;
and correspondingly adjusting the second preset time to enable the pulse current in the stator winding to be monotonically decreased, and determining the corresponding second preset time as the second preset time when the pulse current in the stator winding is monotonically decreased to a minimum value.
12. A control system for a brushless dc motor, comprising a rotor positioning device for a brushless dc motor according to any one of claims 7 to 11.
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