阅读说明：本技术 一种直流无刷无感电机驱动控制系统及方法 (Direct-current brushless non-inductive motor drive control system and method ) 是由 李祎 李凡 汪洋 于 2021-06-11 设计创作，主要内容包括：本发明公开了一种直流无刷无感电机驱动控制系统和方法,包括：第一电流电压采集模块,用于采集电机的线圈电流和感生电动势；过零点判断模块用于根据线圈电流和感生电动势实时分析对比确定转子与定子的电气相对位置,根据电气相对位置判断过零点,并根据过零点产生换相信号；驱动模块,用于根据换相信号驱动电机进行换相；启动控制信号预设有N个依次降低的换相间隔时间；电机依次按照N个换相间隔时间进行换相。本发明可实现更高精度和更快速可靠的电机驱动控制；在硬件和软件上兼容实现了AD过零点检测和比较器过零点检测,低速场合用AD过零点检测,高速场合用比较器过零点检测,对芯片平台而言更通用,更灵活。(The invention discloses a direct-current brushless non-inductive motor drive control system and a method, comprising the following steps: the first current and voltage acquisition module is used for acquiring coil current and induced electromotive force of the motor; the zero crossing point judging module is used for analyzing and comparing in real time according to the coil current and the induced electromotive force to determine the electrical relative position of the rotor and the stator, judging the zero crossing point according to the electrical relative position and generating a phase change signal according to the zero crossing point; the driving module is used for driving the motor to carry out phase commutation according to the phase commutation signal; n sequentially reduced commutation interval times are preset for starting the control signal; and the motor carries out phase change in sequence according to N phase change interval time. The invention can realize higher precision, faster and more reliable motor drive control; the device realizes AD zero crossing point detection and comparator zero crossing point detection in hardware and software, uses AD zero crossing point detection in low-speed occasions and comparator zero crossing point detection in high-speed occasions, and is more universal and flexible for a chip platform.)

1. A direct current brushless non-inductive motor drive control system is characterized in that: the method comprises the following steps:

the first current and voltage acquisition module is used for acquiring coil current and induced electromotive force of the motor;

the main control module comprises a zero crossing point judging module; the zero crossing point judging module is used for analyzing and comparing in real time according to the coil current and the induced electromotive force to determine the electrical relative position of the rotor and the stator, judging the zero crossing point according to the electrical relative position and generating a phase change signal according to the zero crossing point;

the driving module is used for driving the motor to carry out phase commutation according to the phase commutation signal;

the main control module also comprises a starting control module, N sequentially reduced commutation interval time is preset in a starting control signal, and N is a natural number; and the starting control module drives the motor to sequentially carry out phase change according to the N phase change interval time through the driving module.

2. The drive control system of a dc brushless non-inductive motor according to claim 1, characterized in that: the zero crossing point judging module comprises an AD zero crossing point judging module; the AD zero crossing point judgment module obtains a suspension phase voltage and a midpoint voltage according to the induced electromotive force, obtains a zero crossing point by comparing the suspension phase voltage and the midpoint voltage, and generates a phase change signal according to the zero crossing point.

3. The drive control system of a dc brushless non-inductive motor according to claim 1, characterized in that: the zero crossing point judging module also comprises a comparator zero crossing point judging module, obtains a zero crossing point according to the interruption of the comparator, and generates a phase change signal according to the zero crossing point.

4. The drive control system of a dc brushless non-inductive motor according to claim 1, characterized in that: the main control module further comprises a PID closed-loop control module, the PID closed-loop control module comprises a speed loop control module and a current loop control module, and the speed loop control module and the current loop control module perform double closed-loop control on the motor.

5. The drive control system of a dc brushless non-inductive motor according to claim 1, characterized in that: the control system also comprises a second current and voltage acquisition module for acquiring bus current and bus voltage;

the main control module also comprises a protection module, the protection module is used for judging whether the motor works abnormally according to the bus current and the bus voltage, and if so, an alarm signal is generated; the working abnormality comprises overcurrent, overvoltage, undervoltage and locked rotor.

6. The drive control system of a dc brushless non-inductive motor according to claim 5, characterized in that: the alarm module is used for giving an alarm according to the alarm signal.

7. The drive control system of a dc brushless non-inductive motor according to claim 1, characterized in that: the N commutation interval times are reduced in an equal ratio.

8. A drive control method of a direct current brushless non-inductive motor is characterized by comprising the following steps: the method comprises the following steps:

s1, open-loop dragging, starting a system, and presetting N phase change interval time which are sequentially reduced, wherein N is a natural number; the motor carries out phase change according to N phase change interval time;

s2, obtaining a suspension phase voltage and a midpoint voltage according to the induced electromotive force, obtaining a zero crossing point by comparing the suspension phase voltage and the midpoint voltage, switching to a closed loop, and generating a phase change signal according to the zero crossing point; or, obtaining a zero crossing point according to the interruption of the comparator, switching to a closed loop, and generating a phase change signal according to the zero crossing point;

and S3, performing double closed-loop control on the motor by a speed loop and a current loop in an incremental PID control mode.

9. The drive control method of a dc brushless and non-inductive motor according to claim 8, characterized in that: step S4, judging whether the motor works abnormally according to the bus current and the bus voltage, and if so, giving an alarm for prompting; the working abnormality comprises overcurrent, overvoltage, undervoltage and locked rotor.

10. The drive control method of a dc brushless and non-inductive motor according to claim 8, characterized in that: the N commutation interval times are reduced in an equal ratio.

Technical Field

The invention relates to the technical field of motors, in particular to a direct-current brushless non-inductive motor driving control system and a direct-current brushless non-inductive motor driving control method.

Background

The current brushless dc motors on the market are classified into inductive brushless dc motors and non-inductive brushless dc motors. The non-inductive motor is not provided with a position sensor inside the motor, so that in application, the driving module continuously collects driving current and the motor coil generates reverse electromotive force to judge the position of the coil. Corresponding excitation signals are applied to enable the motor to work.

In the driving module scheme in the prior art, when a motor is started, the position of a motor rotor cannot be accurately judged, so that a driving signal cannot be applied to a motor coil at an optimal position, and the problems of small motor force, easy jitter during starting and stopping, failed starting and the like can be caused; and the existing driving module has poor universality and is only suitable for a specific chip platform.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a direct-current brushless non-inductive motor drive control system which can accurately judge the electrical relative position of a motor rotor and a stator and realize high-precision, faster and more reliable motor drive control.

First aspect

The invention provides a direct current brushless non-inductive motor drive control system, comprising:

the first current and voltage acquisition module is used for acquiring coil current and induced electromotive force of the motor;

the main control module comprises a zero crossing point judging module; the zero crossing point judging module is used for analyzing and comparing in real time according to the coil current and the induced electromotive force to determine the electrical relative position of the rotor and the stator, judging the zero crossing point according to the electrical relative position and generating a phase change signal according to the zero crossing point.

The driving module is used for driving the motor to carry out phase commutation according to the phase commutation signal;

the main control module also comprises a starting control module, N sequentially reduced commutation interval time is preset in a starting control signal, and N is a natural number; and the starting control module drives the motor to sequentially carry out phase change according to the N phase change interval time through the driving module.

Preferably, the zero-crossing point judging module comprises an AD zero-crossing point judging module; the AD zero crossing point judgment module obtains a suspension phase voltage and a midpoint voltage according to the induced electromotive force, obtains a zero crossing point by comparing the suspension phase voltage and the midpoint voltage, and generates a phase change signal according to the zero crossing point.

Preferably, the zero crossing point judging module further includes a comparator zero crossing point judging module, obtains a zero crossing point according to the interruption of the comparator, and generates a commutation signal according to the zero crossing point.

Preferably, the main control module further comprises a PID closed-loop control module, the PID closed-loop control module comprises a speed loop control module and a current loop control module, and the speed loop control module and the current loop control module perform double closed-loop control on the motor.

Preferably, the control system further comprises a second current and voltage acquisition module for acquiring bus current and bus voltage;

the main control module also comprises a protection module, the protection module is used for judging whether the motor works abnormally according to the bus current and the bus voltage, and if so, alarming and prompting are carried out; the working abnormality comprises overcurrent, overvoltage, undervoltage and locked rotor.

Preferably, the device also comprises an alarm module for alarming according to the alarm signal.

Preferably, the N commutation interval times are reduced proportionally.

Second aspect of the invention

The invention provides a driving control method of a direct-current brushless non-inductive motor, which comprises the following steps:

s1, open-loop dragging, starting a system, and presetting N phase change interval time which are sequentially reduced, wherein N is a natural number; the motor carries out phase change according to N phase change interval time;

s2, obtaining a suspension phase voltage and a midpoint voltage according to the induced electromotive force, obtaining a zero crossing point by comparing the suspension phase voltage and the midpoint voltage, switching to a closed loop, and generating a phase change signal according to the zero crossing point; or, obtaining a zero crossing point according to the interruption of the comparator, switching to a closed loop, and generating a phase change signal according to the zero crossing point;

and S3, performing double closed-loop control on the motor by a speed loop and a current loop in an incremental PID control mode.

Preferably, the method further comprises step S4, judging whether the motor works abnormally according to the bus current and the bus voltage, and if so, generating an alarm signal; the working abnormality comprises overcurrent, overvoltage, undervoltage and locked rotor.

Preferably, the N commutation interval times are reduced proportionally.

The invention has the beneficial effects that:

firstly, motor drive control with higher precision, higher speed and reliability can be realized;

secondly, the method does not depend on a specific chip platform and has good compatibility and expandability;

and the AD zero crossing point detection and the comparator zero crossing point detection are realized in hardware and software, the method is very flexible, the AD zero crossing point detection is used in a low-speed occasion, the comparator zero crossing point detection is used in a high-speed occasion, and the method is more universal and has lower requirements for a chip platform.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic structural diagram of a dc brushless non-inductive motor driving control system according to an embodiment of the present invention;

fig. 2 is a flowchart illustrating a driving control method for a dc brushless and non-inductive motor according to an embodiment of the present invention.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby. It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

In a specific implementation, the client described in the embodiment of the present invention may be a portable device such as a mobile phone, a laptop computer, or a tablet computer. The client supports various applications, such as one or more of the following: a drawing application, a presentation application, a word processing application, a website creation application, a disc burning application, a spreadsheet application, a gaming application, a telephone application, a video conferencing application, an email application, an instant messaging application, an exercise support application, a photo management application, a digital camera application, a web browsing application, a digital music player application, and/or a digital video player application.

As shown in fig. 1, an embodiment of the present invention provides a dc brushless non-inductive motor driving control system, including: the first current and voltage acquisition module is used for acquiring coil current and induced electromotive force of the motor; the main control module comprises a zero crossing point judgment module and is used for analyzing and comparing in real time according to the coil current and the induced electromotive force to determine the electrical relative position of the rotor and the stator; when the electrical relative position of the rotor and the stator is at the point with highest efficiency, the point with highest efficiency is a zero crossing point, and the main control module generates a phase change signal; the driving module is used for driving the motor to carry out phase commutation according to the phase commutation signal; the main control module also comprises a starting control module, wherein N phase change interval time reduced according to an equal ratio is preset in a starting control signal, and N is a natural number; and the starting control module drives the motor to carry out phase change according to N phase change interval time reduced according to the equal ratio through the driving module. The specific working principle of the starting control module is as follows: the set starting commutation interval time is 30ms, each commutation occurs after the last time 15/16 until the interval is less than 2.3ms, i.e., 40 commutations. In the process, the motor is slowly accelerated, induced electromotive force exists, the motor enters a point with the highest detection efficiency, namely a zero crossing point, normal closed-loop commutation is carried out according to a commutation table after the zero crossing point is detected, and if the zero crossing point is not detected, PWM is increased, and the zero crossing point is detected again.

The zero crossing point judging module comprises an AD zero crossing point judging module, the AD zero crossing point judging module obtains a suspension phase voltage and a midpoint voltage according to induced electromotive force, the zero crossing point is obtained by comparing the suspension phase voltage and the midpoint voltage, and a phase change signal is generated according to the zero crossing point. In the embodiment of the invention, the motor comprises A, B, C coils, and the AD zero crossing point judgment module has the specific working principle that: when the A, B phase is on, the C coil generates a large induced electromotive force, and the voltage of the C phase is greater than the midpoint voltage. As the rotor continues to rotate forwards, the induced electromotive force of the C coil gradually decreases to 0, and the voltage of the C phase is the midpoint voltage, namely half of the bus voltage; as the rotor continues to rotate, the direction of the electromotive force generated by the coil C is reversed, and the voltage of the phase C is smaller than the midpoint voltage; indicating that the C-phase voltage has passed a transition from greater than the midpoint voltage to less than the midpoint voltage, a zero crossing event is detected. According to the embodiment of the invention, A, B, C-phase voltage and midpoint voltage are continuously sampled through four paths of AD, when the comparison result of the voltage of the suspension phase and the midpoint voltage is reversed, a zero crossing point is detected, and correct phase commutation is carried out according to a phase commutation table after demagnetization is delayed.

The zero crossing point judging module also comprises a comparator zero crossing point judging module, obtains a zero crossing point according to the interruption of the comparator, and generates a phase change signal according to the zero crossing point. The comparator zero crossing point judgment module has the specific working principle that: after the comparator is set, starting the comparator for detection, and enabling the comparator to be interrupted; finding a zero crossing point, if the zero crossing point is found, firstly closing a comparator interrupt and a timer, reading time T0 of a 60-degree phase region, time amplitude limiting and historical time weighted average, wherein 1/4 of the time is used as commutation time, and 1/4 of the time is used as shielding time; setting the phase shift time to a time of T1; accumulating the time of 6 times of one circle for calculating the speed; when the interruption is entered at time T1, the commutation is started, and the shielding time is set to be time T1; the next time T1 comes into the interrupt switch comparator channel; if the comparator interrupt is not entered twice in succession (zero crossing is not found) the comparator interrupt is turned off and the timer is turned off.

The main control module further comprises a PID closed-loop control module, the PID closed-loop control module comprises a speed loop control module and a current loop control module, and the speed loop control module and the current loop control module perform double closed-loop control on the motor. And the PID closed-loop control module dynamically controls the motor to quickly and stably reach the target speed by acquiring the actual rotating speed and the target rotating speed of the motor, and can stably regulate the speed even if a load is additionally applied.

The control system also comprises a second current and voltage acquisition module which is used for acquiring the bus current and the bus voltage. The main control module also comprises a protection module, the protection module is used for judging whether the motor works abnormally according to the bus current and the bus voltage, and if so, an alarm signal is generated; the working abnormality comprises overcurrent, overvoltage, undervoltage and locked rotor. The embodiment of the invention also comprises an alarm module which alarms and prompts according to the alarm signal. The protection module and the alarm module protect the circuit and the motor, and the system can operate safely and reliably.

The embodiment of the invention also provides a driving control method of the direct-current brushless non-inductive motor, which comprises the following steps as shown in fig. 2:

the method comprises the following steps: electrifying, self-checking, judging whether the self-checking passes or not, and if so, entering a second step; if not, displaying a self-checking error, and flashing a light for prompting;

step two, open-loop dragging, starting a system, and presetting N commutation interval time reduced according to an equal ratio, wherein N is a natural number; the motor carries out phase change according to N phase change interval time;

the second step is specifically as follows: the set starting commutation interval time is 30ms, each commutation occurs after the last time 15/16 until the interval is less than 2.3ms, i.e., 40 commutations. In the process, the motor slowly accelerates, and induced electromotive force exists.

Step three, obtaining a suspension phase voltage and a midpoint voltage according to the induced electromotive force, obtaining a zero crossing point by comparing the suspension phase voltage and the midpoint voltage, switching to a closed loop, and generating a phase change signal according to the zero crossing point; or, obtaining a zero crossing point according to the interruption of the comparator, switching to a closed loop, and generating a phase change signal according to the zero crossing point;

the third step is specifically as follows: when the A, B phase is on, the C coil generates a large induced electromotive force, and the voltage of the C phase is greater than the midpoint voltage. As the rotor continues to rotate forwards, the induced electromotive force of the C coil gradually decreases to 0, and the voltage of the C phase is the midpoint voltage, namely half of the bus voltage; as the rotor continues to rotate, the direction of the electromotive force generated by the coil C is reversed, and the voltage of the phase C is smaller than the voltage of the midpoint; indicating that the C-phase voltage has passed a transition from greater than the midpoint voltage to less than the midpoint voltage, a zero crossing event is detected. According to the embodiment of the invention, A, B, C-phase voltage and midpoint voltage are continuously sampled through four paths of AD, when the comparison result of the voltage of the suspension phase and the midpoint voltage is reversed, a zero crossing point is detected, the suspension phase is switched to a closed loop, and after demagnetization is delayed, correct phase change is carried out according to a phase change table.

Or after the comparator is set, starting the comparator for detection, and enabling the comparator to be interrupted; finding a zero crossing point, if the zero crossing point is found, firstly closing a comparator interrupt and a timer, reading time T0 of a 60-degree phase region, time amplitude limiting and historical time weighted average, wherein 1/4 of the time is used as commutation time, and 1/4 of the time is used as shielding time; setting the phase shift time to a time of T1; accumulating the time of 6 times of one circle for calculating the speed; when the time T1 is up, the interruption is carried out, the closed loop is switched, the phase commutation is started, and the shielding time is set to be T1; the next time T1 comes into the interrupt switch comparator channel; if the comparator interrupt is not entered twice in succession (zero crossing is not found) the comparator interrupt is turned off and the timer is turned off.

Step four, performing double closed-loop control on the motor by using a speed loop and a current loop in an incremental PID control mode;

by acquiring the actual rotating speed and the target rotating speed of the motor, the target speed is quickly and stably achieved through dynamic control, and even if a load is externally added, the speed can be stably regulated.

Judging whether the motor works abnormally according to the bus current and the bus voltage, if so, stopping the motor, and flashing a light for prompting; the working abnormality comprises overcurrent, overvoltage, undervoltage and locked rotor; if not, returning to the third step.

According to the system and the method for driving and controlling the direct-current brushless non-inductive motor, the coil current and the induced electromotive force of the motor are rapidly and accurately sampled through the first sampling module, the data processing module analyzes and contrasts in real time to determine the electrical relative position of the rotor and the stator, phase change is carried out at the point with the highest efficiency, the driving module is controlled to apply the optimal excitation signal according to the speed regulation requirement, and the driving of the motor is realized; the protection module has the protection functions of overcurrent, overvoltage, undervoltage, locked rotor and the like, protects the circuit and the motor and can ensure the safe and reliable operation of the system; the PID closed-loop control module dynamically controls the motor to quickly and stably reach a target speed by acquiring the actual rotating speed and the target rotating speed of the motor, and can stably regulate the speed even if a load is externally added; the AD zero crossing point detection and the comparator zero crossing point detection are realized in hardware and software, the method is very flexible, the AD zero crossing point detection is used in a low-speed occasion, the comparator zero crossing point detection is used in a high-speed occasion, the method is more universal for a chip platform, and the requirement is lower.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.