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CN109981000B - A brushless DC motor commutation method based on digital hall sensor - Google Patents

A brushless DC motor commutation method based on digital hall sensor Download PDF

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CN109981000B
CN109981000B CN201910313302.7A CN201910313302A CN109981000B CN 109981000 B CN109981000 B CN 109981000B CN 201910313302 A CN201910313302 A CN 201910313302A CN 109981000 B CN109981000 B CN 109981000B
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phase
energized
motor
hall
detected
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CN109981000A (en
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贾方秀
许鹏飞
李雨辰
曹阳
郭闯
唐伟
黄盼
姜勋
殷婷婷
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Nanjing University of Science and Technology
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

本发明公开了一种基于数字霍尔传感器的无刷直流电机换相方法，首先让无刷直流电机的转子和定子的转速差达到10Hz，然后利用控制器中的定时器捕获三相霍尔控制字，接着测试三相霍尔控制字，并启动电机，之后进入循环，当控制器检测到三相霍尔的跳变沿时，按照设定的模型进行电机换相，最终实现电机的速度控制。本发明可以在定子转动的状态下启动电机，使电机以正确的相序换相，并控制电机的转速。本发明适用性广，可以应用于在特殊环境下工作的无刷直流电机。

Figure 201910313302

The invention discloses a brushless direct current motor commutation method based on a digital Hall sensor. First, the speed difference between the rotor and the stator of the brushless direct current motor reaches 10 Hz, and then a timer in the controller is used to capture the three-phase Hall control. word, then test the three-phase Hall control word, and start the motor, and then enter the loop, when the controller detects the transition edge of the three-phase Hall, the motor is commutated according to the set model, and finally the speed control of the motor is realized. . The invention can start the motor when the stator is rotating, so that the motor can be commutated in the correct phase sequence, and the speed of the motor can be controlled. The invention has wide applicability and can be applied to brushless DC motors working in special environments.

Figure 201910313302

Description

Brushless direct current motor phase commutation method based on digital Hall sensor
Technical Field
The invention relates to the field of brushless direct current motor control, in particular to a brushless direct current motor phase change method based on a digital Hall sensor.
Background
Brushless dc motors were developed from brushed dc motors. Compared with a brush motor, the brushless direct current motor has the advantages of simple structure, large output and good speed regulation performance. Therefore, the brushless dc motor is widely used in the industrial field. In order to improve the commutation method, in recent years, domestic research institutions have successively developed control methods based on different hardware structures and software programming, including designing the installation position of the hall sensor and designing the execution flow of software.
The patent application number 201510724513.1 provides a 'Hall sensor control algorithm of a direct current brushless motor', which adopts an installation method that the adjacent Hall A, Hall B and Hall C have a difference of 120 degrees to detect the position of a rotor, and can quickly detect the position of a failed Hall and effective fault processing measures when the Hall fails.
The invention patent with the patent application number of 201210467230.X provides a brushless direct current motor position detection method, which detects rising edge or falling edge jump through a capture port to obtain a commutation control word so as to carry out commutation.
The Hall commutation is mainly used for improving the stability of detection and the effectiveness of fault treatment, plays a good role in commutation in the running process of the motor rotor, does not relate to the stator state of the motor, and after the motor rotor is started, if the difference between the rotor of the motor and the fixed rotating speed is reduced, the phenomenon of commutation disorder can occur by applying the current motor commutation method when the stator of the motor rotates.
Disclosure of Invention
The invention provides a brushless direct current motor phase change method based on a digital Hall sensor, which is suitable for controlling a spring motor of a low-speed double-rotation fixed duck rudder, and can start the motor and control the motor to reach a preset rotating speed in a state that a stator rotates or is fixed.
The technical scheme for realizing the purpose of the invention is as follows: a brushless direct current motor phase change method based on a digital Hall sensor comprises the following specific steps:
step 1, the initial state of the motor is a P state, namely the three-phase winding is not electrified, phase change is carried out from the P state, when D =0, the step 2 is carried out, and when D =1, the step 4 is carried out;
step 2, detecting the value of the three-phase Hall control word Y, and turning to step 3;
if Y =1, electrifying the AB phase;
if Y =2, electrifying the BC phase;
if Y =3, energizing the AC phase;
if Y =4, electrifying the CA phase;
if Y =5, electrifying the CB phase;
if Y =6, electrifying the BA phase;
step 3, entering a cyclic energization state, namely, AB → AC → BC → BA → CA → CB → AB, when the AB phase is energized and X =1 is detected, energizing the AC phase, when the AC phase is energized and X =1 is detected, energizing the BC phase, when the BC phase is energized and X =1 is detected, energizing the BA phase, when the BA phase is energized and X =1 is detected, energizing the CA phase, when the CA phase is energized and X =1 is detected, energizing the CB phase, when the CB phase is energized and X =1 is detected, energizing the AB phase;
step 4, detecting the value of the three-phase Hall control word Y, and turning to step 5;
if Y =1, electrifying the CA phase;
if Y =2, electrifying the AB phase;
if Y =3, energizing the CB phase;
if Y =4, electrifying the BC phase;
if Y =5, electrifying the BA phase;
if Y =6, energizing the AC phase;
and step 5, entering a cyclic energization state, namely AB → CB → CA → BA → BC → AC → AB, energizing the CB phase when the AB phase is energized and X =1 is detected, energizing the CA phase when the CB phase is energized and X =1 is detected, energizing the BA phase when the CA phase is energized and X =1 is detected, energizing the BC phase when the BA phase is energized and X =1 is detected, energizing the AC phase when the BC phase is energized and X =1 is detected, and energizing the AB phase when the AC phase is energized and X =1 is detected.
Compared with the prior art, the invention has the following remarkable advantages:
1) hall A, Hall B, Hall C place according to clockwise order, and the contained angle between adjacent double-phase is 120, obtains three-phase Hall control word simultaneously with the three passageway of a timer, improves the motor control real-time.
2) The invention can not only start the motor in the state that the stator is fixed and change the phase according to the correct phase sequence, but also start the motor in the state that the stator rotates, so that the motor changes the phase in the correct phase sequence and finally controls the motor to rotate forwards and backwards.
3) Extensive applicability can be applied to the brushless DC motor who works under special environment, for example: and (5) controlling the steering engine in a bouncing manner.
Drawings
Fig. 1 is a forward commutation state diagram of the commutation method of the brushless dc motor based on the digital hall sensor according to the present invention.
Fig. 2 is a reverse commutation state diagram of the commutation method of the brushless dc motor based on the digital hall sensor according to the present invention.
Fig. 3 is a block diagram of a control circuit of the brushless dc motor according to the present invention.
Detailed Description
The experimental platform of the brushless direct current motor phase commutation method based on the digital Hall sensor comprises a high-speed turntable, a projectile body and a torque motor. The projectile body is provided with a brushless direct current motor, the high-speed rotary table drives the projectile body to rotate in the anticlockwise direction, the force arm of the torque motor is fixed with the rotor of the brushless direct current motor, and the torque motor drives the rotor of the brushless direct current motor to rotate clockwise. When the high-speed turntable and the torque motor rotate clockwise at 5Hz and anticlockwise at 5Hz respectively, the brushless DC motor is started, and the rotor of the brushless DC motor can be reduced to a certain speed according to the phase change method of the invention. The starting and control of the brushless direct current motor under the special state are realized.
The brushless dc motor includes three parts: the motor comprises a motor body, a phase change circuit and three position sensors. The brushless DC motor used in the invention is a three-phase brushless DC motor, the three-phase windings of which are respectively A, B, C, the adopted commutation circuit is a full-bridge commutation circuit, and the position sensor used is a Hall sensor. The three hall sensors correspond to the three-phase winding A, B, C one by one and are respectively called hall A, hall B and hall C, the hall A, the hall B and the hall C are placed in the clockwise direction, and the included angle between every two phases of the hall sensors is 120 degrees.
Referring to fig. 3, the control circuit of the brushless dc motor includes a power circuit, a clock circuit, a download circuit, a driving circuit, and a controller, the power circuit: the 12V power supply generates 5V voltage through LM2576, and the 5V voltage generates 3.3V voltage through LDS3985 for supplying power. A clock circuit: an 8MHz clock is generated using XO53 as the external clock. The downloading circuit: SW mode using JTAG interface. A drive circuit: and selecting an IRS2003 chip to drive the brushless direct current motor. A controller: STM32F407VGT6 is adopted to receive three-phase Hall signals and generate PWM to control the motor. The 5V interface of the power circuit is connected with the VCC interfaces of the clock circuit, the download circuit and the drive circuit, the 5V interface of the power circuit is connected with the VCC interface of the three-phase Hall sensor in the brushless DC motor, and the 3.3V interface of the power circuit is connected with the VVC interface of the controller. And an output clock interface of the clock circuit is connected with an external clock interface of the controller. The SW interface of the downloading circuit is connected with the SW interface of the controller. And a signal output interface of the driving circuit is connected with a signal input interface of a full-bridge phase-changing circuit of the brushless direct current motor. And the PWM interface of the controller is connected with the signal input interface of the driving circuit. Three channels of the same timer in the controller are connected with signal lines of three Hall sensors of the brushless DC motor.
Referring to fig. 1 and 2, AB, AC, BC, BA, CA, CB represent the on states of the brushless dc motor. The variable X represents whether the rising edge or the falling edge of the three-phase Hall is detected, when X =0, the rising edge or the falling edge of the Hall is not detected, when X =1, the rising edge or the falling edge of the Hall is detected, phase commutation is carried out at the moment, the variable Y represents the value of 4 hc +2 hb + ha, hc represents the level value of the Hall C, hb represents the level value of the Hall B, ha represents the level value of the Hall A, Y represents a three-phase Hall control word, P represents the state of the motor when the power is not supplied, the variable D represents the steering of the motor, when D =0, the motor rotates forwards, and when D =1, the motor rotates backwards.
The invention relates to a brushless direct current motor phase change method based on a digital Hall sensor, which comprises the following specific steps:
step 1, the initial state of the motor is a P state, namely the three-phase winding is not electrified, phase change is carried out from the P state, when D =0, the step 2 is carried out, and when D =1, the step 4 is carried out;
step 2, detecting the value of the three-phase Hall control word Y, and turning to step 3;
if Y =1, electrifying the AB phase;
if Y =2, electrifying the BC phase;
if Y =3, energizing the AC phase;
if Y =4, electrifying the CA phase;
if Y =5, electrifying the CB phase;
if Y =6, electrifying the BA phase;
step 3, entering a cyclic energization state, namely, AB → AC → BC → BA → CA → CB → AB, when the AB phase is energized and X =1 is detected, energizing the AC phase, when the AC phase is energized and X =1 is detected, energizing the BC phase, when the BC phase is energized and X =1 is detected, energizing the BA phase, when the BA phase is energized and X =1 is detected, energizing the CA phase, when the CA phase is energized and X =1 is detected, energizing the CB phase, when the CB phase is energized and X =1 is detected, energizing the AB phase;
step 4, detecting the value of the three-phase Hall control word Y, and turning to step 5;
if Y =1, electrifying the CA phase;
if Y =2, electrifying the AB phase;
if Y =3, energizing the CB phase;
if Y =4, electrifying the BC phase;
if Y =5, electrifying the BA phase;
if Y =6, energizing the AC phase;
and step 5, entering a cyclic energization state, namely AB → CB → CA → BA → BC → AC → AB, energizing the CB phase when the AB phase is energized and X =1 is detected, energizing the CA phase when the CB phase is energized and X =1 is detected, energizing the BA phase when the CA phase is energized and X =1 is detected, energizing the BC phase when the BA phase is energized and X =1 is detected, energizing the AC phase when the BC phase is energized and X =1 is detected, and energizing the AB phase when the AC phase is energized and X =1 is detected.

Claims (3)

1.一种基于数字霍尔传感器的无刷直流电机换相方法，其特征在于：具体步骤如下：1. a brushless DC motor commutation method based on digital Hall sensor, is characterized in that: concrete steps are as follows: 步骤1、电机的初始状态为三相绕组不通电，即P状态，从此状态开始进行换相，当D=0时,进入步骤2，当D=1时，进入步骤4；Step 1. The initial state of the motor is that the three-phase windings are not energized, that is, the P state. From this state, the phase commutation begins. When D=0, go to step 2, and when D=1, go to step 4; 步骤2、检测三相霍尔控制字Y的值，转入步骤3；Step 2. Detect the value of the three-phase Hall control word Y, and go to step 3; 若Y=1，则给AB相通电；If Y=1, energize the AB phase; 若Y=2，则给BC相通电；If Y=2, energize the BC phase; 若Y=3，则给AC相通电；If Y=3, energize the AC phase; 若Y=4，则给CA相通电；If Y=4, energize the CA phase; 若Y=5，则给CB相通电；If Y=5, energize the CB phase; 若Y=6，则给BA相通电；If Y=6, energize the BA phase; 步骤3、进入循环通电的状态，即AB→AC→BC→BA→CA→CB→AB，当AB相通电且检测到X=1时，则给AC相通电，当AC相通电且检测到X=1时，则给BC相通电，当BC相通电且检测到X=1时，则给BA相通电，当BA相通电且检测到X=1时，则给CA相通电，当CA相通电且检测到X=1时，则给CB相通电，当CB相通电且检测到X=1时，则给AB相通电；Step 3. Enter the state of circulating power, namely AB→AC→BC→BA→CA→CB→AB, when the AB phase is energized and X=1 is detected, then the AC phase is energized, when the AC phase is energized and X is detected =1, energize the BC phase, when the BC phase is energized and X=1 is detected, then the BA phase is energized, when the BA phase is energized and X=1 is detected, the CA phase is energized, and when the CA phase is energized And when X=1 is detected, the CB phase is energized, and when the CB phase is energized and X=1 is detected, the AB phase is energized; 步骤4、检测三相霍尔控制字Y的值，转入步骤5；Step 4. Detect the value of the three-phase Hall control word Y, and go to step 5; 若Y=1，则给CA相通电；If Y=1, energize the CA phase; 若Y=2，则给AB相通电；If Y=2, energize the AB phase; 若Y=3，则给CB相通电；If Y=3, energize the CB phase; 若Y=4，则给BC相通电；If Y=4, energize the BC phase; 若Y=5，则给BA相通电；If Y=5, energize the BA phase; 若Y=6，则给AC相通电；If Y=6, energize the AC phase; 步骤5、进入循环通电的状态，即AB→CB→CA→BA→BC→AC→AB，当AB相通电且检测到X=1时，则给CB相通电，当CB相通电且检测到X=1时，则给CA相通电，当CA相通电且检测到X=1时，则给BA相通电，当BA相通电且检测到X=1时，则给BC相通电，当BC相通电且检测到X=1时，则给AC相通电，当AC相通电且检测到X=1时，则给AB相通电；Step 5. Enter the state of circulating power, namely AB→CB→CA→BA→BC→AC→AB, when the AB phase is energized and X=1 is detected, the CB phase is energized, when the CB phase is energized and X is detected =1, energize the CA phase, when the CA phase is energized and X=1 is detected, then the BA phase is energized, when the BA phase is energized and X=1 is detected, the BC phase is energized, when the BC phase is energized And when X=1 is detected, the AC phase is energized, and when the AC phase is energized and X=1 is detected, the AB phase is energized; AB、AC、BC、BA、CA、CB表示无刷直流电机的导通状态；变量X表示是否检测到三相霍尔的上升沿或下降沿的跳变，当X=0时，未检测到霍尔的上升沿或下降沿的跳变，当X=1时，检测到霍尔的上升沿或下降沿的跳变，此时进行换相，变量Y表示4*hc+2*hb+ha的值，hc为霍尔C的电平值，hb为霍尔B的电平值，ha为霍尔A的电平值，Y表示的含义为三相霍尔控制字，P表示不通电时的电机状态，变量D表示电机的转向，当D=0时，表示电机正转，当D=1时，表示电机反转。AB, AC, BC, BA, CA, and CB indicate the conduction state of the brushless DC motor; the variable X indicates whether the jump of the rising or falling edge of the three-phase Hall is detected. When X=0, it is not detected. The transition of the rising or falling edge of the Hall, when X=1, the transition of the rising or falling edge of the Hall is detected, and the phase is commutated at this time, and the variable Y represents 4*hc+2*hb+ha hc is the level value of Hall C, hb is the level value of Hall B, ha is the level value of Hall A, Y indicates the meaning of the three-phase Hall control word, and P indicates when it is not energized When D=0, it means the motor rotates forward, and when D=1, it means the motor rotates reversely. 2.根据权利要求1所述的基于数字霍尔传感器的无刷直流电机换相方法，其特征在于：所述无刷直流电机包括电机本体、换相电路和三个位置传感器，无刷直流电机采用三相无刷直流电机，其三相绕组分别为A、B、C，采用的换相电路是全桥式换相电路，位置传感器是霍尔传感器，三个霍尔传感器与三相绕组A、B、C一一对应，分别称为霍尔A、霍尔B、霍尔C，所述霍尔A、霍尔B、霍尔C按照顺时针方向放置，每两相霍尔之间的夹角为120°。2. The brushless DC motor commutation method based on a digital Hall sensor according to claim 1, wherein the brushless DC motor comprises a motor body, a commutation circuit and three position sensors, and the brushless DC motor A three-phase brushless DC motor is used, and its three-phase windings are A, B, and C. The commutation circuit used is a full-bridge commutation circuit, the position sensor is a Hall sensor, and the three Hall sensors are connected to the three-phase winding A. , B, and C correspond one by one, and are respectively called Hall A, Hall B, and Hall C. The Hall A, Hall B, and Hall C are placed in a clockwise direction. The included angle is 120°. 3.根据权利要求1所述的基于数字霍尔传感器的无刷直流电机换相方法，其特征在于：所述无刷直流电机的控制电路包括电源电路、时钟电路、下载电路、驱动电路和控制器；3. The brushless DC motor commutation method based on a digital Hall sensor according to claim 1, wherein the control circuit of the brushless DC motor comprises a power supply circuit, a clock circuit, a download circuit, a drive circuit and a control circuit device; 电源电路：12V电源通过LM2576产生5V电压，5V电压通过LDS3985产生3.3V电压，用以供电；Power supply circuit: 12V power supply generates 5V voltage through LM2576, and 5V voltage generates 3.3V voltage through LDS3985 for power supply; 时钟电路：采用XO53产生8MHz的时钟，作为外部时钟；Clock circuit: use XO53 to generate 8MHz clock as an external clock; 下载电路：使用JTAG接口的SW模式；Download circuit: SW mode using JTAG interface; 驱动电路：选择IRS2003芯片驱动无刷直流电机；控制器：采用STM32F407VGT6，接收三相霍尔信号，并产生PWM控制电机；Drive circuit: choose IRS2003 chip to drive brushless DC motor; controller: use STM32F407VGT6, receive three-phase Hall signal, and generate PWM to control the motor; 电源电路的5V接口分别与时钟电路、下载电路、驱动电路、无刷直流电机中三相霍尔传感器相连，电源电路的3.3V接口与控制器相连；时钟电路与控制器相连，下载电路与控制器相连，无刷直流电机分别与驱动电路和控制器相连，控制器与驱动电路相连。The 5V interface of the power circuit is connected to the clock circuit, the download circuit, the drive circuit, and the three-phase Hall sensor in the brushless DC motor, respectively, and the 3.3V interface of the power circuit is connected to the controller; the clock circuit is connected to the controller, and the download circuit is connected to the control The brushless DC motor is connected with the drive circuit and the controller respectively, and the controller is connected with the drive circuit.
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DE2251292C3 (en) * 1972-10-19 1984-03-29 Papst-Motoren GmbH & Co KG, 7742 St Georgen Arrangement for speed control of a brushless DC motor
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CN107154756B (en) * 2017-06-07 2018-09-21 深圳市高德威技术有限公司 Brshless DC motor Hall phase sequence automatic identifying method
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