CN107104615B - Control the method and control system of motor - Google Patents
Control the method and control system of motor Download PDFInfo
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- CN107104615B CN107104615B CN201710375314.3A CN201710375314A CN107104615B CN 107104615 B CN107104615 B CN 107104615B CN 201710375314 A CN201710375314 A CN 201710375314A CN 107104615 B CN107104615 B CN 107104615B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/04—Arrangements for starting
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- Power Engineering (AREA)
- Control Of Stepping Motors (AREA)
Abstract
The present invention discloses a kind of method and control system for controlling motor comprising: step S11 acquires the bemf value of motor, and is stored in bemf register；Step S12, if bemf value summation is an initial value；Step S13 reads the bemf value from the bemf register, and this described bemf value is converted to bemf equivalence value；Step S14, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；Step S15, judges whether the bemf value summation is greater than threshold value, if more than then determining that stall occurs for motor, and issue signal；If being not more than, return step S13；By the sampling of both end voltage in the time current crosses zero to stator coil, and the equivalence value for being used in stall probability correlation is judged, the advantageous operating status for grasping motor, preferably to control the motor.
Description
Technical field
The present invention relates to control technology fields, and in particular to a kind of method and control system for controlling motor.
Background technique
Control section controls the operation of motor, and in the operational process of motor, operating condition is generally complex, exists
The possibility that impurity foreign matter enters, is blocked so as to cause motor.
As shown in Figure 1, it is corresponding with the feedback position and physical location that stall does not occur that stall occurs in motor operation course
Relation schematic diagram；Wherein solid line represents physical location, and dotted line represents feedback position, and bending place is the Tchange moment.?
Before the Tchange moment, motor is there is no step-out or blocks etc. abnormal, and feedback position is consistent with physical location at this time, feedback
Position is consistent with physical location.Tchange moment, motor block, and physical location stops always later, no longer change.By
In not controlling the stall of motor, control section will be considered that motor work still " normal ", and continues to apply to coil and drive
Dynamic signal, correspondingly control section will be considered that self-position " according to the driving signal normal variation of application until going to target
This is simultaneously reported to upper one layer of controller in system by position ".It thus generates physical location and reports what position was not inconsistent to ask
Topic.This will seriously affect the reliability of system control.
Therefore, it is necessary to be improved to existing technology, to solve the above technical problem.
Summary of the invention
The purpose of the present invention is to provide a kind of method and control system for controlling motor, be conducive to improve the reliable of control
Property.
To achieve the above object, the present invention provides a kind of method for controlling motor, comprising:
Step S11, acquires the bemf value of motor, and is stored in bemf register；
Step S12, if bemf value summation is an initial value；
Step S13 reads the bemf value from the bemf register, and this described bemf value is converted to bemf
Equivalence value；
Step S14, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；
Step S15, judges whether the bemf value summation is greater than threshold value, if so, determining that stall occurs for motor, and issues
Signal；If it is not, then return step S13.
The step S11 includes: step S111, generates clock signal by reference clock；Step S112, according to it is described when
Clock signal samples the sampling coil both end voltage in the time current crosses zero of sampling coil, and sampled voltage is protected
There are in the bemf register；The sampled voltage is the bemf value of motor.
The step S111 includes being delayed to the clock signal.
Further include step S2, sets motor speed speed as between a non-motor resonance region；The step is arranged in the step
Before or after S12.
The invention also discloses a kind of methods for controlling motor characterized by comprising
Step S11, acquires the bemf value of motor, and is stored in bemf register, while being saved using micro-stepping register
The locating micro-stepping value of current motor operation；
Step S12, if bemf value summation is an initial value；
Step S13 reads the bemf value from the bemf register, reads from the micro-stepping register described micro-
Step value；
Step S14, judges whether the micro-stepping value is the integral multiple of motor step mode setting value, if so, returning to step
Rapid S13；
Step S16 determines that this described bemf value is virtual value and the bemf value is converted to bemf equivalence value；
Step S17, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；
Step S18, judges whether the bemf value summation is greater than threshold value, if so, determining that motor occurs stall and issues
Signal；If it is not, then return step S13.
The step S11 includes: step S111, generates clock signal by reference clock；Step S112, according to it is described when
Clock signal samples the sampling coil both end voltage in the time current crosses zero of sampling coil, and sampled voltage is protected
There are in the bemf register；The sampled voltage is the bemf value of motor；Step S113, sampled voltage is stored in
Micro-stepping value locating for presently described motor operation is saved using micro-stepping register while in bemf register.
Further include step S15, judges the micro-stepping value and whether micro-stepping value is in a quadrant before, if then returning to step
Rapid S13 executes step S16 if not.
Further include step S2, sets motor speed speed as between a non-motor resonance region；The step is arranged in the step
Before or after S12.
The present invention also provides a kind of control system, the control system can control motor operation, the control system packet
Include: drive control module, control generate driving signal；
Drive module receives the driving signal, and drives the motor；
Central processing module is connect with the drive control module, judges the operating status of the motor；
The central processing module includes:
Bemf value summation is set an initial value by initial value setting module；
Data reception module is connect with the drive control module, is received the drive control module and is deposited from bemf
The bemf value read in device；
The bemf value is converted to bemf equivalence value by equivalent modules；
Assignment module, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；
Presetting module is inside previously provided with threshold value；
Judgment module, judges whether the bemf value summation is greater than the threshold value, if so, determining that stall issues stall letter
Number, if it is not, restarting signal to data reception module transmission.
Further include: coil selection and sampling hold circuit, which is connected with the motor, to the stator coil two of the motor
End voltage is sampled；Sampled data is converted to digital signal by adc circuit；It is described in the drive control module
Bemf register receives the digital signal and stores.
Reference clock of the drive control module based on input, control generate the driving signal, and to the coil
Selection and sampling hold circuit transmission.
The drive control module further includes micro-stepping register, and the micro-stepping register saves locating for current motor operation
Micro-stepping value.
The drive control module further includes delay circuit, is delayed to the clock signal.
The central processing module further include: micro-stepping value contrast module；The data reception module also receives the driving
The micro-stepping value that control module is read from the micro-stepping register；The micro-stepping value contrast module judges that the micro-stepping value is
The no integral multiple for the motor step mode setting value, if so, restarting signal to data reception module transmission.
The central processing module further include: quadrant contrast module connect with the micro-stepping value contrast module, judges institute
Micro-stepping value is stated with micro-stepping value before whether in a quadrant, if so, restarting signal to data reception module transmission.
Compared with the prior art, the method and control system for controlling motor pass through the electric current mistake to motor stator coil
The sampling of both end voltage in zero-time, and the equivalence value for being used in stall probability correlation is judged, the advantageous fortune for grasping motor
Row state, in this way, can determine the stall of motor, is prevented because motor is stifled with preferably controlling the motor
It is given to system bring serious risk.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution in various embodiments of the present invention
The attached drawing used is briefly described.
Fig. 1 is that stall occurs in motor operation course and the feedback position of stall does not occur and physical location corresponding relationship shows
It is intended to；
Fig. 2 is the flow diagram for controlling the first embodiment of method of motor；
Fig. 3 is that the bemf value generated on stator coil changes theoretical value schematic diagram with rotor velocity of rotation；
Fig. 4 is the flow diagram of the first embodiment of the step S11 in Fig. 2；
Fig. 5 is the flow diagram of second of embodiment of step S11 in Fig. 2；
Fig. 6 is the electric current and the correspondence diagram of time of two phase coils；
Fig. 7 is the electric current of two phase coils and the schematic diagram of the corresponding relationship another embodiment of time in a cycle；
Fig. 8 is the flow diagram for controlling second of embodiment of method of motor；
Fig. 9 controls the flow diagram of the third embodiment of the method for motor；
Figure 10 be include that the bemf value generated on the stator coil of resonance range is shown with what rotor velocity of rotation changed
It is intended to；
Figure 11 is the flow diagram of the first embodiment of step S2；
Figure 12 is the flow diagram of second of embodiment of step S2；
Figure 13 is the flow diagram of the third embodiment of step S2；
Figure 14 is the schematic diagram of the first embodiment of control system；
Figure 15 is the schematic diagram of second of embodiment of control system；
Figure 16 is the schematic diagram of the first embodiment of center processing module；
Figure 17 is the schematic diagram of second of embodiment of center processing module；
Figure 18 is the schematic diagram of the third embodiment of center processing module；
Figure 19 is the schematic diagram of the 4th kind of embodiment of center processing module；
Coil current and the correspondence diagram of time when Figure 20 is current over-zero on electrical-coil；
Coil voltage and the correspondence diagram of time when Figure 21 is current over-zero on electrical-coil；
Figure 22 is the schematic diagram of the 5th kind of embodiment of center processing module.
Specific embodiment
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
Embodiment 1
As shown in Fig. 2, the method for control motor includes:
Step S11, acquires bemf (Back Electromotive Force inverse electromotive force) value of motor, and is stored in
In bemf register；
The bemf that the rotor magnetic field of variation generates on stator coil changes theoretical public with rotor velocity of rotation
Formula are as follows:
Bemf=-N × B × A × ω sin ω t
Wherein N is stator coil the number of turns, B is rotor magnetic field strength, the coupling surface that A is rotor magnetic field and coil
Product, ω are rotor rotational angular velocity.For determining motor, N, B, A are constant, therefore bemf amplitude is theoretically rotated with rotor
Speed is linear, as shown in Figure 3.Therefore, the variation of bemf value can reflect out the variation of the velocity of rotation of rotor；
By the acquisition to bemf, the velocity of rotation situation of change of available rotor.
Step S12, if bemf value summation is an initial value；
Step S13 reads the bemf value from the bemf register, and this described bemf value is converted to bemf
Equivalence value；
This bemf value is converted into bemf equivalence value, this conversion is established in each bemf value and motor operating state
On the basis of correlation analysis.
Bemf equivalence value is the contribution margin of motor abnormality operating, according to the bemf value from the bemf register read to electricity
Machine exception contribution assigns corresponding weight to it, big to motor abnormality contribution, assigns biggish weight, i.e., according to from institute
The bemf value for stating bemf register read assigns weight proportional therewith, bemf equivalence value to it to motor abnormality contribution
Equal to weight corresponding with bemf value；
Step S14, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；
Step S15, judges whether the bemf value summation is greater than threshold value, if more than it is concurrent then to determine that stall occurs for motor
Signal out；If being not more than, return step S13.
It should be noted that step S15 is built upon on the basis of the particular conversion relationship in step S13.Work as use
After opposite transformational relation, determine that the Rule of judgment of stall may be that bemf value summation is less than threshold value in step S15, this is not
Influence the judgement to " determining stall " this actual conditions.
In this way, the equivalence value for being used in stall probability correlation is judged, the advantageous operating status for grasping motor, with more preferable
Ground controls the motor, in this way, can determine the stall of motor, prevents from giving system bring because of motor rotation blockage
Serious risk
Embodiment 2
The method of control motor as described above, the present embodiment is different from place and is, as shown in figure 4, the step
Suddenly S11 includes:
Step S111 generates clock signal by reference clock；
By generating clock signal, subsequent sampling instant can be selected, in order to carry out in special time period
Sampling.
Step S112, according to the clock signal to the sampling coil both ends in the time current crosses zero of sampling coil
Voltage is sampled, and sampled voltage is stored in bemf register；The sampled voltage is the bemf value of motor.
Wherein, the sampling coil is motor stator coil.
Voltage expression on motor stator coil are as follows:
VcoilFor coil voltage, i is coil current, and R is coil resistance, and L is coil inductance, and bemf is rotor field change
Change the induced electromotive force generated on coil.When electric current is 0 on coil, the end voltage of coil is equal to bemf, therefore can be with
Coil voltage value is acquired when stream is zero to obtain bemf by powering in coil.
In addition, the stator coil of the motor is generally one when sampling to the both end voltage of the sampling coil
Or two or three or three or more, it can choose one of sampled as sampling coil at this time.
In the step, after sampling to the sampling coil both end voltage, sampled data is converted into digital signal,
The digital signal is the sampled voltage.
In this way, the bemf value of motor can be directly measured in the time current crosses zero of sampling coil, simple, quick, side
Just.
Embodiment 3
The method of control motor as described above, the present embodiment are different from place and are that the step S111 is also wrapped
It includes, is delayed to the clock signal；
It is coil current zero-crossing timing between T1 and T2 in Figure 20.Dotted line is theoretical value, and solid line is actual value.Due to coil
Energy storage characteristic, after the drive module shutdown of driving coil (T1 moment), electric current will not be 0 at once in coil, but need
It wants just become for 0 (Tdecay moment) after certain time.Since with the presence of this characteristic, actual bemf value is Tdecay
Coil voltage value after moment.As shown in figure 21, S10 and S27 is first time and the last time line of this current over-zero respectively
Enclose voltage sample.From S10 to S14, adopted coil voltage value is in addition to the voltage that bemf also includes that coil current itself generates；S14
Later, the energy storage of coil Central Plains has consumed, and adopted voltage value only includes bemf.
Motor speed and sample frequency are depended on to the sampling number of coil voltage in a coil zero crossing, but always
Coil voltage is not the practical bemf of coil before there is the Tdecay moment.
Tdecay duration depends primarily on coil energy storage, the time required to discharging relative to the energy storage, when coil zero passage maintains
Between to be grown it is more.In this way, by the delay to clock signal, so that doing suitable time-delay when each zero passage of coil to ensure
It is stored in bemf register again after the Tdecay moment.
Delay to clock signal can be completed by integrating delay circuit in reference clock；It is also possible to other
Delay pattern.
It, can influence to avoid coil zero passage start time residual current to bemf value by delay.
Embodiment 4
The method of control motor as described above, the present embodiment is different from place and is, as shown in figure 5, the step
Rapid S11 further include:
Step S113, it is presently described using the preservation of micro-stepping register while sampled voltage is stored in bemf register
Micro-stepping value locating for motor operation.
In this way, can judge the operation conditions of motor by micro-stepping value.
Embodiment 5
As shown in figure 8, the method for the control motor includes:
Step S11, acquires bemf (Back Electromotive Force inverse electromotive force) value of motor, and is stored in
In bemf register, while current motor is saved using micro-stepping register and runs locating micro-stepping value；
The bemf value that the rotor magnetic field of variation generates on stator coil changes theoretical with rotor velocity of rotation
Formula are as follows:
Bemf=-N × B × A × ω sin ω t
Wherein N is stator coil the number of turns, B is rotor magnetic field strength, the coupling surface that A is rotor magnetic field and coil
Product, ω are rotor rotational angular velocity.For determining motor, N, B, A are constant, therefore bemf amplitude is theoretically rotated with rotor
Speed is linear, as shown in Figure 3.Therefore, the variation of bemf value can reflect out the variation of the velocity of rotation of rotor；
By the acquisition to bemf, the velocity of rotation situation of change of available rotor.
Wherein, the value that micro-stepping register saves is the locating micro-stepping value of current motor operation, therefore by reading the deposit
Device intermediate value can determine whether current motor operation in what micro-stepping position.For motor step mode setting value be 16 micro-steppings (i.e.
One synchronizing is divided into 16 micro-steppings to walk) when, which is 0 to 63, corresponding 4 synchronizings of the range, i.e., one driving
Period.When step mode setting value is changed, which is accordingly changed.
Step S12, if bemf value summation is an initial value；
Step S13 reads the bemf value from the bemf register, reads from the micro-stepping register described micro-
Step value；
Step S14, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so, returning
Return step S13；
Each coil voltage sampled value of coil zero-acrross ing moment can be all saved in bemf register, i.e. S10 to S27's
Each sampled value can all be saved in bemf register.After the coil zero-acrross ing moment, bemf register saves this secondary coil zero passage
The sampled value of last time is until next coil zero-acrross ing moment.S10 to S27 occurs in primary coil zero-crossing timing, therefore
Corresponding micro-stepping register value is the same value, and when motor step mode setting value is 16 micro-steppings, which is 0 or 16 or 32,
Or 48.
When micro-stepping value corresponds to coil zero crossing, Bemf register value may pick up from the coil electricity before the Tdecay moment
Pressure.And during coil zero crossing, the bemf value of last coil zero passage last moment can be saved in bemf register always.Line
It encloses the corresponding micro-stepping value of zero crossing and is the integral multiple of motor step mode setting value, therefore micro-stepping register value can be read to sentence
Whether this bemf value of breaking is effective.If motor step mode setting value is 16 micro-steppings, then when the current micro-stepping value of reading is 0,
Or when 16 or 32 or 48, then this from the bemf value of bemf register read be insignificant values.
By the step, coil zero passage start time residual current directly can be excluded to the shadow of bemf value using micro-stepping value
It rings.
Step S16 determines that this described bemf value is virtual value and the bemf value is converted to bemf equivalence value；
This bemf value is converted into bemf equivalence value, this conversion is established in each bemf value and motor operating state
On the basis of correlation analysis.
Bemf equivalence value is the contribution margin of motor abnormality operating, according to the bemf value from the bemf register read to electricity
Machine exception contribution assigns corresponding weight to it, big to motor abnormality contribution, assigns biggish weight, i.e., according to from institute
The bemf value for stating bemf register read assigns weight proportional therewith, bemf equivalence value to it to motor abnormality contribution
Equal to weight corresponding with bemf value；
Step S17, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；
Step S18, judges whether the bemf value summation is greater than threshold value, if more than it is concurrent then to determine that stall occurs for motor
Signal out；If being not more than, return step S13.
It should be noted that this step is built upon on the basis of the particular conversion relationship in step S16.When using phase
After anti-transformational relation, the Rule of judgment that stall is determined in this step may be bemf value summation less than threshold value, this not shadow
Ring the judgement to " determining stall " this actual conditions.
In this way, the equivalence value for being used in stall probability correlation is judged, the advantageous operating status for grasping motor, with more preferable
Ground controls the motor, in this way, can determine the stall of motor, prevents from giving system bring because of motor rotation blockage
Serious risk.
Embodiment 6
The method of control motor as described in Example 3, the present embodiment is different from place and is, as shown in figure 9, also wrapping
Step S15 is included, the micro-stepping value is judged and whether micro-stepping value is in a quadrant before, if then return step S13, holds if not
Row step S16；The step after step s 14, before step S16.
Ta0 and Tb0 was respectively two phase coil zero crossing moment in Fig. 6 and Fig. 7.Since coil voltage sampling is only in electric current mistake
Zero Shi Fasheng, such Ta0 moment last time voltage sample value is stored in after bemf register, when can be saved in Tb0 always
Before quarter.And the frequency for reading register value will be significantly larger than this frequency, the sampled value of such zero crossing can be multiple
It reads.
Illustrate that the last time sampled value of Ta0 has been continuously read 5 times in Fig. 6.In this way, a zero crossing bemf value is just
It is read several times and then is reused, make troubles to normal motor control.
Fig. 7 shows the corresponding relationship of micro-stepping value and quadrant locating for motor when step mode setting value is 16 micro-stepping.Therefore
It can determine whether quadrant updates by micro-stepping register value.
By this step, it can further solve zero crossing bemf value shown in fig. 6 and be read several times and then weighed
The problem of using again.
Embodiment 7
The method of control motor as described above, the present embodiment is different from place and is, as shown in figure 5, the step
Suddenly S11 includes:
Step S111 generates clock signal by reference clock；
By generating clock signal, subsequent sampling instant can be selected, in order to carry out in special time period
Sampling.
Step S112, according to the clock signal to the sampling coil both ends in the time current crosses zero of sampling coil
Voltage is sampled, and sampled voltage is stored in bemf register；The sampled voltage is the bemf value of motor；
Wherein, the sampling coil is motor stator coil.
Voltage expression on motor stator coil are as follows:
VcoilFor coil voltage, i is coil current, and R is coil resistance, and L is coil inductance, and bemf is rotor field change
Change the induced electromotive force generated on coil.When electric current is 0 on coil, the end voltage of coil is equal to bemf, therefore can be with
Coil voltage value is acquired when stream is zero to obtain bemf by powering in coil.
In addition, the stator coil of the motor is generally one when sampling to the both end voltage of the sampling coil
Or two or three or three or more, it can choose one of sampled as sampling coil at this time.
In the step, after sampling to the sampling coil both end voltage, sampled data is converted into digital signal,
The digital signal is the sampled voltage.
In this way, the bemf value of motor can be directly measured in the time current crosses zero of sampling coil, simple, quick, side
Just.
Step S113, it is presently described using the preservation of micro-stepping register while sampled voltage is stored in bemf register
Micro-stepping value locating for motor operation.
In this way, can judge the operation conditions of motor by micro-stepping value.
Embodiment 8
The method of control motor as described in any in above-described embodiment 1-7, the present embodiment are different from place and are, also
Including step S, motor speed speed as between a non-motor resonance region is set；The step may be provided at before the step S12 or
Later.
Bemf value is theoretically linear with rotor rotation speed, as shown in Figure 3.But in fact, since motor exists
Resonance characteristic, bemf value can be affected by this.The section motor speed S11 and S12 is the resonance frequency section of motor in Figure 10, it is seen that
In this section, bemf value and the non-linear relationship of rotor speed.
Therefore, speed between a non-motor resonance region is set by motor speed, motor can be accurately controlled, is kept away
Exempt from that control is made to malfunction because of the resonance characteristic of motor, improves the reliability of control.
Embodiment 9
The method of control motor as described in any in above-described embodiment 1-7, the present embodiment are different from place and are, institute
Stating control method includes step S2, carries out closed-loop control to the speed of the motor.
Bemf value is theoretically linear with rotor rotation speed, but in fact, since motor is there are resonance characteristic,
Bemf can be affected by this.Once motor speed becomes the resonance overall travel speed of motor, it will lead to and the state of motor not known,
Influence system controls reliability.
Closed-loop control is carried out to the speed of motor, can prevent motor speed from entering motor resonance section, guarantee to motor
Accurately controlled.
Embodiment 10
The present embodiment and embodiment 9 the difference is that, as shown in figure 11, wherein the step S2 includes:
Step S21, setting bemf mean value are an initial value；
Wherein, the bemf mean value is the average value of bemf value that all previous sampling obtains, can be in unread bemf value
It is set as an initial value, the specific data of the initial value can be set by experience or actual conditions；It, can if having read bemf value
Using by all average values for having read bemf value as the initial value.
Step S22, reads the bemf value from the bemf register, and by the bemf mean value and this bemf value
Average value as new bemf mean value；
In this step, using the mode of assignment, new average value is assigned to bemf mean value.
Step S23 judges the bemf mean value whether in predetermined interval, if the then motor speed and setting speed
It is consistent, and return step S22；If otherwise the motor speed is not inconsistent with setting speed；
In predetermined interval, a digital signal Bemfi is corresponded under a pre-set velocity, assigns the speed corresponding number letter
Number mono- error range of Bemfi, for example error range is in positive and negative 10% range, first threshold Bemfmin=0.9Bemfi,
Two threshold value Bemfmax=1.1Bemfi are fallen in if sampling corresponding this mean value Bemfaveri of obtained digital signal every time
In the section [Bemfmin, Bemfmax], illustrate that motor actual motion speed is consistent in certain error range with setting speed,
Otherwise, motor speed occurs abnormal；If detecting that motor actual speed is not inconsistent with setting speed, shows or alarm in screen
Prompt.Using the control method, the actual motion speed of motor can be monitored in real time in motor start-up procedure, discovery in time is simultaneously
It solves the problems, such as, the advantageous precision for improving control.Certain error rate can also be set according to control precision and system service ability
Other fixed numerical value, for example can be set between 5%-20% in the enough situations of system service ability.
The motor speed is modified to setting speed or issues signal by step S24.
Embodiment 11
The method of control motor as described above, the present embodiment are different from place and are, as shown in figure 12, wherein
The step S2 includes:
Step S21, setting bemf mean value are an initial value；
Wherein, the bemf mean value is the average value of bemf value that all previous sampling obtains, can be in unread bemf value
It is set as an initial value, the specific data of the initial value can be set by experience or actual conditions；It, can if having read bemf value
Using by all average values for having read bemf value as the initial value.
Step S22 reads the bemf value from the bemf register, reads from the micro-stepping register described micro-
Step value；
Step S23, judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so, returning
Return step S22；
If motor step mode setting value is 16 micro-steppings, then when the current micro-stepping value of reading is 0 or 16 or 32 or 48
When, then this bemf register value is insignificant values.
Step S25, using the average value of the bemf mean value and this bemf value as new bemf mean value；
In this step, using the mode of assignment, new average value is assigned to bemf mean value.
Step S26 judges the bemf mean value whether in predetermined interval, if the then motor speed and setting speed
It is consistent, and return step S22；If not then the motor speed is not inconsistent with setting speed；
In general, corresponding to a digital signal Bemfi under a pre-set velocity, assign the speed corresponding digital signal
Mono- error range of Bemfi, for example error range is in positive and negative 10% range, first threshold Bemfmin=0.9Bemfi, second
Threshold value Bemfmax=1.1Bemfi is fallen in if sampling corresponding this mean value Bemfaveri of obtained digital signal every time
In the section [Bemfmin, Bemfmax], illustrate that motor actual motion speed is consistent in certain error range with setting speed,
Otherwise, motor speed occurs abnormal；If detecting that motor actual speed is not inconsistent with setting speed, shows or alarm in screen
Prompt.Using the control method, the actual motion speed of motor can be monitored in real time in motor start-up procedure, discovery in time is simultaneously
It solves the problems, such as, the advantageous precision for improving control.Certain error rate can also be set according to control precision and system service ability
Other fixed numerical value, for example can be set between 5%-20% in the enough situations of system service ability.
The motor speed is modified to setting speed or issues signal by step S27.
Embodiment 12
The method of control motor as described in Example 8, the present embodiment are different from place and are, as shown in figure 13, institute
Stating step S2 further includes step S24, judges the micro-stepping value and whether micro-stepping value is in a quadrant before, if then returning to step
Rapid S22；The step is after step S23, before step S25.
By this step, it can further solve that a zero crossing bemf value is read several times and then what is be reused asks
Topic.
Embodiment 13
As shown in figure 14；Wherein, the control system can control motor operation, comprising:
Drive control module 3, control generate driving signal；
Drive module 4 receives the driving signal, and drives the motor；
Central processing module 6 connect with the drive control module 3, judges the operating status of the motor；
The central processing module 6 includes:
The bemf value summation is set an initial value by initial value setting module 61；
Data reception module 62 is connect with the drive control module, receives the drive control module from described
The bemf value read in bemf register；
The bemf value is converted to bemf equivalence value by equivalent modules 63；
Assignment module 64, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；
Presetting module 65, is inside previously provided with threshold value；
Judgment module 66, judges whether the bemf value summation is greater than threshold value, if so, determining that stall issues stall letter
Number, if not, restarting signal to the data reception module 62 transmission.
It should be noted that judgment module 66 is built upon on the basis of the particular conversion relationship in assignment module 64.
After using opposite transformational relation, determine that the Rule of judgment of stall may be that bemf value summation is less than threshold in judgment module 66
Value, this has no effect on the judgement to " determining stall " this actual conditions.
In this way, the equivalence value for being used in stall probability correlation is judged, the advantageous operating status for grasping motor, with more preferable
Ground controls the motor, in this way, can determine the stall of motor, prevents from giving system bring because of motor rotation blockage
Serious risk.
Embodiment 14
Control system as described above, the present embodiment are different from place and are, as shown in figure 15, the motor control
System further include:
Coil selection and sampling hold circuit 1, which is connected with the motor, by the stator coil both end voltage of the motor
It is sampled；
Adc circuit 2, is converted to digital signal for sampled data；
Drive control module 3 comprising bemf register receives the digital signal and updates.
In this way, bemf value can be acquired and be updated.
Embodiment 15
Control system as described above, the present embodiment are different from place and are, the drive control module 3 is based on defeated
The reference clock entered, control generates driving signal, and transmits to coil selection and sampling hold circuit 1, since driving is believed
In number comprising electric current in coil when the information of zero passage, the drive control module 3 selects and samples to the coil to keep electricity
It transmits clock signal and it only carries out the voltage sample of stator coil in the time current crosses zero by sampling coil in road 1.
In this way, the coil selection and sampling hold circuit can carry out in the time current crosses zero of stator coil to it
Both end voltage is sampled；Sampled data is converted to digital signal by adc circuit, the bemf register in drive control module 3
Value is corresponding to be updated；The drive control module control generates driving signal to drive module, to drive the motor simultaneously.This
Sample can grasp the operation shape of the motor by the sampling of both end voltage in the time current crosses zero to motor stator coil
State, preferably to control the motor.
Embodiment 16
Control system as described above, the present embodiment are different from place and are that the drive control module 3 further includes
Micro-stepping register, the micro-stepping register saves the locating micro-stepping value of current motor operation, by reading the register intermediate value i.e.
It can determine whether current motor operation in what micro-stepping position.It is a 16 micro-steppings (i.e. synchronizing for motor step mode setting value
It is divided into 16 micro-steppings to walk) when, which is 0 to 63, corresponding 4 synchronizings of the range, i.e. a drive cycle.Work as step
It is changed into mode settings, which accordingly changes.
The micro-stepping register synchronizes update when the bemf register updates.
Embodiment 17
Control system as described above, the present embodiment are different from place and are that the drive control module 3 further includes
Delay circuit is delayed to the clock signal, so that doing suitable time-delay when each zero passage of coil to ensure in Tdecay
It is stored in bemf register again after moment, it in this way can be by controlling the signal of bemf register capture so that center
Inverse electromotive force of the bemf value that processing module is read closer to coil.
Embodiment 18
Control system as described above, the present embodiment are different from place and are, as shown in figure 16, the center processing
Module 6 further include: micro-stepping value contrast module 67；The data reception module 62 also receives the drive control module from described micro-
The micro-stepping value read in step register；The micro-stepping value contrast module 67 judges whether the micro-stepping value is the motor step
Into the integral multiple of mode settings, if so, restarting signal to the data reception module 62 transmission.
Can influence of the coil zero passage start time residual current to bemf value directly be excluded using micro-stepping value.
Embodiment 19
Control system as described above, the present embodiment are different from place and are, as shown in figure 17；The center processing
Module 6 further include: quadrant contrast module 68 is connect with the micro-stepping value contrast module 67, judge the micro-stepping value with before
Whether micro-stepping value is in a quadrant, if so, restarting signal to the data reception module 62 transmission.
In this way, can further solve the problems, such as that a zero crossing bemf value is read several times and then is reused.
Embodiment 20
Control system as described above, the present embodiment are different from place and are, as shown in figure 18, the center processing
In module 6, the bemf mean value is set an initial value by the initial value setting module 61；
The data reception module 62 receives described in the drive control module reads from the bemf register
Bemf value；
The assignment module 64 is connect with the data reception module 62, by the bemf mean value and this bemf value
Average value as new bemf mean value；
The presetting module 65, is inside previously provided with predetermined interval；
The judgment module 66 judges the bemf mean value whether in predetermined interval, if then to the data receiver
Signal is restarted in the transmission of module 62；If not then issuing non-setting signal；
After the drive control module 3 receives the non-setting signal, the speed of the motor is modified.
Embodiment 21
Control system as described in Example 17, the present embodiment are different from place and are, as shown in figure 19, the center
Processing module 6 further include: micro-stepping value contrast module 67；The data reception module 62 also receives the drive control module from institute
State the micro-stepping value read in micro-stepping register；The micro-stepping value contrast module 67 judges whether the micro-stepping value is the electricity
The integral multiple of machine step mode setting value, if so, restarting signal to the data reception module 62 transmission.
Can influence of the coil zero passage start time residual current to bemf value directly be excluded using micro-stepping value.
Embodiment 22
Control system as described in Example 18, the present embodiment are different from place and are, as shown in figure 22, the center
Processing module 6 further include: quadrant contrast module 68 is connect with the micro-stepping value contrast module 67, judge the micro-stepping value with
Whether micro-stepping value is in a quadrant before, if so, restarting signal to the data reception module 62 transmission.
In this way, can further solve the problems, such as that a zero crossing bemf value is read several times and then is reused.
It should be noted that the present invention is to be illustrated with the few examples in of motor, it should not be understood as this
Invention, which is only defined in the example in the present invention, to be carried out using if motor application is in electric expansion valve, electronics water valve, electronic water pump
In, also belong in protection scope of the present invention.As long as controlling motor fortune using control method of the present invention and control system
Row, all falls in the scope of protection of the present invention.As long as also being all fallen in the scope of protection of the present invention using motor of the invention.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive
's.Those skilled in the art understand that in the spirit and scope defined by the claims in the present invention many changes can be carried out to it,
It modifies or even equivalent, but falls in protection scope of the present invention.
Claims (16)
1. a kind of method for controlling motor characterized by comprising
Step S11, acquires the bemf value of motor, and is stored in bemf register；
Step S12, if bemf value summation is an initial value；
Step S13 reads the bemf value from the bemf register, and it is equivalent that this described bemf value is converted to bemf
Value；
Step S14, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；
Step S15, judges whether the new bemf value summation is greater than threshold value, if so, determining that stall occurs for motor, and issues
Signal；If it is not, then return step S13.
2. the method for control motor as described in claim 1, which is characterized in that the step S11 includes:
Step S111 generates clock signal by reference clock；
Step S112, according to the clock signal to the sampling coil both end voltage in the time current crosses zero of sampling coil
It is sampled, and sampled voltage is stored in the bemf register；The sampled voltage is the bemf value of motor.
3. the method for control motor as claimed in claim 2, which is characterized in that the step S111 includes, to the clock
Signal is delayed.
4. such as the method for control motor as claimed in any one of claims 1-3, which is characterized in that it further include step S2, setting electricity
Machine speed speed between a non-motor resonance region；The step is arranged before or after the step S12.
5. a kind of method for controlling motor characterized by comprising
Step S11, acquires the bemf value of motor, and is stored in bemf register, while being saved currently using micro-stepping register
Micro-stepping value locating for motor operation；
Step S12, if bemf value summation is an initial value；
Step S13 reads the bemf value from the bemf register, reads the micro-stepping from the micro-stepping register
Value；
Step S14, judge the micro-stepping value whether be motor step mode setting value integral multiple, if so, return step
S13；
Step S16 determines that this described bemf value is virtual value and the bemf value is converted to bemf equivalence value；
Step S17, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；
Step S18, judges whether the new bemf value summation is greater than threshold value, if so, determining that motor occurs stall and issues
Signal；If it is not, then return step S13.
6. the method for control motor as claimed in claim 5, which is characterized in that the step S11 includes:
Step S111 generates clock signal by reference clock；
Step S112, according to the clock signal to the sampling coil both end voltage in the time current crosses zero of sampling coil
It is sampled, and sampled voltage is stored in the bemf register；The sampled voltage is the bemf value of motor；
Step S113 saves presently described motor using micro-stepping register while sampled voltage is stored in bemf register
The locating micro-stepping value of operation.
7. such as the method for control motor described in claim 5 or 6, which is characterized in that further include step S15, judge described micro-
Step value with whether micro-stepping value in a quadrant before, if then return step S13, if not execute step S16.
8. such as the method for control motor described in claim 5 or 6, which is characterized in that further include step S2, set motor speed
The speed between a non-motor resonance region；The step is arranged before or after the step S12.
9. as claimed in claim 7 control motor method, which is characterized in that further include step S2, set motor speed as
Speed between one non-motor resonance region；The step is arranged before or after the step S12.
10. a kind of control system, the control system can control motor operation,
It is characterized in that, the control system includes: drive control module, control generates driving signal；
Drive module receives the driving signal, and drives the motor；
Central processing module is connect with the drive control module, judges the operating status of the motor；
The central processing module includes:
Bemf value summation is set an initial value by initial value setting module；
Data reception module is connect with the drive control module, receives the drive control module from bemf register
The bemf value of reading；
The bemf value is converted to bemf equivalence value by equivalent modules；
Assignment module, using the bemf value summation and the sum of the bemf equivalence value as new bemf value summation；
Presetting module is inside previously provided with threshold value；
Judgment module, judges whether the new bemf value summation is greater than the threshold value；
If so, determining that stall issues stall signal, if it is not, restarting signal to data reception module transmission.
11. control system as claimed in claim 10, which is characterized in that further include:
Coil selection and sampling hold circuit, which is connected with the motor, carries out to the stator coil both end voltage of the motor
Sampling；
Sampled data is converted to digital signal by adc circuit；
The bemf register in the drive control module, receives the digital signal and stores.
12. control system as claimed in claim 11, which is characterized in that the drive control module based on input benchmark when
Clock, control generates the driving signal, and transmits to coil selection and sampling hold circuit.
13. control system as claimed in claim 12, which is characterized in that the drive control module further includes micro-stepping deposit
Device, the micro-stepping register save the locating micro-stepping value of current motor operation.
14. control system as described in claim 12 or 13, which is characterized in that the drive control module passes through reference clock
Clock signal is generated, the drive control module further includes delay circuit, is delayed to the clock signal.
15. control system as claimed in claim 13, which is characterized in that the central processing module further include: micro-stepping value pair
Compare module；The data reception module also receives the micro-stepping that the drive control module is read from the micro-stepping register
Value；The micro-stepping value contrast module judge the micro-stepping value whether be the motor step mode setting value integral multiple, if so,
Then restart signal to data reception module transmission.
16. control system as claimed in claim 15, which is characterized in that the central processing module further include: quadrant comparison
Module is connect with the micro-stepping value contrast module, judge the micro-stepping value with micro-stepping value before whether in a quadrant, if
It is then to restart signal to data reception module transmission.
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| CN110187274A (en) * | 2019-05-31 | 2019-08-30 | 维沃移动通信有限公司 | A stepping motor detection method, device and system |
| CN112787567B (en) * | 2019-11-08 | 2023-01-06 | 杭州三花研究院有限公司 | Control method and system |
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| JPH1014292A (en) * | 1996-06-20 | 1998-01-16 | Smc Corp | Step out detector for stepper motor |
| US6861817B2 (en) * | 2001-12-21 | 2005-03-01 | Freescale Semiconductor, Inc. | Method and apparatus for detecting a stall condition in a stepping motor |
| CN103344916B (en) * | 2013-06-28 | 2015-09-09 | 江苏浩峰汽车附件有限公司 | Motor rotation blockage detection method |
| CN203872096U (en) * | 2014-05-27 | 2014-10-08 | 北京经纬恒润科技有限公司 | Driver chip of stepping motor and actuator of air-inlet grille |
| CN106124990B (en) * | 2016-06-30 | 2019-05-31 | 北京经纬恒润科技有限公司 | A kind of stall detection method and device |
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