阅读说明：本技术 电子助力器的双冗余位置检测的无刷电机控制方法及系统 (Brushless motor control method and system for dual redundant position detection of electronic booster ) 是由 姜旭 侯聪闻 张世强 王维 刘学生 李文惠 成功 石强 王超 单国志 汤颖伟 于 2020-11-29 设计创作，主要内容包括：本发明涉及一种电子助力器的双冗余位置检测的无刷电机控制方法及系统,属于无刷电机控制领域。行程传感器经行程转换电路与主控制器电连接,主控制器经电机调速电路、电机驱动电路与无刷电机电连接,无刷电机分别经位置传感器采集电路和反电势采集电路和主控制器电连接。优点是主控制器根据行程信号来驱动无刷电机,通过位置传感器采集电路和反电势采集电路双冗余进行无刷电机位置检测,根据无刷电机位置计算电机的转速,从而实现电子助力器中无刷电机的精确闭环控制,基于霍尔传感器和反电势法双冗余设计的位置检测方法,能在无位置传感器的情况下,仍可检测电机位置,可提高系统的可靠性,降低因位置传感器失效带来的风险。(The invention relates to a brushless motor control method and system for dual-redundancy position detection of an electronic booster, and belongs to the field of brushless motor control. The travel sensor is electrically connected with the main controller through the travel conversion circuit, the main controller is electrically connected with the brushless motor through the motor speed regulation circuit and the motor driving circuit, and the brushless motor is electrically connected with the main controller through the position sensor acquisition circuit and the counter potential acquisition circuit respectively. The position detection method based on the Hall sensor and the counter electromotive force method dual redundancy design can still detect the position of the motor under the condition of no position sensor, can improve the reliability of the system and reduce the risk caused by the failure of the position sensor.)

1. A brushless motor control system for dual redundant position detection of an electronic booster, characterized by: the travel sensor is electrically connected with the main controller through the travel conversion circuit, the main controller is electrically connected with the brushless motor through the motor speed regulation circuit and the motor driving circuit, and the brushless motor is electrically connected with the main controller through the position sensor acquisition circuit and the counter potential acquisition circuit respectively.

2. A brushless motor control system for dual redundant position detection of an electronic booster as recited in claim 1, wherein: the brushless motor is also electrically connected with a voltage detection circuit, and the voltage detection circuit is used for detecting the voltage of the brushless motor and sending a signal to the main controller when the voltage is excessive.

3. A brushless motor control system for dual redundant position detection of an electronic booster as recited in claim 1, wherein: the stroke sensor is used for acquiring the braking stroke transmitted by the pedal;

and the stroke conversion circuit converts the corresponding stroke into a stroke voltage signal and outputs the stroke voltage signal to the main controller.

4. A brushless motor control system for dual redundant position detection of an electronic booster as recited in claim 1, wherein: the main controller receives a stroke voltage signal output by the stroke conversion circuit, converts the stroke voltage signal into the current required by driving the brushless motor, adjusts the duty ratio of PWM waves and outputs the PWM waves to the motor speed regulation circuit; calculating the position of the brushless motor according to the voltage of the position sensor acquired by the position sensor acquisition circuit, and calculating the rotating speed of the brushless motor according to the position signal, thereby realizing the closed-loop control of the brushless motor; the receiving counter electromotive force acquisition circuit acquires counter electromotive force signals of the brushless motor, and when the counter electromotive force is detected to be too large, the main controller reduces the duty ratio of output PWM waves, so that the rotating speed of the brushless motor is reduced, and the closed-loop control of the motor is realized; when receiving the overvoltage signal of the brushless motor detected by the voltage detection circuit, the main controller stops outputting the PWM wave, and the brushless motor stops working, so that the purpose of protecting the brushless motor is achieved.

5. A brushless motor control system for dual redundant position detection of an electronic booster as recited in claim 1, wherein: the motor speed regulating circuit receives PWM waves which are sent by the main controller and used for regulating the rotating speed of the motor, converts the PWM waves into motor driving signals and outputs the motor driving signals to the motor driving circuit;

the motor driving circuit outputs a driving signal required by the rotation of the motor to the brushless motor to control the brushless motor to rotate or stop.

6. A brushless motor control system for dual redundant position detection of an electronic booster as recited in claim 1, wherein: the position sensor acquisition circuit acquires voltage signals of the position sensor and outputs the voltage signals to the main controller, and the position sensor adopts a Hall sensor.

7. A brushless motor control system for dual redundant position detection of an electronic booster as recited in claim 1, wherein: and the counter electromotive force acquisition circuit acquires counter electromotive force signals of the brushless motor and outputs the counter electromotive force signals to the main controller.

8. A brushless motor control system for dual redundant position detection of an electronic booster as recited in claim 1, wherein: the system also comprises a voltage conversion circuit, wherein the voltage conversion circuit adopts +12V power supply to convert the +12V voltage into +5V and +3.3V voltage required by system operation.

9. A brushless motor control method for dual redundant position detection of an electronic booster, characterized by: comprises the following steps:

step 1: after the system is electrified and initialized, detecting whether a stroke sensor outputs a stroke signal, if so, entering the step 2, and otherwise, continuing to detect in the step 1;

step 2: calculating the current required by driving the brushless motor according to the stroke voltage signal, adjusting the duty ratio of the PWM wave and outputting, and entering the step 3;

and 3, step 3: if the position signal output by the position sensor is detected, the step 4-1 is carried out, if not, whether a counter potential signal is acquired is detected, if so, the step 4-2 is carried out, otherwise, the detection is continued in the step 3;

step 4-1: calculating the rotating speed of the brushless motor according to the position signal, and entering the step 5;

step 4-2: calculating the rotating speed of the brushless motor according to the potential signal, and entering the step 5;

step 5; and feeding back the PWM wave duty ratio in the step 2 according to the calculated rotating speed of the brushless motor, thereby realizing the closed-loop control of the motor.

10. A brushless motor control method for dual redundant position detection of an electronic booster as recited in claim 9, characterized in that: the voltage detection circuit is used for detecting the voltage of the brushless motor, and sending a signal to the main controller when the voltage is over-voltage, at the moment, the controller stops outputting PWM waves, and the brushless motor stops working.

Technical Field

The invention relates to the field of brushless motor control, in particular to a brushless motor control method and system for dual-redundancy position detection of an electronic booster.

Background

The helping hand that traditional vacuum booster produced is driven through the engine and is produced vacuum and realize, and in electric automobile, the motor has replaced the engine, and the helping hand system still adopts vacuum booster's the words, needs additionally to increase vacuum pump and gas holder and produces the vacuum, and its volume is great, is unfavorable for spatial arrangement. Therefore, along with the development of electric vehicles, an electronic booster has come to work, a power device in the electronic booster is a motor, and the power device mainly adopted at present is a brushless motor due to the defects of large abrasion, large loss, large heat generation, low efficiency and small output power of the brush motor. The brushless motor has no electric brush, and electric sparks are avoided when the motor runs, so that the interference on electrical equipment is reduced; the brushless motor does not use electric brushes, reduces the friction force generated when the motor operates, prolongs the service life of the motor, reduces the noise generated when the motor operates, and ensures that the whole motor operates smoothly.

Because the brushless motor has no electric brush, the direction of the current is controlled by the controller, in order to accurately control the motor, the control system is generally complicated, the control of the motor needs position feedback to close the loop, the common position detection is divided into position sensor detection and non-position sensor detection, wherein the position sensor detection is adopted, a Hall sensor or an encoder is commonly used as the position sensor, but the position sensor has failure condition, and once the motor fails to control; without position sensor detection, the conventional back emf method cannot control the motor even when the position sensor fails.

Disclosure of Invention

The invention provides a brushless motor control method and system for dual-redundancy position detection of an electronic booster, which aim to solve the problem that a brushless motor cannot be controlled due to failure of a position sensor.

The technical scheme adopted by the invention is as follows: a stroke sensor is electrically connected with a main controller through a stroke conversion circuit, the main controller is electrically connected with a brushless motor through a motor speed regulation circuit and a motor driving circuit, and the brushless motor is electrically connected with the main controller through a position sensor acquisition circuit and a counter potential acquisition circuit respectively.

The brushless motor is also electrically connected with a voltage detection circuit, and the voltage detection circuit is used for detecting the voltage of the brushless motor and sending a signal to the main controller when the voltage is excessive.

The stroke sensor is used for acquiring the braking stroke transmitted by the pedal.

And the stroke conversion circuit converts the corresponding stroke into a stroke voltage signal and outputs the stroke voltage signal to the main controller.

The main controller receives a stroke voltage signal output by the stroke conversion circuit, converts the stroke voltage signal into the current required by driving the brushless motor, adjusts the duty ratio of PWM waves and outputs the PWM waves to the motor speed regulation circuit; calculating the position of the brushless motor according to the voltage of the position sensor acquired by the position sensor acquisition circuit, and calculating the rotating speed of the brushless motor according to the position signal, thereby realizing the closed-loop control of the brushless motor; the receiving counter electromotive force acquisition circuit acquires counter electromotive force signals of the brushless motor, and when the counter electromotive force is detected to be too large, the main controller reduces the duty ratio of output PWM waves, so that the rotating speed of the brushless motor is reduced, and the closed-loop control of the motor is realized; when receiving the overvoltage signal of the brushless motor detected by the voltage detection circuit, the main controller stops outputting the PWM wave, and the brushless motor stops working, so that the purpose of protecting the brushless motor is achieved.

The motor speed regulating circuit receives the PWM wave which is sent by the main controller and used for regulating the rotating speed of the motor, converts the PWM wave into a motor driving signal and outputs the motor driving signal to the motor driving circuit.

The motor driving circuit outputs a driving signal required by the rotation of the motor to the brushless motor to control the brushless motor to rotate or stop.

The position sensor acquisition circuit acquires a voltage signal of the position sensor and outputs the voltage signal to the main controller, and the position sensor adopts a Hall sensor;

and the counter electromotive force acquisition circuit acquires counter electromotive force signals of the brushless motor and outputs the counter electromotive force signals to the main controller.

The system also comprises a voltage conversion circuit, wherein the voltage conversion circuit adopts +12V power supply to convert the +12V voltage into +5V and +3.3V voltage required by system operation.

A brushless motor control method for dual redundant position detection of an electronic booster, comprising the steps of:

step 1: after the system is electrified and initialized, detecting whether a stroke sensor outputs a stroke signal, if so, entering the step 2, and otherwise, continuing to detect in the step 1;

step 2: calculating the current required by driving the brushless motor according to the stroke voltage signal, adjusting the duty ratio of the PWM wave and outputting, and entering the step 3;

and 3, step 3: if the position signal output by the position sensor is detected, the step 4-1 is carried out, if not, whether a counter potential signal is acquired is detected, if so, the step 4-2 is carried out, otherwise, the detection is continued in the step 3;

step 4-1: calculating the rotating speed of the brushless motor according to the position signal, and entering the step 5;

step 4-2: calculating the rotating speed of the brushless motor according to the potential signal, and entering the step 5;

step 5; and feeding back the PWM wave duty ratio in the step 2 according to the calculated rotating speed of the brushless motor, thereby realizing the closed-loop control of the motor.

The invention also comprises a voltage detection circuit for detecting the voltage of the brushless motor, and sending a signal to the main controller when the voltage is over-voltage, at the moment, the controller stops outputting the PWM wave, and the brushless motor stops working, thereby achieving the purpose of protecting the brushless motor.

The invention has the advantages of novel structure, comprising a stroke sensor, a stroke conversion circuit, a main controller, a motor speed regulation circuit and a motor driving circuit which are connected in sequence, wherein the stroke sensor is used for collecting the pedal braking stroke, the main controller is used for driving the brushless motor according to a stroke signal, the position sensor collecting circuit and the back electromotive force collecting circuit are used for carrying out dual redundancy detection on the position of the brushless motor, and the main controller is used for calculating the rotating speed of the motor according to the position of the brushless motor, thereby realizing the accurate closed-loop control of the brushless motor in the electronic booster.

Drawings

FIG. 1 is a functional block diagram of the system of the present invention;

FIG. 2 is a flow chart of the method of the present invention.

Detailed Description

As shown in fig. 1, in a brushless motor control system for dual-redundancy position detection of an electronic booster, a stroke sensor 1 is electrically connected with a main controller 3 through a stroke conversion circuit 2, the main controller 3 is electrically connected with a brushless motor 6 through a motor speed regulation circuit 4 and a motor driving circuit 5, and the brushless motor 6 is electrically connected with the main controller 3 through a position sensor acquisition circuit 7 and a counter-electromotive force acquisition circuit 8 respectively;

the brushless motor is also electrically connected with a voltage detection circuit 9, and the voltage detection circuit is used for detecting the voltage of the brushless motor and sending a signal to the main controller when the voltage is excessive;

the stroke sensor is used for acquiring the braking stroke transmitted by the pedal;

the stroke conversion circuit converts corresponding strokes into stroke voltage signals and outputs the stroke voltage signals to the main controller;

the main controller receives a stroke voltage signal output by the stroke conversion circuit, converts the stroke voltage signal into the current required by driving the brushless motor, adjusts the duty ratio of PWM waves and outputs the PWM waves to the motor speed regulation circuit; calculating the position of the brushless motor according to the voltage of the position sensor acquired by the position sensor acquisition circuit, and calculating the rotating speed of the brushless motor according to the position signal, thereby realizing the closed-loop control of the brushless motor; the receiving counter electromotive force acquisition circuit acquires counter electromotive force signals of the brushless motor, and when the counter electromotive force is detected to be too large, the main controller reduces the duty ratio of output PWM waves, so that the rotating speed of the brushless motor is reduced, and the closed-loop control of the motor is realized; when receiving the overvoltage signal of the brushless motor detected by the voltage detection circuit, the main controller stops outputting the PWM wave, and the brushless motor stops working, so that the purpose of protecting the brushless motor is achieved;

the motor speed regulating circuit receives PWM waves which are sent by the main controller and used for regulating the rotating speed of the motor, converts the PWM waves into motor driving signals and outputs the motor driving signals to the motor driving circuit;

the motor driving circuit outputs a driving signal required by the rotation of the motor to the brushless motor to control the brushless motor to rotate or stop;

the position sensor acquisition circuit is used for acquiring a voltage signal of the position sensor and outputting the voltage signal to the main controller, and the position sensor adopts a Hall sensor;

the counter electromotive force acquisition circuit acquires counter electromotive force signals of the brushless motor and outputs the counter electromotive force signals to the main controller;

the system also comprises a voltage conversion circuit 10, wherein the voltage conversion circuit adopts +12V power supply to convert the +12V voltage into +5V and +3.3V voltage required by system operation.

As shown in fig. 2, a brushless motor control method for dual redundant position detection of an electronic booster includes the steps of:

step 1: after the system is electrified and initialized, detecting whether a stroke sensor outputs a stroke signal, if so, entering the step 2, and otherwise, continuing to detect in the step 1;

step 2: calculating the current required by driving the brushless motor according to the stroke voltage signal, adjusting the duty ratio of the PWM wave and outputting, and entering the step 3;

and 3, step 3: if the position signal output by the position sensor is detected, the step 4-1 is carried out, if not, whether a counter potential signal is acquired is detected, if so, the step 4-2 is carried out, otherwise, the detection is continued in the step 3;

step 4-1: calculating the rotating speed of the brushless motor according to the position signal, and entering the step 5;

step 4-2: calculating the rotating speed of the brushless motor according to the potential signal, and entering the step 5;

step 5; feeding back the PWM wave duty ratio in the step 2 according to the calculated rotating speed of the brushless motor, thereby realizing motor closed-loop control;

the voltage detection circuit is used for detecting the voltage of the brushless motor, and sending a signal to the main controller when the voltage is excessive, the controller stops outputting PWM waves at the moment, the brushless motor stops working, and the purpose of protecting the brushless motor is achieved.