阅读说明：本技术 一种无霍尔元件的电机控制装置、方法和存储介质 (hall element-free motor control device, method and storage medium ) 是由 黄润宇 高晓峰 李庆 侯海杰 王莉 钟绍民 陈东锁 于 2019-09-11 设计创作，主要内容包括：本发明提出一种无霍尔元件的电机控制装置和方法。一种无霍尔元件的电机控制装置包括：控制芯片、前置驱动电路、驱动电路、采样电路和检测电路。一种无霍尔元件的电机控制方法利用一种无霍尔元件的电机控制装置提高了无感控制器检测转子位置的精度,并且能在电机运转情况下进行调节转子位置偏差,结构简单,稳定性高。(the invention provides a motor control device and method without a Hall element. A motor control device without a Hall element includes: the device comprises a control chip, a pre-drive circuit, a sampling circuit and a detection circuit. A motor control method without Hall element utilizes a motor control device without Hall element to improve the precision of a non-inductive controller for detecting the position of a rotor, and can adjust the position deviation of the rotor under the running condition of the motor, and has simple structure and high stability.)

1. a hall-element-free motor control apparatus, comprising:

the control chip is used for generating and outputting a PWM control signal;

the front driving circuit is connected with the control chip and is used for outputting a front driving signal according to the PWM control signal provided by the control chip;

One end of the driving circuit is connected with the front driving circuit, and the other end of the driving circuit is connected with the motor and used for outputting a driving signal for driving the motor to rotate according to the front driving signal provided by the front driving circuit;

The sampling circuit is connected with the driving circuit at one end and the control chip at the other end, and is used for acquiring a sampling signal related to the driving signal output by the driving circuit and feeding the sampling signal back to the control chip;

The detection circuit is coupled with the motor at one end, connected with the control chip at the other end and used for acquiring a detection signal related to the counter electromotive force of the motor and feeding the detection signal back to the control chip;

The control chip is also configured to compare the rotor position of the motor calculated according to the sampling signal with the rotor position of the motor calculated according to the detection signal, and adjust the PWM control signal in real time according to the comparison result to accurately control the rotor position of the motor.

2. The hall-element-free motor control apparatus according to claim 1, wherein:

The drive circuit comprises a U-phase bridge circuit, a V-phase bridge circuit and a W-phase bridge circuit which are driven by motor drive voltage; the driving signals output by the driving circuit comprise a U-phase current signal for controlling a U-phase winding of the motor, a V-phase current signal for controlling a V-phase winding of the motor and a W-phase current signal for controlling a W-phase winding of the motor;

the sampling signal obtained by the sampling circuit is a sampling signal related to at least one driving signal of the U-phase current signal, the V-phase current signal and the W-phase current signal.

3. The hall-element-free motor control apparatus according to claim 2, wherein:

The output end of the control chip comprises six output interfaces, and the input end of the front driving circuit comprises six input interfaces which are respectively and correspondingly connected with the six output interfaces of the control chip; the output end of the front driving circuit comprises six output interfaces respectively corresponding to the six input interfaces;

The U-phase bridge circuit comprises an HU circuit module and an LU circuit module which are connected in series, and a connection point between the HU circuit module and the LU circuit module is connected with a U-phase winding of the motor so as to output a U-phase current signal for controlling the U-phase winding of the motor;

The V-phase bridge circuit comprises an HV circuit module and an LV circuit module which are connected in series, and a connection point between the HV circuit module and the LV circuit module is connected with a V-phase winding of the motor so as to output a V-phase current signal for controlling the V-phase winding of the motor;

the W-phase bridge circuit comprises a HW circuit module and an LW circuit module which are connected in series, and a connection point between the HW circuit module and the LW circuit module is connected with a W-phase winding of the motor so as to output a W-phase current signal for controlling the W-phase winding of the motor;

Wherein the HU circuit module, the LU circuit module, the HV circuit module, the LV circuit module, the HW circuit module, and the LW circuit module respectively include a switching semiconductor element; the control ends of the six switching semiconductor elements are used for being correspondingly connected with six output interfaces of the front-end drive circuit respectively, the other two ends of each switching semiconductor element are connected with a diode in parallel, and the current of the diode can flow in the direction opposite to the current direction of the switching semiconductor element connected with the diode in parallel.

4. the hall-element-free motor control apparatus according to any one of claims 1 to 3, wherein:

the sampling circuit comprises a sampling module and a first amplifying module, the input end of the sampling module is connected with the driving circuit, the output end of the sampling module is connected with the input end of the first amplifying module, and the output end of the first amplifying module is connected with the control chip; the first amplification module is used for amplifying the signals collected by the sampling module and related to the driving signals output by the driving circuit to obtain the sampling signals.

5. the hall-element-free motor control apparatus according to claim 4, wherein:

the sampling module comprises a sampling resistor, the first end of the sampling resistor is connected with the anode of each diode in the LU circuit module, the LV circuit module and the LW circuit module, and the second end of the sampling resistor is grounded.

the first amplification module comprises a first operational amplifier, a first resistor, a second resistor and a third resistor, the output end of the first operational amplifier is connected with the control chip, the first resistor is connected between the in-phase end and the inverting end of the first operational amplifier in a bridging mode, the in-phase end of the first operational amplifier is connected with the first end of the sampling resistor through the second resistor, and the inverting end of the first operational amplifier is connected with the second end of the sampling resistor through the third resistor.

6. the hall-element-free motor control apparatus according to any one of claims 1 to 3, wherein:

The detection circuit comprises a detection module and a second amplification module, wherein the input end of the detection module is coupled with the motor, the output end of the detection module is connected with the input end of the second amplification module, and the output end of the second amplification module is connected with the control chip; the second amplification module is used for amplifying the signal related to the back electromotive force of the motor, which is measured by the detection module, so as to obtain the detection signal.

7. The hall-element-free motor control apparatus according to claim 6, wherein:

The detection module includes one or more winding coils coupled with a phase winding or a multi-phase winding of the motor.

8. The hall-element-free motor control apparatus according to claim 6, wherein:

The detection module comprises a winding coil coupled with a phase winding of the motor;

the second amplifying module comprises a second operational amplifier, a fourth resistor, a fifth resistor and a sixth resistor; the output end of the second operational amplifier is connected with the control chip, the fourth resistor is connected between the in-phase end and the inverting end of the second operational amplifier in a bridging mode, the in-phase end of the second operational amplifier is connected with the first end of the winding coil through the fifth resistor, and the inverting end of the second operational amplifier is connected with the second end of the winding coil through the sixth resistor.

9. A motor control method without a Hall element is characterized by comprising the following steps:

outputting a driving signal according to the PWM control signal to drive the motor to start rotating;

Acquiring a sampling signal related to the driving signal, and calculating the rotor position of the motor according to the sampling signal;

Acquiring a detection signal related to the back electromotive force of the motor, and calculating the position of a rotor of the motor according to the detection signal;

comparing the rotor position of the motor calculated according to the detection signal with the rotor position of the motor calculated according to the sampling signal to judge whether the rotor position of the motor has deviation or not;

And when the deviation exists, the PWM control signal is readjusted according to the detection signal.

10. a storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing a motor control method according to claim 9.

Technical Field

the invention relates to the technical field of control, in particular to a motor control device without a Hall element, a method and a storage medium.

Technical Field

Nowadays, the market proportion of the direct current brushless motor is getting bigger and bigger, and it is the characteristics of direct current brushless motor to use the controller to control. The controller can be divided into an inductive controller and a non-inductive controller according to the existence or non-existence of the Hall sensor. The non-inductive controller collects signals of the sampling resistor, amplifies the signals through the amplifying circuit, and transmits the signals to the chip, and then the chip calculates the position of the rotor according to an internal algorithm and outputs a proper Pulse Width Modulation (PWM) signal, so that the power-on phase sequence of the motor rotor and the motor winding corresponds, and the motor is driven to normally rotate.

due to the problem of algorithm precision, the existing sensorless position controller algorithm has the deviation of the rotor position when the rotor position is calculated. This deviation cannot be adjusted during motor operation, but can be improved only by slowly adjusting the program PWM generation signal before motor operation. The rotor position does not correspond to the motor winding electrification, and the problems of noise, low efficiency and the like can be caused.

the current position sensor controller usually uses a position sensor to detect the position of the rotor of the motor, and especially, a low-cost motor usually uses one or more discrete position sensors (such as hall effect elements or hall effect integrated circuits) to detect the position of the rotor of the motor, and outputs driving signals of each phase according to the rotor position signals and a modulation algorithm, so as to form a rotating magnetic field to drive the rotor to rotate. For a three-phase motor, for example, the position detection unit typically includes three hall effect integrated circuits arranged at an electrical angle (e.g., 120 degrees) apart. The hall effect integrated circuit detects the rotor position from the motor rotor magnetic field and outputs three phase position signals HU, HV and HW. However, the windings of the motor exhibit inductive characteristics, so that the motor phase current lags the applied drive voltage. To achieve control goals such as efficiency optimization, it is often necessary to apply certain phase adjustments to the phase modulated signal. The scheme with the sensing position controller has the problems of complex structure, high price and poor stability.

disclosure of Invention

The invention aims to solve the following technical problems:

A motor control scheme without a Hall element is designed, and the technical problems that the position accuracy of a motor rotor is not high, and the position deviation of the rotor cannot be adjusted under the operation of a motor are solved.

in order to achieve the above purpose, the technical solutions provided in the embodiments of the present application are as follows:

In a first aspect, the present invention provides a hall-element-free motor control device, including:

The control chip is used for generating and outputting a PWM control signal;

The front driving circuit is connected with the control chip and is used for outputting a front driving signal according to the PWM control signal provided by the control chip;

One end of the driving circuit is connected with the front driving circuit, and the other end of the driving circuit is connected with the motor and used for outputting a driving signal for driving the motor to rotate according to the front driving signal provided by the front driving circuit;

The sampling circuit is connected with the driving circuit at one end and the control chip at the other end, and is used for acquiring a sampling signal related to the driving signal output by the driving circuit and feeding the sampling signal back to the control chip;

The detection circuit is coupled with the motor at one end, connected with the control chip at the other end and used for acquiring a detection signal related to the counter electromotive force of the motor and feeding the detection signal back to the control chip;

the control chip is also configured to compare the rotor position of the motor calculated according to the sampling signal with the rotor position of the motor calculated according to the detection signal, and adjust the PWM control signal in real time according to the comparison result to accurately control the rotor position of the motor.

according to an embodiment of the present invention, the driving circuit includes a U-phase bridge circuit, a V-phase bridge circuit, and a W-phase bridge circuit driven by a motor driving voltage; the driving signals output by the driving circuit comprise a U-phase current signal for controlling a U-phase winding of the motor, a V-phase current signal for controlling a V-phase winding of the motor and a W-phase current signal for controlling a W-phase winding of the motor;

The sampling signal obtained by the sampling circuit is a sampling signal related to at least one driving signal of the U-phase current signal, the V-phase current signal and the W-phase current signal.

according to an embodiment of the present invention, the output end of the control chip includes six output interfaces, and the input end of the pre-driver circuit includes six input interfaces for respectively corresponding connection with the six output interfaces of the control chip; the output end of the front driving circuit comprises six output interfaces respectively corresponding to the six input interfaces;

the U-phase bridge circuit comprises an HU circuit module and an LU circuit module which are connected in series, and a connection point between the HU circuit module and the LU circuit module is connected with a U-phase winding of the motor so as to output a U-phase current signal for controlling the U-phase winding of the motor;

the V-phase bridge circuit comprises an HV circuit module and an LV circuit module which are connected in series, and a connection point between the HV circuit module and the LV circuit module is connected with a V-phase winding of the motor so as to output a V-phase current signal for controlling the V-phase winding of the motor;

The W-phase bridge circuit comprises a HW circuit module and an LW circuit module which are connected in series, and a connection point between the HW circuit module and the LW circuit module is connected with a W-phase winding of the motor so as to output a W-phase current signal for controlling the W-phase winding of the motor;

Wherein the HU circuit module, the LU circuit module, the HV circuit module, the LV circuit module, the HW circuit module, and the LW circuit module respectively include a switching semiconductor element; the control ends of the six switching semiconductor elements are used for being correspondingly connected with six output interfaces of the front-end drive circuit respectively, the other two ends of each switching semiconductor element are connected with a diode in parallel, and the current of the diode can flow in the direction opposite to the current direction of the switching semiconductor element connected with the diode in parallel.

According to an embodiment of the present invention, the sampling circuit includes a sampling module and a first amplifying module, an input end of the sampling module is connected to the driving circuit, an output end of the sampling module is connected to an input end of the first amplifying module, and an output end of the first amplifying module is connected to the control chip; the first amplification module is used for amplifying the signals collected by the sampling module and related to the driving signals output by the driving circuit to obtain the sampling signals.

According to an embodiment of the present invention, the sampling module includes a sampling resistor, a first end of the sampling resistor is connected to an anode of each of the diodes in the LU circuit module, the LV circuit module and the LW circuit module, and a second end of the sampling resistor is grounded.

the first amplification module comprises a first operational amplifier, a first resistor, a second resistor and a third resistor, the output end of the first operational amplifier is connected with the control chip, the first resistor is connected between the in-phase end and the inverting end of the first operational amplifier in a bridging mode, the in-phase end of the first operational amplifier is connected with the first end of the sampling resistor through the second resistor, and the inverting end of the first operational amplifier is connected with the second end of the sampling resistor through the third resistor.

according to an embodiment of the present invention, the detection circuit includes a detection module and a second amplification module, an input end of the detection module is coupled to the motor, an output end of the detection module is connected to an input end of the second amplification module, and an output end of the second amplification module is connected to the control chip; the second amplification module is used for amplifying the signal related to the back electromotive force of the motor, which is measured by the detection module, so as to obtain the detection signal.

according to an embodiment of the invention, the detection module comprises one or more winding coils coupled to one or more phase windings of the electric machine.

according to an embodiment of the present invention, the detection module includes a winding coil coupled to a phase winding of the motor;

the second amplifying module comprises a second operational amplifier, a fourth resistor, a fifth resistor and a sixth resistor; the output end of the second operational amplifier is connected with the control chip, the fourth resistor is connected between the in-phase end and the inverting end of the second operational amplifier in a bridging mode, the in-phase end of the second operational amplifier is connected with the first end of the winding coil through the fifth resistor, and the inverting end of the second operational amplifier is connected with the second end of the winding coil through the sixth resistor.

in a second aspect, the present invention further provides a motor control method without hall element, including the following steps:

Outputting a driving signal according to the PWM control signal to drive the motor to start rotating;

Acquiring a sampling signal related to the driving signal, and calculating the rotor position of the motor according to the sampling signal;

Acquiring a detection signal related to the back electromotive force of the motor, and calculating the position of a rotor of the motor according to the detection signal;

comparing the rotor position of the motor calculated according to the detection signal with the rotor position of the motor calculated according to the sampling signal to judge whether the rotor position of the motor has deviation or not;

And when the deviation exists, the PWM control signal is readjusted according to the detection signal.

In a third aspect, the present invention also provides a storage medium on which a computer program is stored, which computer program, when being executed by a processor, realizes the hall element-free motor control method as described above.

compared with the prior art, the invention has the following beneficial effects: the precision of the rotor position detected by the non-inductive controller is improved, the rotor position deviation can be adjusted under the condition that the motor operates, the structure is simple, and the stability is high.

drawings

FIG. 1 is a schematic diagram of the motor control device without Hall element according to the present invention;

fig. 2 is a flowchart illustrating a method for controlling a motor without a hall element according to the present invention.

Detailed Description

The technical solution of the present invention is described in detail below with reference to the accompanying drawings and the detailed description.

it should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.