阅读说明：本技术 一种电机的换向控制装置、方法和电机 (Motor commutation control device and method and motor ) 是由 卢宝平 黄秋鸣 李湘 肖胜宇 吴文贤 敖文彬 于 2020-11-12 设计创作，主要内容包括：本发明公开了一种电机的换向控制装置、方法和电机,该装置包括：采样单元,被配置为采样所述电机的转子位置,得到转子位置采样信号；并对所述转子位置采样信号进行转换和信号处理后,得到霍尔模拟电压信号；比较单元,被配置为对所述霍尔模拟电压信号与设定的电压阈值进行比较后,输出霍尔数字信号；控制单元,被配置为根据所述霍尔数字信号识别所述电机的转子位置采样信号,并在识别到的所述电机的转子位置采样信号与所述电机的转子位置实际信号之间的位置偏差符合设定偏差范围的情况下,控制所述电机换向。该方案,通过在接近电机转子的实际位置时进行换向通电,使电机换向电压均匀从而避免电机转速出现波动。(The invention discloses a commutation control device and method of a motor and the motor, the device includes: the sampling unit is configured to sample the rotor position of the motor to obtain a rotor position sampling signal; converting and processing the rotor position sampling signal to obtain a Hall analog voltage signal; the comparison unit is configured to compare the Hall analog voltage signal with a set voltage threshold value and then output a Hall digital signal; and the control unit is configured to identify a rotor position sampling signal of the motor according to the Hall digital signal and control the motor to commutate under the condition that the position deviation between the identified rotor position sampling signal of the motor and the rotor position actual signal of the motor conforms to a set deviation range. According to the scheme, the motor is uniformly commutated and electrified when the motor is close to the actual position of the motor rotor, so that the motor is prevented from fluctuating in rotating speed.)

1. A commutation control apparatus for an electric motor, comprising: the device comprises a sampling unit, a comparison unit and a control unit; wherein the content of the first and second substances,

the sampling unit is configured to sample the rotor position of the motor to obtain a rotor position sampling signal; converting and processing the rotor position sampling signal to obtain a Hall analog voltage signal;

the comparison unit is configured to compare the Hall analog voltage signal with a set voltage threshold value and then output a Hall digital signal;

the control unit is configured to identify a rotor position sampling signal of the motor according to the Hall digital signal, and control the motor to commutate under the condition that the position deviation between the identified rotor position sampling signal of the motor and the rotor position actual signal of the motor conforms to a set deviation range.

2. The commutation control apparatus of an electric motor according to claim 1, wherein the sampling unit comprises: the device comprises a position acquisition module, a Hall module and a signal processing module; wherein the content of the first and second substances,

the sampling unit samples the rotor position of motor obtains rotor position sampling signal, includes:

the position acquisition module is configured to sample the rotor position of the motor to obtain a rotor position sampling signal;

the sampling unit is to rotor position sampling signal carries out conversion and partial pressure after handling, obtains hall analog voltage signal, includes:

the Hall module is configured to convert the rotor position sampling signal to obtain an initial Hall analog voltage signal;

the signal processing module is configured to perform signal processing on the initial hall analog voltage signal to obtain the hall analog voltage signal.

3. The commutation control apparatus of an electric motor according to claim 2, wherein the signal processing module comprises: a pull-up module and a current limiting module; wherein the content of the first and second substances,

the signal processing module is used for carrying out signal processing on the initial Hall analog voltage signal to obtain the Hall analog voltage signal, and comprises:

the pull-up module is configured to raise the initial Hall analog voltage signal to obtain a first Hall analog voltage signal;

the current limiting module is configured to perform current limiting processing on the first Hall analog voltage signal to obtain a second Hall analog voltage signal as the Hall analog voltage signal.

4. The commutation control apparatus of an electric motor according to claim 3, wherein the sampling unit further comprises: at least one of a first filtering module and a second filtering module; wherein the content of the first and second substances,

the first filtering module is configured to filter a power supply voltage provided by a power supply of the hall module and then input the power supply voltage to the hall module;

the second filtering module is configured to filter the second hall analog voltage signal.

5. The commutation control device of an electric motor according to any one of claims 1 to 4, wherein the comparison unit includes: the device comprises a comparison module and a voltage division module; wherein the content of the first and second substances,

the comparison unit compares the hall analog voltage signal with a set voltage threshold value and then outputs a hall digital signal, and the comparison unit comprises:

the voltage division module is configured to provide a set voltage threshold and input the set voltage threshold to the inverting input end of the comparison module;

the comparison module is configured to compare and convert the Hall analog voltage signal with a set voltage threshold value and then output a Hall digital signal;

wherein, the hall digital signal includes: the Hall digital signal of a first set level or the Hall digital signal of a second set level;

the comparison module compares the Hall analog voltage signal with a set voltage threshold, and comprises: if the Hall analog voltage signal is higher than a set voltage threshold, outputting a Hall digital signal of a first set level; and if the Hall analog voltage signal is lower than a set voltage threshold, outputting a Hall digital signal of a second set level.

6. The commutation control apparatus of an electric motor according to claim 5, wherein the comparison unit further comprises: at least one of a third filtering module and a fourth filtering module; wherein the content of the first and second substances,

the third filtering module is configured to filter a power supply voltage provided by a power supply of the comparing module and input the filtered power supply voltage to the comparing module;

the fourth filtering module is configured to filter the hall digital signal and then input the hall digital signal to the control unit.

7. An electric machine, comprising: a commutation control apparatus of an electric motor as claimed in any one of claims 1 to 6.

8. A method of controlling commutation of an electric machine, comprising:

sampling the rotor position of the motor to obtain a rotor position sampling signal; converting and processing the rotor position sampling signal to obtain a Hall analog voltage signal;

comparing the Hall analog voltage signal with a set voltage threshold value, and outputting a Hall digital signal;

and identifying a rotor position sampling signal of the motor according to the Hall digital signal through a control unit, and controlling the motor to commutate under the condition that the position deviation between the identified rotor position sampling signal of the motor and the actual rotor position signal of the motor conforms to a set deviation range.

9. The method of claim 8, wherein converting and dividing the rotor position sampling signal to obtain a hall analog voltage signal comprises:

converting the rotor position sampling signal through a Hall module to obtain an initial Hall analog voltage signal;

and carrying out signal processing on the initial Hall analog voltage signal to obtain the Hall analog voltage signal.

10. The commutation control method of an electric motor of claim 9, wherein performing signal processing on the initial hall analog voltage signal to obtain the hall analog voltage signal comprises:

raising the initial Hall analog voltage signal to obtain a first Hall analog voltage signal;

and carrying out current limiting processing on the first Hall analog voltage signal to obtain a second Hall analog voltage signal which is used as the Hall analog voltage signal.

11. The commutation control method of an electric machine according to claim 10, further comprising:

filtering the power supply voltage provided by the power supply of the Hall module and then inputting the power supply voltage to the Hall module;

and filtering the second Hall analog voltage signal.

12. The commutation control method of an electric motor according to any one of claims 8 to 11, wherein comparing the hall analog voltage signal with a set voltage threshold and outputting a hall digital signal comprises:

providing a set voltage threshold and inputting the voltage threshold to the inverting input end of the comparison module;

comparing and converting the Hall analog voltage signal with a set voltage threshold value through a comparison module, and outputting a Hall digital signal;

wherein, the hall digital signal includes: the Hall digital signal of a first set level or the Hall digital signal of a second set level; comparing the Hall analog voltage signal with a set voltage threshold, comprising: if the Hall analog voltage signal is higher than a set voltage threshold, outputting a Hall digital signal of a first set level; and if the Hall analog voltage signal is lower than a set voltage threshold, outputting a Hall digital signal of a second set level.

13. The commutation control method of an electric machine of claim 12, further comprising:

filtering the power supply voltage provided by the power supply of the comparison module and then inputting the power supply voltage to the comparison module;

and filtering the Hall digital signal and inputting the Hall digital signal to the control unit.

Technical Field

The invention belongs to the technical field of electronic circuits, and particularly relates to a commutation control device and method for a motor and the motor, in particular to a control circuit for correcting a Hall waveform, the motor with the control circuit and a control method for correcting the Hall waveform of the motor.

Background

With the development of science and technology, the requirements of household electrical appliances on control circuits are higher and higher nowadays. When the household motor processes the hall signal, digital sampling is generally adopted. However, when digital sampling is adopted, the Hall jump edge of the digital sampling device has larger delay, so that the identified rotor position signal can have larger offset with an actual signal, and the commutation voltage of the motor is triggered by mistake, so that the commutation voltage is uneven, and the rotating speed of the motor fluctuates.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention aims to provide a motor reversing control device, a motor reversing control method and a motor, which are used for solving the problem that when a motor of electrical equipment processes a Hall signal, a rotor position signal identified by digital sampling is greatly deviated from an actual signal to trigger a motor reversing voltage by mistake, so that the motor reversing voltage is uneven and the motor rotating speed fluctuates, and achieving the effect of conducting reversing power-on when the actual position of a motor rotor is close to, so that the motor reversing voltage is even and the motor rotating speed is prevented from fluctuating.

The invention provides a commutation control device of a motor, comprising: the device comprises a sampling unit, a comparison unit and a control unit; the sampling unit is configured to sample the rotor position of the motor to obtain a rotor position sampling signal; converting and processing the rotor position sampling signal to obtain a Hall analog voltage signal; the comparison unit is configured to compare the Hall analog voltage signal with a set voltage threshold value and then output a Hall digital signal; the control unit is configured to identify a rotor position sampling signal of the motor according to the Hall digital signal, and control the motor to commutate under the condition that the position deviation between the identified rotor position sampling signal of the motor and the rotor position actual signal of the motor conforms to a set deviation range.

In some embodiments, the sampling unit includes: the device comprises a position acquisition module, a Hall module and a signal processing module; wherein, the sampling unit samples the rotor position of motor obtains rotor position sampling signal, includes: the position acquisition module is configured to sample the rotor position of the motor to obtain a rotor position sampling signal; the sampling unit is to rotor position sampling signal carries out conversion and partial pressure after handling, obtains hall analog voltage signal, includes: the Hall module is configured to convert the rotor position sampling signal to obtain an initial Hall analog voltage signal; the signal processing module is configured to perform signal processing on the initial hall analog voltage signal to obtain the hall analog voltage signal.

In some embodiments, the signal processing module comprises: a pull-up module and a current limiting module; the signal processing module performs signal processing on the initial hall analog voltage signal to obtain the hall analog voltage signal, and the signal processing module includes: the pull-up module is configured to raise the initial Hall analog voltage signal to obtain a first Hall analog voltage signal; the current limiting module is configured to perform current limiting processing on the first Hall analog voltage signal to obtain a second Hall analog voltage signal as the Hall analog voltage signal.

In some embodiments, the sampling unit further includes: at least one of a first filtering module and a second filtering module; the first filtering module is configured to filter a power supply voltage provided by a power supply of the Hall module and then input the power supply voltage to the Hall module; the second filtering module is configured to filter the second hall analog voltage signal.

In some embodiments, the comparison unit includes: the device comprises a comparison module and a voltage division module; wherein, the comparing unit outputs the hall digital signal after comparing the hall analog voltage signal with the set voltage threshold, and comprises: the voltage division module is configured to provide a set voltage threshold and input the set voltage threshold to the inverting input end of the comparison module; the comparison module is configured to compare and convert the Hall analog voltage signal with a set voltage threshold value and then output a Hall digital signal; wherein, the hall digital signal includes: the Hall digital signal of a first set level or the Hall digital signal of a second set level; the comparison module compares the Hall analog voltage signal with a set voltage threshold, and comprises: if the Hall analog voltage signal is higher than a set voltage threshold, outputting a Hall digital signal of a first set level; and if the Hall analog voltage signal is lower than a set voltage threshold, outputting a Hall digital signal of a second set level.

In some embodiments, the comparing unit further includes: at least one of a third filtering module and a fourth filtering module; the third filtering module is configured to filter a power supply voltage provided by a power supply of the comparing module and then input the power supply voltage to the comparing module; the fourth filtering module is configured to filter the hall digital signal and then input the hall digital signal to the control unit.

In accordance with another aspect of the present invention, there is provided a motor including: the commutation control device of the motor is described above.

In another aspect, the present invention provides a method for controlling commutation of a motor, including: sampling the rotor position of the motor to obtain a rotor position sampling signal; converting and processing the rotor position sampling signal to obtain a Hall analog voltage signal; comparing the Hall analog voltage signal with a set voltage threshold value, and outputting a Hall digital signal; and identifying a rotor position sampling signal of the motor according to the Hall digital signal through a control unit, and controlling the motor to commutate under the condition that the position deviation between the identified rotor position sampling signal of the motor and the actual rotor position signal of the motor conforms to a set deviation range.

In some embodiments, converting and dividing the rotor position sampling signal to obtain a hall analog voltage signal includes: converting the rotor position sampling signal through a Hall module to obtain an initial Hall analog voltage signal; and carrying out signal processing on the initial Hall analog voltage signal to obtain the Hall analog voltage signal.

In some embodiments, the signal processing the initial hall analog voltage signal to obtain the hall analog voltage signal includes: raising the initial Hall analog voltage signal to obtain a first Hall analog voltage signal; and carrying out current limiting processing on the first Hall analog voltage signal to obtain a second Hall analog voltage signal which is used as the Hall analog voltage signal.

In some embodiments, further comprising: filtering the power supply voltage provided by the power supply of the Hall module and then inputting the power supply voltage to the Hall module; and filtering the second Hall analog voltage signal.

In some embodiments, comparing the hall analog voltage signal with a set voltage threshold and outputting a hall digital signal includes: providing a set voltage threshold and inputting the voltage threshold to the inverting input end of the comparison module; comparing and converting the Hall analog voltage signal with a set voltage threshold value through a comparison module, and outputting a Hall digital signal; wherein, the hall digital signal includes: the Hall digital signal of a first set level or the Hall digital signal of a second set level; comparing the Hall analog voltage signal with a set voltage threshold, comprising: if the Hall analog voltage signal is higher than a set voltage threshold, outputting a Hall digital signal of a first set level; and if the Hall analog voltage signal is lower than a set voltage threshold, outputting a Hall digital signal of a second set level.

In some embodiments, further comprising: filtering the power supply voltage provided by the power supply of the comparison module and then inputting the power supply voltage to the comparison module; and filtering the Hall digital signal and inputting the Hall digital signal to the control unit.

Therefore, according to the scheme of the invention, the actual rotor position of the motor is detected in real time through a Hall circuit, the Hall analog voltage signal converted from the Hall circuit is input into a comparator circuit, the input Hall analog signal is corrected through the comparator circuit, the corrected Hall digital signal is directly input into a chip (namely a main control chip of a motor controller), a position sensor signal identified by the chip (namely the main control chip of the motor controller) is close to the actual rotor position signal, and the motor commutation voltage is uniform by carrying out commutation energization when the actual position of the motor rotor is close to, so that the fluctuation of the motor rotating speed is avoided.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a commutation control device of a motor according to the present invention;

FIG. 2 is a schematic diagram of an embodiment of a Hall waveform correction logic circuit;

FIG. 3 is a schematic diagram of an embodiment of a control circuit for Hall waveform correction;

FIG. 4 is a schematic diagram of waveforms of a position sensor, a Hall signal and a Hall signal output by a comparator;

fig. 5 is a schematic flow chart of an embodiment of a commutation control method of an electric machine according to the present invention;

FIG. 6 is a schematic flow chart illustrating one embodiment of converting and dividing the rotor position sample signal according to the method of the present invention;

fig. 7 is a schematic flow chart illustrating an embodiment of signal processing on the initial hall analog voltage signal in the method of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

According to an embodiment of the present invention, there is provided a commutation control apparatus of a motor. Referring to fig. 1, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The commutation control apparatus of the motor may include: the device comprises a sampling unit, a comparison unit and a control unit (such as a main control chip).

The sampling unit is configured to sample the rotor position of the motor to obtain a rotor position sampling signal; and converting and processing the rotor position sampling signal to obtain a Hall analog voltage signal.

In some embodiments, the sampling unit includes: the sensor comprises a position acquisition module (such as a position sensor), a Hall module (such as a Hall sensor) and a signal processing module (such as a resistor R6 and a resistor R50).

Wherein, the sampling unit samples the rotor position of motor obtains rotor position sampling signal, includes: the position acquisition module is configured to sample the rotor position of the motor to obtain a rotor position sampling signal.

The sampling unit is to rotor position sampling signal carries out conversion and partial pressure after handling, obtains hall analog voltage signal, includes:

the Hall module is configured to convert the rotor position sampling signal to obtain an initial Hall analog voltage signal.

The signal processing module is configured to perform signal processing on the initial hall analog voltage signal to obtain the hall analog voltage signal.

In some embodiments, the signal processing module comprises: a pull-up module (e.g., resistor R6) and a current limiting module (e.g., resistor R50).

The signal processing module performs signal processing on the initial hall analog voltage signal to obtain the hall analog voltage signal, and the signal processing module includes:

the pull-up module is configured to raise the initial hall analog voltage signal to obtain a first hall analog voltage signal.

The current limiting module is configured to perform current limiting processing on the first Hall analog voltage signal to obtain a second Hall analog voltage signal as the Hall analog voltage signal.

In some embodiments, the sampling unit further includes: at least one of the first filtering module and the second filtering module (e.g., at least one of filtering capacitor C22 and filtering capacitor C24).

The first filtering module is configured to filter a power supply voltage provided by a power supply of the hall module and then input the power supply voltage to the hall module.

The second filtering module is configured to filter the second hall analog voltage signal.

Specifically, in the hall circuit, the 5V voltage supplies power to the hall IC (i.e., hall sensor HU) after being filtered by filter capacitor C22, the hall IC outputs a hall analog voltage signal after performing internal conversion on a detected motor rotor position signal, raises the hall analog voltage signal by pull-up resistor R6, and finally performs current limiting by current limiting resistor R50 and inputs the hall analog voltage signal into the next comparison circuit after being filtered by filter capacitor C24.

The comparison unit is configured to compare the Hall analog voltage signal with a set voltage threshold value and then output a Hall digital signal. The set voltage threshold may be a threshold voltage VT. The Hall digital signal can be a Hall digital signal waveform.

The control unit is configured to identify a rotor position sampling signal of the motor according to the Hall digital signal, and control the motor to commutate under the condition that the position deviation between the identified rotor position sampling signal of the motor and the rotor position actual signal of the motor conforms to a set deviation range.

Therefore, the actual rotor position of the motor is detected in real time through a Hall circuit, the Hall analog voltage signal converted from the Hall circuit is input into a comparator circuit, the input Hall analog signal is corrected through the comparator circuit, the corrected Hall digital signal is directly input into a chip (namely a main control chip of the motor controller), a position sensor signal identified by the chip (namely the main control chip of the motor controller) is close to the actual rotor position signal, uniform reversing voltage is achieved, and rotation speed fluctuation of the motor is avoided.

In some embodiments, the comparison unit includes: the device comprises a comparison module and a voltage division module. The comparison module, such as a comparator, an operational amplifier, etc. And the non-inverting input end of the comparison module inputs the Hall analog voltage signal. And the inverting input end of the comparison module inputs the set voltage threshold.

Wherein, the comparing unit outputs the hall digital signal after comparing the hall analog voltage signal with the set voltage threshold, and comprises:

the voltage division module is configured to provide a set voltage threshold and input the set voltage threshold to the inverting input terminal of the comparison module.

And the comparison module is configured to output a Hall digital signal after comparing and converting the Hall analog voltage signal with a set voltage threshold. Wherein, the hall digital signal includes: the Hall digital signal of the first setting level or the Hall digital signal of the second setting level. The comparison module compares the Hall analog voltage signal with a set voltage threshold, and comprises: if the Hall analog voltage signal is higher than a set voltage threshold, outputting a Hall digital signal (such as a Hall digital signal with a high level) with a first set level; and if the Hall analog voltage signal is lower than the set voltage threshold, outputting a Hall digital signal (such as a Hall digital signal with a low level) with a second set level.

Specifically, when the motor runs, the actual rotor position of the motor is detected in real time through a position sensor, and is converted into a Hall analog voltage signal through a Hall circuit; then the Hall analog voltage signal is input into a comparator, the Hall analog voltage signal and a threshold voltage value set by a comparator circuit are judged at the moment, the Hall waveform voltage signal can be set to be in-phase input, and if the Hall waveform voltage signal is higher than the threshold voltage of the comparator, the output end of the comparator is at a high level; if the Hall waveform voltage signal is lower than the threshold voltage of the comparator, the output end of the comparator is at a low level.

In some embodiments, the comparing unit further includes: at least one of the third filtering module and the fourth filtering module (e.g., at least one of the filtering capacitor C5 and the filtering capacitor C26).

The third filtering module is configured to filter a power supply voltage provided by a power supply of the comparing module and then input the power supply voltage to the comparing module.

The fourth filtering module is configured to filter the hall digital signal and then input the hall digital signal to the control unit.

Specifically, in the comparison circuit, a hall analog voltage signal is input to a non-inverting input terminal of one comparator. The voltage dividing resistor R7 and the voltage dividing resistor R8 form a voltage dividing circuit to obtain the threshold voltage VT of the comparator, and then the threshold voltage VT is input into the comparator from the inverting input terminal. The comparator compares a Hall analog voltage signal input by the non-inverting input end with a threshold voltage VT input by the inverting input end, outputs a Hall digital signal waveform through internal conversion, and directly inputs the Hall digital signal waveform into a chip (namely a main control chip of the motor controller) after being filtered by a filter capacitor C26.

Therefore, the Hall digital signal waveform output by the comparator is directly input into the chip (namely the main control chip of the motor controller), because the Hall signal waveform of the input chip (namely the main control chip of the motor controller) is a digital signal corrected by the comparator, the chip (namely the main control chip of the motor controller) can directly and quickly identify the position sensor signal, the time for identifying and detecting the Hall waveform voltage by the chip (namely the main control chip of the motor controller) is shortened, the position sensor signal identified by the chip (namely the main control chip of the motor controller) is close to the actual rotor position signal, the uniform commutation voltage is realized, and the rotation speed fluctuation of the motor is avoided.

Through a large number of tests, the technical scheme of the invention is adopted, the actual rotor position of the motor is detected in real time, the Hall analog voltage signal converted by the actual rotor position is corrected, the corrected Hall digital signal is directly input into the chip (namely the main control chip of the motor controller), the position sensor signal identified by the chip (namely the main control chip of the motor controller) is close to the actual rotor position signal, and the motor reversing voltage is uniform by reversing and electrifying when the actual position of the motor rotor is close, so that the fluctuation of the motor rotating speed is avoided.

According to an embodiment of the present invention, there is also provided a motor corresponding to a commutation control apparatus of the motor. The motor may include: the commutation control device of the motor is described above.

In the related scheme, when the household motor processes the hall signal, digital sampling is generally adopted: the chip (namely a main control chip of the motor controller) identifies an input Hall waveform voltage signal, compares the voltage value detected in the chip (namely the main control chip of the motor controller) with a set value of high and low levels of the chip (namely the main control chip of the motor controller), and if the detected voltage value is greater than the set high level value of the chip (namely the main control chip of the motor controller), the chip (namely the main control chip of the motor controller) outputs high level; when the detected voltage value is smaller than the low level value set by the chip (namely the main control chip of the motor controller), the chip (namely the main control chip of the motor controller) outputs the low level. When 0V < low value < high value < VDD (VDD is the supply voltage for the chip (i.e. the main control chip of the motor controller)), then the chip (i.e. the main control chip of the motor controller) identifies the position sensor signal. However, the position sensor signal identified by the chip (i.e. the main control chip of the motor controller) has a large deviation from the actual rotor position signal, and the phases of high and low levels have a large difference, so that the commutation voltage is triggered by mistake, the commutation voltage is uneven, and the motor rotation speed fluctuates.

Therefore, in the running process of the motor, when digital sampling is adopted, the Hall jump edge of the motor can generate larger delay, so that the position sensor signal identified by the chip (namely the main control chip of the motor controller) can generate larger offset with the actual signal, and the phase of high and low levels can have larger difference, thereby leading the commutation voltage to be triggered by mistake, leading the commutation voltage to be uneven, and leading the rotating speed of the motor to fluctuate.

In some embodiments, the invention provides a control circuit for correcting a hall waveform, and the control circuit for correcting the hall waveform can realize commutation and energization when the hall waveform is close to the actual position of a rotor, so that the commutation voltage is prevented from being triggered by mistake due to the large delay of a hall jump edge, the commutation voltage is uniform, and the fluctuation of the rotating speed of a motor is eliminated.

The following describes an exemplary implementation process of the scheme of the present invention with reference to the examples shown in fig. 2 to 4.

Fig. 2 is a schematic structural diagram of an embodiment of a hall waveform correction logic circuit. As shown in fig. 2, the logic circuit for hall waveform correction includes: the Hall digital signal input circuit comprises a Hall circuit, a comparison circuit and a chip (namely a main control chip of the motor controller), wherein the Hall circuit is connected to the comparison circuit, and a Hall digital signal output by the comparison circuit is input into the chip (namely the main control chip of the motor controller).

In the example shown in fig. 2, the actual rotor position of the motor is detected in real time through a hall circuit, the hall analog voltage signal converted from the actual rotor position is input into a comparator circuit, the input hall analog signal is corrected through the comparator circuit, and the corrected hall digital signal is directly input into a chip (namely, a main control chip of the motor controller), so that a position sensor signal identified by the chip (namely, the main control chip of the motor controller) is close to the actual rotor position signal, the uniform commutation voltage is realized, and the rotation speed fluctuation of the motor is avoided.

In the correlation scheme, the digital samples are typically: the hall analog voltage signal output by the hall circuit is directly input to the chip (namely, the main control chip of the motor controller), at this moment, the chip (namely, the main control chip of the motor controller) also needs to be subjected to AD conversion, and the phases of the high and low levels of the obtained signal have great difference. In the scheme of the invention, the Hall analog voltage signal output by the Hall circuit outputs a Hall digital signal after passing through the comparison circuit (such as a comparator circuit), the chip (namely, the main control chip of the motor controller) can directly and quickly identify the position sensor signal, and the position sensor signal identified by the chip (namely, the main control chip of the motor controller) is close to the actual rotor position signal.

For example: the Hall analog voltage signal output by the Hall circuit outputs a Hall digital signal after passing through the comparison circuit, which is equivalent to the phase position of the motor.

Fig. 3 is a schematic structural diagram of an embodiment of a control circuit for correcting a hall waveform. As shown in fig. 3, the hall waveform correction control circuit includes: a hall circuit and a comparator circuit. A hall circuit, comprising: the sensor comprises a position sensor (such as a Hall sensor HU), a filter capacitor C22, a filter capacitor C24, a pull-up resistor R6 and a current-limiting resistor R50. A comparison circuit, comprising: the circuit comprises a comparator, a voltage division resistor R8, a voltage division resistor R9, a filter capacitor C5 and a filter capacitor C26.

In the hall circuit, the 5V voltage supplies power to the hall IC (hall sensor HU) after filtering through filter capacitor C22, and the hall IC outputs hall analog voltage signal after the motor rotor position signal that will detect through internal conversion, again through pull-up resistance R6 raise this hall analog voltage signal, carries out the current-limiting through current-limiting resistance R50 simultaneously and carries out the filtering through filter capacitor C24 and input to next comparison circuit.

In the comparison circuit, a Hall analog voltage signal is input to a non-inverting input end of a comparator. The voltage dividing resistor R7 and the voltage dividing resistor R8 form a voltage dividing circuit to obtain the threshold voltage VT of the comparator, and then the threshold voltage VT is input into the comparator from the inverting input terminal. The comparator compares a Hall analog voltage signal input by the non-inverting input end with a threshold voltage VT input by the inverting input end, outputs a Hall digital signal waveform, and directly inputs the Hall digital signal waveform into a chip (namely a main control chip of the motor controller) after being filtered by a filter capacitor C26.

In the example shown in fig. 3, pin 1 of the hall IC is the supply voltage input, pin 2 is grounded GND, and pin 3 is the output; the 5V voltage is filtered by a filter capacitor C22 and then input into a pin 1 to supply power to the Hall IC, a pin 2 of the Hall IC is directly grounded, the Hall IC outputs a detected motor rotor position signal from a pin 3 of the Hall IC after internal conversion to obtain a Hall analog voltage signal, the Hall analog voltage signal is raised by a pull-up resistor R6, and finally the Hall analog voltage signal is filtered by a current-limiting resistor R50, a filter capacitor C24 and then input into a next comparison circuit; the comparison circuit includes: the comparator compares the Hall analog voltage signal input by the non-inverting input end with the threshold voltage VT input by the inverting input end, outputs Hall digital signal waveform through internal conversion, and directly inputs the Hall digital signal waveform into a chip (namely a main control chip of the motor controller) after being filtered by a filter capacitor C26.

In the example shown in fig. 3, the hall waveform correction control circuit may use an operational amplifier instead of the comparator to correct the hall signal waveform of the input chip (i.e., the main control chip of the motor controller).

Fig. 4 is a schematic diagram of waveforms of the position sensor, the hall signal and the hall signal output by the comparator. Fig. 4 can show a waveform of a position sensor, a waveform of a hall signal output by a comparator, and a waveform of a position sensor signal recognized by a chip (i.e., a main control chip of a motor controller).

In the example shown in fig. 4, the waveform VT is the comparator output hall signal waveform, and the waveform VTH is the position sensor signal recognized by the chip (i.e., the main control chip of the motor controller). VT is the judgment threshold level that the comparator discerns high-low level, VDD is the supply voltage, VIH is the judgment threshold level that the chip (i.e. the main control chip of motor controller) discerns high level, VIL is the judgment threshold level that the chip (i.e. the main control chip of motor controller) discerns low level.

In the solution of the present invention, the working process of the hall waveform correction control circuit can be referred to the following exemplary description:

when the motor runs, the actual rotor position of the motor is detected in real time through a position sensor, and is converted into a Hall analog voltage signal through a Hall circuit; then the Hall analog voltage signal is input into a comparator, the Hall analog voltage signal and a threshold voltage value set by a comparator circuit are judged at the moment, the Hall waveform voltage signal can be set to be in-phase input, and if the Hall waveform voltage signal is higher than the threshold voltage of the comparator, the output end of the comparator is at a high level; if the Hall waveform voltage signal is lower than or equal to the threshold voltage of the comparator, the output end of the comparator is at a low level. Wherein the threshold voltage VT of the comparator can be set as the corresponding threshold voltage when the comparator recognizes the lowest high and low levels, the threshold voltage of the comparator is set to be 10mv (when the threshold voltage of the comparator is set to be 10mv, the waveform output by the comparator is close to the waveform of the position sensor, the phase difference of the high and low levels is very small, the waveform VTH is the position sensor signal recognized by the chip (namely the main control chip of the motor controller), because the power supply voltage VDD of the chip (namely the main control chip of the motor controller) is 5V, the judgment threshold level VIH of the chip (namely the main control chip of the motor controller) recognizing the high level is 2V, the judgment threshold level VIL of the chip (namely the main control chip of the motor controller) recognizing the low level is 0.75V, it can be obviously seen that the position sensor signal recognized by the chip (namely the main control chip of the motor controller) has a large deviation with the actual rotor position signal, making the resulting high and low levels phase-different significantly). And finally, the Hall digital signal waveform output by the comparator is directly input into a chip (namely a main control chip of the motor controller), and because the Hall signal waveform of the input chip (namely the main control chip of the motor controller) is a digital signal corrected by the comparator, the chip (namely the main control chip of the motor controller) can directly and quickly identify a position sensor signal, so that the time for identifying and detecting the voltage of the Hall waveform by the chip (namely the main control chip of the motor controller) is shortened, the position sensor signal identified by the chip (namely the main control chip of the motor controller) is close to an actual rotor position signal, the uniform commutation voltage is realized, and the rotation speed fluctuation of the motor is avoided. The position sensor is a Hall sensor, and the Hall circuit outputs a sensor detection signal.

Since the processes and functions implemented by the motor of this embodiment substantially correspond to the embodiments, principles, and examples of the apparatus shown in fig. 1, the descriptions of this embodiment are not detailed, and refer to the related descriptions in the embodiments, which are not described herein.

Through a large number of tests, the technical scheme of the invention can realize commutation and electrification when the actual position of the rotor is close to through one Hall waveform correction control circuit, and prevent commutation voltage from being triggered by mistake due to larger delay of Hall jumping edges, thereby realizing uniform commutation voltage, eliminating motor rotating speed fluctuation and improving the reliability and stability of motor operation.

According to an embodiment of the present invention, there is also provided a commutation control method for an electric machine corresponding to the electric machine, as shown in fig. 5, which is a schematic flow chart of an embodiment of the method of the present invention. The commutation control method of the motor may include: step S110 to step S130.

In step S110, a rotor position of the motor is sampled by a sampling unit to obtain a rotor position sampling signal; and converting and processing the rotor position sampling signal to obtain a Hall analog voltage signal.

In some embodiments, the specific process of converting and dividing the rotor position sampling signal in step S110 may further be described with reference to a flowchart of an example of converting and dividing the rotor position sampling signal in the method of the present invention shown in fig. 6, where the specific process may include: step S210 and step S220.

And step S210, converting the rotor position sampling signal through a Hall module to obtain an initial Hall analog voltage signal.

Step S220, performing signal processing on the initial hall analog voltage signal to obtain the hall analog voltage signal.

In some embodiments, the specific process of performing signal processing on the initial hall analog voltage signal in step S220 to obtain the hall analog voltage signal may further be described with reference to a schematic flow chart of an embodiment of performing signal processing on the initial hall analog voltage signal in the method of the present invention shown in fig. 7, and may include: step S310 and step S320.

Step S310, raising the initial Hall analog voltage signal to obtain a first Hall analog voltage signal.

Step S320, performing current limiting processing on the first hall analog voltage signal to obtain a second hall analog voltage signal as the hall analog voltage signal.

In some embodiments, further comprising: and filtering the power supply voltage provided by the power supply of the Hall module and then inputting the power supply voltage to the Hall module.

In some embodiments, further comprising: and filtering the second Hall analog voltage signal.

Specifically, in the hall circuit, the 5V voltage supplies power to the hall IC (i.e., hall sensor HU) after being filtered by filter capacitor C22, the hall IC outputs a hall analog voltage signal after performing internal conversion on a detected motor rotor position signal, raises the hall analog voltage signal by pull-up resistor R6, and finally performs current limiting by current limiting resistor R50 and inputs the hall analog voltage signal into the next comparison circuit after being filtered by filter capacitor C24.

At step S120, the hall analog voltage signal is compared with a set voltage threshold by a comparing unit, and then a hall digital signal is output. The set voltage threshold may be a threshold voltage VT. The Hall digital signal can be a Hall digital signal waveform.

In step S130, a control unit identifies a rotor position sampling signal of the motor according to the hall digital signal, and controls the motor to commutate if a position deviation between the identified rotor position sampling signal of the motor and a rotor position actual signal of the motor meets a set deviation range.

Therefore, the actual rotor position of the motor is detected in real time through a Hall circuit, the Hall analog voltage signal converted from the Hall circuit is input into a comparator circuit, the input Hall analog signal is corrected through the comparator circuit, the corrected Hall digital signal is directly input into a chip (namely a main control chip of the motor controller), a position sensor signal identified by the chip (namely the main control chip of the motor controller) is close to the actual rotor position signal, uniform reversing voltage is achieved, and rotation speed fluctuation of the motor is avoided.

In some embodiments, after comparing the hall analog voltage signal with a set voltage threshold in step S120, outputting a hall digital signal includes: providing a set voltage threshold and inputting the voltage threshold to the inverting input end of the comparison module; and comparing and converting the Hall analog voltage signal with a set voltage threshold value through a comparison module, and outputting a Hall digital signal.

Wherein, the hall digital signal includes: the Hall digital signal of the first setting level or the Hall digital signal of the second setting level. Comparing the Hall analog voltage signal with a set voltage threshold, comprising: if the Hall analog voltage signal is higher than a set voltage threshold, outputting a Hall digital signal (such as a Hall digital signal with a high level) with a first set level; and if the Hall analog voltage signal is lower than the set voltage threshold, outputting a Hall digital signal (such as a Hall digital signal with a low level) with a second set level.

Specifically, when the motor runs, the actual rotor position of the motor is detected in real time through a position sensor, and is converted into a Hall analog voltage signal through a Hall circuit; then the Hall analog voltage signal is input into a comparator, the Hall analog voltage signal and a threshold voltage value set by a comparator circuit are judged at the moment, the Hall waveform voltage signal can be set to be in-phase input, and if the Hall waveform voltage signal is higher than the threshold voltage of the comparator, the output end of the comparator is at a high level; if the Hall waveform voltage signal is lower than the threshold voltage of the comparator, the output end of the comparator is at a low level.

In some embodiments, further comprising: and filtering the power supply voltage provided by the power supply of the comparison module and then inputting the filtered power supply voltage to the comparison module.

In some embodiments, further comprising: and filtering the Hall digital signal and inputting the Hall digital signal to the control unit.

Specifically, in the comparison circuit, a hall analog voltage signal is input to a non-inverting input terminal of one comparator. The voltage dividing resistor R7 and the voltage dividing resistor R8 form a voltage dividing circuit to obtain the threshold voltage VT of the comparator, and then the threshold voltage VT is input into the comparator from the inverting input terminal. The comparator compares a Hall analog voltage signal input by the non-inverting input end with a threshold voltage VT input by the inverting input end, outputs a Hall digital signal waveform through internal conversion, and directly inputs the Hall digital signal waveform into a chip (namely a main control chip of the motor controller) after being filtered by a filter capacitor C26.

Therefore, the Hall digital signal waveform output by the comparator is directly input into the chip (namely the main control chip of the motor controller), because the Hall signal waveform of the input chip (namely the main control chip of the motor controller) is a digital signal corrected by the comparator, the chip (namely the main control chip of the motor controller) can directly and quickly identify the position sensor signal, the time for identifying and detecting the Hall waveform voltage by the chip (namely the main control chip of the motor controller) is shortened, the position sensor signal identified by the chip (namely the main control chip of the motor controller) is close to the actual rotor position signal, the uniform commutation voltage is realized, and the rotation speed fluctuation of the motor is avoided.

Since the processing and functions implemented by the method of this embodiment substantially correspond to the embodiments, principles and examples of the motor, reference may be made to the related descriptions in the foregoing embodiments without being detailed in the description of this embodiment, which is not described herein.

Through a large number of tests, the technical scheme of the embodiment is adopted, Hall analog voltage signals output by the Hall circuit output Hall digital signals after passing through the comparison circuit (such as a comparator circuit), a chip (namely a main control chip of the motor controller) can directly and quickly identify position sensor signals, and the position sensor signals identified by the chip (namely the main control chip of the motor controller) are close to actual rotor position signals, so that uniform reversing voltage is realized, and the motor is prevented from rotating speed fluctuation.

In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.

The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.