CN113364368A - Motor starting method and readable storage medium - Google Patents
Motor starting method and readable storage medium Download PDFInfo
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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
- H02P6/20—Arrangements for starting
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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
- H02P6/20—Arrangements for starting
- H02P6/21—Open loop start
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Abstract
The invention provides a motor starting method and a readable storage medium, wherein a three-section starting method comprising a rotor pre-positioning stage, an outer synchronization open-loop acceleration stage and an operation state switching stage is adopted, the phase difference between a rotor and a stator is detected in the outer synchronization open-loop acceleration stage, whether the switching condition from the outer synchronization open-loop acceleration stage to the operation state switching stage is met or not is judged according to the detection result, if the switching condition is not met, the motor is restarted in the rotor pre-positioning stage, and the starting parameter of the motor is adjusted when the motor is restarted; and in the operation state switching stage, detecting the phase difference between the rotor and the stator, dynamically adjusting the phase difference between the rotor and the stator according to the detection result, and judging whether to return to the rotor pre-positioning stage to restart the motor according to whether the adjustment times exceed a threshold value. Compared with the prior art, the accuracy of judging the successful starting of the motor is improved, the restarting time interval is also reduced, and the time interval of the two-time starting can be shortened from 1s to 50 ms.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a motor starting method and a readable storage medium.
Background
Fig. 1 is a three-stage starting control schematic diagram of a motor without a position sensor. The phase change moment of the motor without the position sensor is based on the sampling of the three-phase terminal voltage of the motor to judge the back electromotive force zero crossing point method. The method for detecting the zero crossing point of the counter electromotive force requires that the motor reaches a certain rotating speed, so that a starting stage of the motor is required when the zero speed reaches the certain rotating speed. A "three-stage" starting scheme is usually used, i.e. rotor positioning, external synchronous acceleration and switching of the operating state to self-synchronous operation. The variation trend of the rotation speed in each stage can be seen in fig. 2.
Rotor pre-positioning stage (r in fig. 2): the initial position of the rotor of the motor is determined so that the rotor can be started from a fixed position each time when stationary.
Under light load conditions, the low-power brushless direct current motor generally adopts a magnetic braking rotor positioning mode. By conducting any two phases of the motor, the magnetic flux formed inside the motor can forcibly attract the motor rotor to the magnetic flux direction within a certain time. The energization time and PWM (pulse width modulation) duty cycle on any two sets of windings can be calibrated.
The external synchronization open loop acceleration phase (2) —: the applied voltage or phase-change signal of the motor is artificially changed to make the motor gradually increase the rotating speed from a standstill.
After the rotor is successfully positioned, the applied voltage and the phase change signal of the motor must be manually changed to drive the motor to do accelerated motion, so that the motor is accelerated to a speed at which the strength of the back electromotive force can be used for detecting the zero crossing point requirement. In general, in practical applications, an acceleration curve needs to be set according to specific motor characteristics and loads to control the switching frequency and the PWM duty ratio of the commutation signal.
Operation state switching ((c) in fig. 2): and after the required rotating speed is reached, switching from the external synchronous acceleration stage to the self-synchronous motor closed-loop control operation stage. When the motor reaches a certain rotating speed through an external synchronous acceleration stage, the back electromotive force signal can be accurately detected, a driving mode of motor phase change is triggered by judging a characteristic signal point (called a zero crossing point) of the motor to replace a manually set phase change frequency, and targets such as current, rotating speed, torque or position and the like are adjusted through a closed loop. This step is also a critical step that is difficult to implement, and premature or late switching is likely to cause control loss of synchronization and failed start-up, thereby causing a stall or overcurrent event.
In the prior art, the following two switching methods are adopted. Firstly, the switchable motor speed is determined by off-line calibration, and switching can be performed when the speed is reached. And in the other mode, the time reaching the preset switching rotating speed is detected through tests, and switching can be carried out when the switching time is counted by a software timer.
Therefore, the success rate of switching depends heavily on the accuracy of off-line calibration and test, and considering that the characteristics of the motor and the load are influenced by the environment (power supply voltage and temperature), the motor body has the difference and is only suitable for the specific working condition of the specific load. If the switching is unsuccessful, the motor can generate overcurrent or motor stalling just after entering the rotating speed closed loop. The general strategy is to restart the motor after detecting the abnormality, and overcome the starting uncertainty through a method of starting by multiple times of attempts.
However, the above restart method has four disadvantages:
1. hardware damage: because the starting failure is judged by detecting the occurrence of overcurrent or motor locked-rotor fault in the closed-loop working stage, the overcurrent and locked-rotor caused by starting each time can bring thermal and mechanical wear exceeding the design working condition to controller hardware, a motor and a wire harness, and the damage is aggravated along with the increase of the starting times, so that the service life is influenced;
2. slow start-up time: because overcurrent or motor rotation blockage can affect controller hardware, a motor and a wire harness, the time interval of restarting each time cannot be too short, and the time for hardware to dissipate heat needs to be reserved. And each attempted start cycle must go through a complete start process plus an overcurrent/stalled diagnostic period, resulting in slower start-ups per attempt;
3. misdiagnosis: the starting failure is judged by detecting the occurrence of the overcurrent or motor stalling fault in the closed-loop working stage, and the overcurrent or motor stalling is caused by the loss of step of motor control and is easily confused with the actual occurrence of the overcurrent or stalling event, so that trouble is caused for troubleshooting;
4. specific load: because the startup parameters are calibrated at specific loads and conditions and the life cycle is not changed, only limited load tolerances and load variations can be supported.
Disclosure of Invention
The present invention is directed to a motor starting method and a readable storage medium that solve one or more problems of the related art.
Based on the above thought, the present invention provides a motor starting method, which adopts a three-stage starting method including a rotor pre-positioning stage, an external synchronization open-loop acceleration stage and an operation state switching stage, and includes:
detecting the phase difference between a rotor and a stator in the external synchronization open-loop acceleration stage, judging whether the switching condition from the external synchronization open-loop acceleration stage to the operation state switching stage is met or not according to the detection result, if not, returning to the rotor pre-positioning stage to restart the motor, and adjusting the starting parameters of the motor when restarting;
and in the operation state switching stage, detecting the phase difference between the rotor and the stator, dynamically adjusting the phase difference between the rotor and the stator according to the detection result, and judging whether to return to the rotor pre-positioning stage to restart the motor according to whether the adjustment times exceed a threshold value.
Optionally, in the motor starting method, the method for detecting a phase difference between the rotor and the stator includes:
collecting a first target time point t1And the second target time point t2The reference voltage is the sum of phase voltages of two phases except the suspended phase;
and comparing the magnitude of the suspended phase voltage with the magnitude of the reference voltage, and judging the relative position of the rotor position and the appointed expected rotor position under the current stator conduction mode according to the comparison result so as to finish the detection of the phase difference between the rotor and the stator.
Optionally, in the motor starting method, the method for determining a relative position between the rotor position and an expected rotor position specified in the current stator conduction mode according to the comparison result includes:
if the suspended phase voltage and the reference voltage meet a first relational expression, judging that the position of the rotor reaches an expected rotor position specified in a current stator conduction mode;
if the suspended phase voltage and the reference voltage meet a second relational expression, judging that the rotor does not reach an expected rotor position specified in the current stator conduction mode;
if the suspended phase voltage and the reference voltage meet a third relation, judging that the position of the rotor exceeds the appointed expected position of the rotor in the current stator conduction mode;
the first relation is:
The second relation is:
the third relationship is as follows:
wherein e isARepresenting the voltage of the suspended phase, UDCRepresenting the reference voltage.
Optionally, in the motor starting method, the method for determining whether the condition for switching from the outer synchronization open-loop acceleration stage to the operation state switching stage is met according to the detection result includes:
if the suspended phase voltage and the reference voltage meet the first relational expression, judging that the switching condition is met;
and if the suspended phase voltage and the reference voltage meet the second relational expression, judging that the switching condition is not met.
Optionally, in the motor starting method, the motor starting method further includes:
in the external synchronization open-loop acceleration stage, if the suspended phase voltage and the reference voltage meet a third relation, the current duty ratio output of the winding is reduced and/or the current stator commutation frequency is increased so as to adjust the phase difference between the rotor and the stator, and the operation state switching stage is switched.
Optionally, in the motor starting method, the method for dynamically adjusting the phase difference between the rotor and the stator according to the detection result includes:
if the suspended phase voltage and the reference voltage meet the second relational expression, increasing the duty ratio of a winding and/or reducing the current stator commutation frequency;
and if the suspended phase voltage and the reference voltage meet the third relation, reducing the current duty ratio output of the winding and/or increasing the current stator commutation frequency.
Optionally, in the motor starting method, the motor starting method further includes:
if the suspended phase voltage and the reference voltage meet the first relational expression, calculating phase change time and triggering phase change according to a back electromotive force zero crossing point of the suspended phase detected by comparing the suspended phase voltage and the reference voltage in the current phase change period, and then driving a motor to operate by using a zero crossing point detection method.
Optionally, in the motor starting method, the specified expected stator position in the current stator conduction mode is a position where an included angle between the rotor position and the magnetic field direction of the stator is within a range of 60 degrees to 120 degrees.
Optionally, in the motor starting method, the adjusting the motor starting parameter includes: increasing the duty ratio of a rotor pre-positioning stage in the last starting period as the duty ratio of the rotor pre-positioning stage in the current starting period; and the number of the first and second groups,
and increasing the duty ratio of the external synchronous acceleration stage in the last starting period as the duty ratio of the external synchronous acceleration stage in the current starting period, or reducing the stator commutation frequency of the external synchronous acceleration stage in the last starting period as the stator commutation frequency of the external synchronous acceleration stage in the current starting period.
Optionally, in the motor starting method, the duty ratio of the rotor pre-positioning stage in the previous starting period is increased according to a first calculated value as the duty ratio of the rotor pre-positioning stage in the current starting period, and a calculation formula of the first calculated value is as follows:
wherein n represents an upper limit number of allowable restarts of the outer sync acceleration phase,
representing the maximum duty cycle allowed to increase after n restarts,
indicating the initial duty cycle, U, of the rotor at the pre-positioning stagebatRepresenting the supply voltage, RmRepresenting the motor loop impedance.
Optionally, in the motor starting method,
increasing the duty ratio of the external synchronous acceleration stage of the last starting period according to a second calculated value to be used as the duty ratio of the external synchronous acceleration stage of the current starting period, wherein the second calculated value delta rrampCalculated using the following function:
Δrramp＝r(Ubat，tm，ΔTL，De)；
reducing the stator commutation frequency of the external synchronous acceleration stage of the last starting period according to a third calculated value as the stator commutation frequency of the external synchronous acceleration stage of the current starting period, wherein the third calculated value is calculated by adopting the following function:
Δframp＝f(Ubat，tm，ΔTL，De)；
wherein, UbatRepresenting the motor supply voltage,. DELTA.TLRepresenting the rate of change of load, DeRepresenting the deviation of the actual position of the rotor from the expected position, tmIndicating the motor temperature.
Optionally, in the motor starting method, the first target time point t is selected1And the second target time point t2And the point in time t at which the zero crossing of the back emf is expectedzSatisfies the following conditions:
|t1-tz|＝|t2-tz|。
optionally, in the motor starting method, in a last stator commutation period of the external synchronous acceleration stage, a phase difference between a rotor and a stator is detected, and it is determined that the switching condition is satisfied; and in each stator phase change period of the operating state switching stage, detecting the phase difference between the rotor and the stator, and judging whether to return to the rotor and stator stage to restart the motor.
The present invention also provides a readable storage medium storing a computer program which, when executed, implements a motor starting method as described above.
In summary, the motor starting method and the readable storage medium provided by the present invention include: when a preset node of the external synchronization open-loop acceleration stage is located, detecting whether the position of a rotor is at an expected rotor position specified in a current stator conduction mode, if not, returning to the rotor preset position stage for restarting, and adjusting motor starting parameters when restarting; and in the operating state switching stage, detecting whether the rotor position is at an expected rotor position specified in the current stator conduction mode, and if not, returning to the rotor pre-positioning stage for restarting. Compared with the prior art, the method has the following advantages:
(1) in the prior art, the restarting is triggered by overcurrent or locked rotor diagnosis during the closed-loop operation of a motor, and the starting parameters are constant, but the starting quality is judged and adjusted in the open-loop acceleration stage, so that the hardware loss caused by overcurrent or locked rotor fault starting in the closed-loop working stage can be avoided, and the successful switching can be ensured to enter the closed-loop working stage and the load change and the over-tolerance can be adapted;
(2) compared with the prior art, the method can judge the starting quality in an open-loop acceleration stage and an operation state switching stage, and does not need to completely go through a starting process and diagnose overcurrent/locked rotor during each starting, so that the starting time can be greatly shortened;
(3) the invention judges the starting quality according to whether the rotor position is at the appointed expected rotor position under the current stator conduction mode, but not by detecting the occurrence of overcurrent or motor stalling fault, therefore, the invention can not be confused with the real occurrence of overcurrent or stalling event, which causes trouble to troubleshooting;
(4) in the prior art, the starting parameters are calibrated under specific load and working condition, the life cycle is not changed, and only limited load tolerance and load change can be supported.
Drawings
FIG. 1 is a schematic diagram of a position sensorless motor control;
FIG. 2 is a diagram illustrating the trend of the three-stage start of the motor;
FIG. 3 is a schematic view of a motor structure;
fig. 4 is a schematic step diagram of a motor starting method according to an embodiment of the present invention;
FIGS. 5a to 5f are schematic views of the conduction modes of the motor, respectively;
FIG. 6 is a schematic diagram of a waveform of any phase suspended time phase voltage of the motor;
FIG. 7 is a schematic diagram of a 60 degree commutation period;
FIG. 8 is a timing diagram of phase voltage sampling;
fig. 9 is a flowchart of the motor start-up in the embodiment of the present invention.
Detailed Description
To make the objects, advantages and features of the present invention more apparent, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently. It should be further understood that the terms "first," "second," "third," and the like in the description are used for distinguishing between various components, elements, steps, and the like, and are not intended to imply a logical or sequential relationship between various components, elements, steps, or the like, unless otherwise indicated or indicated.
Fig. 3 is a schematic structural diagram of a motor, which can be divided into a stator side and a rotor side, wherein the stator side is formed by winding coil windings on an iron core, the connection modes of three-phase winding lead-out wires can be divided into a star connection method and a triangle connection method, and the rotor side is formed by permanent magnets and is installed on a central rotating shaft. When direct current is conducted between any two phases of the motor, the stator winding generates magnetic field force in a fixed direction and attracts the rotor magnetic field to align, so that the purpose of drawing the rotor to rotate is achieved. The traction force and the traction time mainly depend on the size of the electromagnetic force on the stator side generated by the modulation of the PWM signal and the included angle of the magnetic fields of the stator and the rotor. When switching from external synchronization to self-synchronization, the three conditions of sufficient electromagnetic force, proper stator and rotor magnetic field included angle and sufficient rotor speed need to be satisfied simultaneously, so that the stable operation can be continued after switching to self-synchronization.
Based on this, the core idea of the present invention is to provide a method for triggering restart by judging the starting quality for the starting process of the motor, wherein the judgment of the starting quality is mainly based on the relative position between the stator and the rotor (phase difference/stator-rotor magnetic field included angle).
Based on the above thought, an embodiment of the present invention provides a motor starting method, which adopts a three-stage starting method including a rotor pre-positioning stage, an external synchronization open-loop acceleration stage, and an operation state switching stage, as shown in fig. 4, the motor starting method includes the following steps:
s11, detecting the phase difference between the rotor and the stator in the external synchronization open-loop acceleration stage, judging whether the switching condition from the external synchronization open-loop acceleration stage to the operation state switching stage is met or not according to the detection result, if not, returning to the rotor pre-positioning stage to restart the motor, and adjusting the motor starting parameter when restarting;
and S12, detecting the phase difference between the rotor and the stator at the operation state switching stage, dynamically adjusting the phase difference between the rotor and the stator according to the detection result, and judging whether to return to the rotor pre-positioning stage to restart the motor according to whether the adjustment times exceed a threshold value.
According to the motor starting method provided by the embodiment of the invention, the starting quality is judged and adjusted in the open-loop acceleration stage, so that hardware loss caused by overcurrent or motor stalling fault starting in the closed-loop working stage can be avoided, and the successful switching into the closed-loop working stage can be ensured, and the self-adaptive load change and the over-tolerance can be realized; in addition, the motor starting method provided by the embodiment of the invention judges the starting quality according to whether the rotor position is at the appointed expected rotor position under the current stator conduction mode, and does not detect the occurrence of overcurrent or motor stalling faults, so that the starting quality is not confused with the actual occurrence of overcurrent or stalling events, trouble is caused for troubleshooting, and the judgment of the starting quality can be carried out in an open-loop acceleration stage and an operation state switching stage; in addition, the starting parameters in the prior art are calibrated under specific load and working conditions, the life cycle is not changed, and only limited load tolerance and load change can be supported.
The motor starting method provided by the embodiment of the invention is further described in detail below.
For the motor, the preferred conduction patterns include the following 6:
the B phase conduction power supply and the C phase conduction ground (see fig. 5a, the direction of the magnetic field force of the stator is 0 degree, and the optimal motion track of the rotor is 240 → 300 degrees); the B phase conduction power supply and the A phase conduction ground (see fig. 5B, the direction of the magnetic field force of the stator is 60 degrees, and the optimal motion track of the rotor is 300 → 360 degrees); the phase C is conducted, the phase A is conducted (see figure 5C, the direction of the magnetic field force of the stator is 120 degrees, and the optimal motion track of the rotor is 0 → 60 degrees); the phase C is conducted, the phase B is conducted (see figure 5d, the direction of the magnetic field force of the stator is 300 degrees, and the optimal motion track of the rotor is 180 → 240 degrees); the phase A is conducted, and the phase B is conducted (see fig. 5e, the direction of the magnetic field force of the stator is 240 degrees, and the optimal motion track of the rotor is 120 → 180 degrees); the phase A is conducted to the power supply, and the phase C is conducted to the ground (see FIG. 5f, the direction of the magnetic field force of the stator is 180 degrees, and the optimal motion track of the rotor is 60 → 120 degrees).
When the rotor sweeps the 60-degree shaded sector in fig. 5a to 5f, the stator is triggered to change the phase, the magnetic field force of the stator is switched to the next 60-degree direction, and the stator is sequentially relayed to drive the rotor to complete 360-degree rotary motion.
Therefore, in the present embodiment, the expected stator position specified in the current stator conduction mode may be understood as a position where the angle between the rotor position and the magnetic field direction of the stator is in the range of 60 degrees to 120 degrees, i.e., a sector area shown in fig. 5a to 5 f. Preferably, the specified expected stator position in the current stator conduction mode is that an included angle between the rotor position and the magnetic field direction of the stator is 90 degrees.
Based on the desired stator conduction pattern at the current stage, the corresponding desired rotor position can be obtained according to fig. 5a to 5f, so that the present embodiment can pass through at least two time points (t)1,t2) Timed sampling suspended phase voltage eAAnd a reference voltage UDCWhether the rotor just moves to the vicinity of the expected position is judged according to the principle of whether the back electromotive force zero crossing point of the suspension phase is judgedOccurs at t1And t2In the meantime.
Therefore, in steps S11 and S12, referring to fig. 6, the method for detecting the phase difference between the rotor and the stator may include:
collecting a first target time point t1And the second target time point t2Suspended phase voltage e ofAAnd a reference voltage UDCThe reference voltage UDCIs the sum of the phase voltages of two phases except the suspended phase;
comparing the suspended phase voltage eAAnd said reference voltage UDCAnd the relative position of the rotor position and the expected rotor position specified in the current stator conduction mode is judged according to the comparison result, so that the detection of the phase difference between the rotor and the stator is completed.
In the prior art, a zero crossing point (relative position of a rotor and a stator) is detected by comparing a suspended phase voltage with a bus voltage, while the zero crossing point (relative position of the rotor and the stator) is detected by comparing a voltage difference between the suspended phase voltage and another two phases of voltages.
Further, the method for determining the relative position between the rotor position and the expected rotor position specified in the current stator conduction mode according to the comparison result may include:
if the suspended phase voltage and the reference voltage satisfy a first relational expression, it is determined that the rotor position reaches an expected rotor position specified in the current stator conduction mode (that is, a back electromotive force zero-crossing point of the suspended phase appears at the first target time point t)1And the second target time point t2In (d) of (a);
if the suspended phase voltage and the reference voltage meet a second relational expression, judging that the rotor does not reach an expected rotor position specified in the current stator conduction mode;
if the suspended phase voltage and the reference voltage meet a third relation, judging that the position of the rotor exceeds the appointed expected position of the rotor in the current stator conduction mode;
wherein the first relation is:
The second relation is:
the third relationship is as follows:
further, in step S11, the method for determining whether the condition for switching from the outer-synchronization open-loop acceleration phase to the operation state switching phase is met according to the detection result may include:
if the suspended phase voltage and the reference voltage meet the first relational expression, judging that the switching condition is met; and if the suspended phase voltage and the reference voltage meet the second relational expression, judging that the switching condition is not met.
I.e. in the said outer synchro open loop acceleration phase, if
Or
Indicating that the rotor is at the designated expected rotor position in the current stator conduction mode, and switching to the operation state switching stage if the rotor is at the designated expected rotor position in the current stator conduction mode
Indicating that the rotor position has not been reachedAnd when the motor is restarted, returning to the rotor prepositioning stage due to the appointed expected rotor position under the current stator conduction mode.
In step S11, the adjusting the motor start parameter includes: increasing the duty ratio of a rotor pre-positioning stage in the last starting period as the duty ratio of the rotor pre-positioning stage in the current starting period; and increasing the duty ratio of the external synchronous acceleration stage in the last starting period as the duty ratio of the external synchronous acceleration stage in the current starting period, or decreasing the stator commutation frequency of the external synchronous acceleration stage in the last starting period as the stator commutation frequency of the external synchronous acceleration stage in the current starting period.
Specifically, Δ r may be calculated according to the first calculation valuepostIncreasing the duty ratio of a rotor pre-positioning stage in the last starting period as the duty ratio of the rotor pre-positioning stage in the current starting period; according to the second calculated value Δ rrampAnd increasing the duty ratio of the external synchronous acceleration stage in the last starting period as the duty ratio of the external synchronous acceleration stage in the current starting period, or reducing the stator commutation frequency of the external synchronous acceleration stage in the last starting period according to a third calculated value as the stator commutation frequency of the external synchronous acceleration stage in the current starting period. And accumulating the increment (not exceeding an upper limit threshold) along with the increase of the continuous restart times until the starting is successful to finish the self-adaptive starting process, and saving the accumulated increment as the corrected quantity of the starting parameter after self-adaptation.
In addition, the motor starting method provided by this embodiment further includes: in the external synchronization open-loop acceleration stage, if the suspended phase voltage and the reference voltage meet a third relation, the current duty ratio output of the winding is reduced and/or the current stator commutation frequency is increased so as to adjust the phase difference between the rotor and the stator, and the operation state switching stage is switched.
I.e. in the said outer synchro open loop acceleration phase, if
Indicating that the rotor position exceeds the expected rotor position specified in the current stator conduction mode, the winding is decreasedAnd outputting the previous duty ratio and/or increasing the current stator commutation frequency to trigger the stator conduction mode conversion (or commutation) and enter the operation state switching stage.
In practical application, in order to reduce the calculation difficulty, only one of the duty ratio and the stator commutation frequency is adjusted to adjust the relative position of the rotor and the stator, and when the motion of the rotor lags behind the expected position, the position can be adjusted by delta r+Increment to increase current duty cycle output or by Δ f-Decrement to reduce the current stator commutation frequency, Δ r, when rotor movement exceeds the desired position-Decrement to reduce current duty cycle output or by Δ f+Increments to increase the current stator commutation frequency. Wherein, Δ r+、△f-、△r-And Δ f+Can be calibrated in advance according to actual working conditions.
Further, in step S12, the method for dynamically adjusting the phase difference between the rotor and the stator according to the detection result may include: if the suspended phase voltage and the reference voltage meet the second relational expression, increasing the duty ratio of a winding and/or reducing the current stator commutation frequency; and if the suspended phase voltage and the reference voltage meet the third relation, reducing the current duty ratio output of the winding and/or increasing the current stator commutation frequency.
I.e. during the operating state switching phase of the motor start-up, if
It indicates that the rotor is in the specified desired rotor position for the current stator conduction mode, and therefore the winding duty cycle is increased and/or the current stator commutation frequency is decreased, if
It indicates that the rotor position exceeds the specified expected rotor position for the current stator conduction mode, thus decreasing the current duty cycle output of the windings and/or increasing the current stator commutation frequency.
In addition, the motor starting method provided by this embodiment further includes: if the suspended phase voltage and the reference voltage meet the first relational expression, calculating phase change time and triggering phase change according to a back electromotive force zero crossing point of the suspended phase detected by comparing the suspended phase voltage and the reference voltage in the current phase change period, and then driving a motor to operate by using a zero crossing point detection method.
I.e. the operating state switching phase of the motor start-up, if
Or
The motor can stably run, so that the relative position of the rotor and the electron can be adjusted and the normal running stage of the motor is started.
In step S11, preferably, the preset node is located in the last stator commutation period of the external synchronous acceleration phase, that is, in the last stator commutation period of the external synchronous acceleration phase, to detect whether the rotor position is at the expected rotor position specified in the current stator conduction mode, for example, if the current stator conduction mode is the B-phase conduction power supply C-phase conduction ground, it is detected whether the rotor position is in the sector area shown in fig. 4. If the rotor position does not reach the expected rotor position, namely the rotor movement is considered to be behind the stator commutation and not meet the switching condition, the rotor pre-positioning stage needs to be returned to for restarting. If the rotor position exceeds the expected rotor position, i.e. the stator commutation is considered to be behind the rotor movement, or if the rotor position is at the expected rotor position, the stator commutation and the rotor movement are synchronized, the operating state switching phase can be entered if the switching condition is met.
In step S12, during each stator commutation period of the operation state switching stage, whether the rotor position is at an expected rotor position specified in the current stator conduction mode is detected, and if the rotor position is at the expected rotor position, the zero crossing point detected during the current commutation period is used to calculate the commutation time and trigger commutation, and then the zero crossing point detection method may be used to drive the motor to operate, and if the rotor position is not at the expected rotor position, the rotor pre-positioning stage is returned to and restarted.
The following describes in detail the determination of parameters according to embodiments of the present invention.
(1)△rpostIs determined
The adaptive value Δ rpostIs determined according to the maximum duty cycle allowed to be output when the rotor is pre-positioned
And maximum motor current allowed by hardware
Real-time monitoring of motor current during self-adaptation limits output current of rotor pre-positioning stage to be within a range of
Within a threshold value.
The upper limit n of the allowable restart times of the external synchronization acceleration stage can be used as the adaptive step number, namely the duty ratio is increased to the maximum allowable duty ratio after n times
The initial duty cycle of the known rotor pre-positioning phase is
The supply voltage being UbatAnd the motor loop impedance is RmΔ r is obtained by the following functionpost：
Initial duty cycle for items such as oil pump motor control
Is determined by an oil pump stand (start-up load determination) test.
(2)△rpostAnd Δ frampIs determined
△rpostAnd Δ frampWith rate of change of load Δ TLCorrelation with stator-rotor position deviation DeCorrelation (D)eA deviation of the actual position of the rotor from the expected position) and due to the motor supply voltage UbatDirectly influencing the electromagnetic force on the stator side of the motor, the motor temperature tmBut also directly affects the electromagnetic characteristics of the motor, so that delta rrampAnd Δ frampIs a function of the following parameters, namely:
Δrramp＝r(Ubat，tm，ΔTL，De)；
Δframp＝f(Ubat，tm，ΔTL，De)；
usually, UDCThe smaller the or DELTA TLThe greater or tmLarger or DeThe larger the size, | Δ rrampThe greater the | and Δ f |rampThe larger the | is. The duty ratio is preferentially adjusted aiming at the condition that the actual load is often monotonously increased and the actual position of the rotor lags behind the expected position during actual starting.
(3) Determination of rotor expected position check points in external synchronization acceleration phase and running state switching phase
Referring to FIG. 7, a commutation period T of 60 degreescThe ideal back emf zero crossing should occur at the 30 degree center point time tzThe phase voltage before the center point should be lower than half of the reference voltage and the phase voltage after the center point should be higher than half of the reference voltage, or the phase voltage before the center point should be higher than half of the reference voltage and the phase voltage after the center point should be lower than half of the reference voltage. One or more pairs of sampling instants (t) may be arranged before and after equidistant from the centre point1,t2) Judging the error D of the actual zero crossing point deviating from the expected zero crossing point (30-degree central point) by two or more groups of voltage differencese. The sampling time needs to satisfy the following function:
|t1-tz|＝|t2-tz|
typically, the selectable checkpoints are (15 °,45 °) or (20 °,40 °), depending on the tolerance of the deviation allowed by the system. The closer the checkpoint is to the central point, the more stringent the switching conditions.
(4)eAAnd UDCIs determined
Fig. 8 is a timing diagram of phase voltage sampling, the sampling time point being offset by a delay time D based on the rising edge of the motor control carrier frequency (PWM out) signal, the determination of which is based on avoiding switching noise and hardware delays. The frequency of a sampling Trigger signal (Trigger to ADC sample) generated by offset is the same as the frequency of a motor control carrier, and a rising edge of the sampling Trigger signal triggers a hardware analog signal sampling module to simultaneously sample the three-phase voltage e of the motoru、evAnd ew. According to the three-phase conduction mode at the sampling time, which phase is the suspension phase can be known, and if the non-conduction phase (also called suspension phase) at a certain sampling time is the V phase, the voltage of the suspension phase can be obtained as eA＝evReference voltage is UDC＝|eu+ewL. During a high duty cycle of a motor control carrier period, one or more times of voltage sampling can be completed, and sampling data can be subjected to mean value processing to obtain a sampling value with higher precision.
(5) The upper limit n of allowable restart times of the external synchronization acceleration stage and the upper limit m of allowable adjustment times of the operation state switching stage
The upper limit needs to be calibrated according to the system requirements of a specific motor application scene. For example, application of a transmission valve body oil pump system needs to ensure T0The oil pressure is built up from 0bar to the target oil pressure in time, and the motor works at the rated rotating speed and T1The time can be satisfied to flush the oil pressure from 0bar to the target oil pressure, then (T)0-T1) Is the time that the motor is allowed to attempt to start. Setting the primary pre-positioning time of the rotor as tpOne external synchronous acceleration time is trIt is known that the adjustment time for one-time operation state switching position is about 1/finiThen, it should satisfy:
[(tp+tr)*n+(m/fini)]＜＝(T0-T1)。
referring to fig. 9, a specific implementation process of the motor starting method provided in the embodiment of the present invention includes a motor stopping stage and an internal synchronous operation stage in addition to the rotor pre-positioning stage, the external synchronous acceleration stage, the operation state switching stage and the internal synchronous operation stage.
(1) Motor stopping phase
And judging whether a motor starting work command is received, if so, entering a rotor pre-positioning stage, and if not, closing the three-phase output of the motor.
(2) Rotor pre-positioning stage
Performing an adaptive adjustment of the rotor pre-positioning stage by an adaptive value (Deltar) to the rotor pre-positioning stagepost) And (4) performing calculation to adapt to load change and load out-of-tolerance, and entering an external synchronization acceleration stage after the rotor completes pre-positioning.
(3) External synchronization acceleration phase
The method comprises the steps of carrying out acceleration control on a motor, carrying out self-adaptive adjustment of an external synchronous acceleration stage during the last stator commutation period of the external synchronous acceleration stage, sampling voltages at the moments of t1 and t2, judging deviation of an actual zero crossing point and an expected zero crossing point according to sampling results, further judging the relative position of a rotor and a stator turning sector, and carrying out self-adaptive algorithm of the external synchronous acceleration stage according to the judging results.
(4) Operating state switching phase
Sampling the voltages at the time t1 and the time t2, judging and judging the relative position of the rotor position and the expected rotor position appointed under the current stator conduction mode according to the sampling result, and according to the judgement result, executing self-adaptive regulation of operation state switching stage, if the rotor is matched with stator commutation sector, the zero-crossing detected during the current commutation period is used to calculate the commutation moment and trigger commutation, then, the zero-crossing detection method can be used to drive the motor to enter the internal synchronous operation stage, if the rotor is behind or ahead of the stator turning sector, selecting unit regulating quantity from the parameter matrix according to the current power supply voltage and the motor temperature to update the duty ratio and the commutation frequency, triggering to enter the next commutation period, and repeating the same judging steps until the adjusting times reach a preset upper limit or the rotor is matched with the stator reversing sector.
(5) Internal synchronous operation phase
Through the self-adaptive adjustment of the external synchronous acceleration stage and the operation state switching stage, the motor can normally work in the internal synchronous operation stage.
The present embodiment also provides a readable storage medium, which stores a computer program, and when the computer program is executed, the motor starting method provided by the present embodiment is implemented.
The readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device, such as, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, and any suitable combination of the foregoing. The computer programs described herein may be downloaded from a readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a mesh, such as the internet, a local area network, a wide area network, and/or a wireless network. The computer program may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In some embodiments, the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), can execute computer-readable program instructions to implement various aspects of the present invention by utilizing state information of a computer program to personalize the electronic circuitry.
In summary, the motor starting method and the readable storage medium provided in the embodiments of the present invention adopt a three-stage starting method including a rotor pre-positioning stage, an external synchronization open-loop acceleration stage, and an operation state switching stage, detect a phase difference between a rotor and a stator in the external synchronization open-loop acceleration stage, and determine whether a switching condition from the external synchronization open-loop acceleration stage to the operation state switching stage is satisfied according to a detection result, if not, return to the rotor pre-positioning stage to restart the motor, and adjust a motor starting parameter when restarting; and in the operation state switching stage, detecting the phase difference between the rotor and the stator, dynamically adjusting the phase difference between the rotor and the stator according to the detection result, and judging whether to return to the rotor pre-positioning stage to restart the motor according to whether the adjustment times exceed a threshold value. Compared with the prior art, the accuracy of judging the successful starting of the motor is improved, the restarting time interval is also reduced, and the time interval of the two-time starting can be shortened from 1s to 50 ms.
It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention, unless the content of the technical solution of the present invention is departed from.
Claims (14)
1. A motor starting method adopts a three-stage starting method comprising a rotor pre-positioning stage, an external synchronization open-loop acceleration stage and an operation state switching stage, and is characterized in that,
detecting the phase difference between a rotor and a stator in the external synchronization open-loop acceleration stage, judging whether the switching condition from the external synchronization open-loop acceleration stage to the operation state switching stage is met or not according to the detection result, if not, returning to the rotor pre-positioning stage to restart the motor, and adjusting the starting parameters of the motor when restarting;
and in the operation state switching stage, detecting the phase difference between the rotor and the stator, dynamically adjusting the phase difference between the rotor and the stator according to the detection result, and judging whether to return to the rotor pre-positioning stage to restart the motor according to whether the adjustment times exceed a threshold value.
2. The motor starting method as claimed in claim 1, wherein the method of detecting the phase difference of the rotor and the stator comprises:
collecting a first target time point t1And the second target time point t2The reference voltage is the sum of phase voltages of two phases except the suspended phase;
and comparing the magnitude of the suspended phase voltage with the magnitude of the reference voltage, and judging the relative position of the rotor position and the appointed expected rotor position under the current stator conduction mode according to the comparison result so as to finish the detection of the phase difference between the rotor and the stator.
3. The motor starting method according to claim 2, wherein the step of determining the relative position of the rotor position and the expected rotor position specified in the current stator conduction mode based on the comparison comprises:
if the suspended phase voltage and the reference voltage meet a first relational expression, judging that the position of the rotor reaches an expected rotor position specified in a current stator conduction mode;
if the suspended phase voltage and the reference voltage meet a second relational expression, judging that the rotor does not reach an expected rotor position specified in the current stator conduction mode;
if the suspended phase voltage and the reference voltage meet a third relation, judging that the position of the rotor exceeds the appointed expected position of the rotor in the current stator conduction mode;
the first relation is:
The second relation is:
the third relationship is as follows:
wherein e isARepresenting the voltage of the suspended phase, UDCRepresenting the reference voltage.
4. A motor starting method according to claim 3, wherein said method of determining whether the condition for switching from the outer-synchronization open-loop acceleration phase to the operation state switching phase is satisfied based on the detection result comprises:
if the suspended phase voltage and the reference voltage meet the first relational expression, judging that the switching condition is met;
and if the suspended phase voltage and the reference voltage meet the second relational expression, judging that the switching condition is not met.
5. The motor starting method of claim 4, further comprising:
in the external synchronization open-loop acceleration stage, if the suspended phase voltage and the reference voltage meet a third relation, the current duty ratio output of the winding is reduced and/or the current stator commutation frequency is increased so as to adjust the phase difference between the rotor and the stator, and the operation state switching stage is switched.
6. A method for starting a motor according to claim 3, wherein the method for dynamically adjusting the phase difference between the rotor and the stator according to the detection result comprises:
if the suspended phase voltage and the reference voltage meet the second relational expression, increasing the duty ratio of a winding and/or reducing the current stator commutation frequency;
and if the suspended phase voltage and the reference voltage meet the third relation, reducing the current duty ratio output of the winding and/or increasing the current stator commutation frequency.
7. The motor starting method of claim 6, further comprising:
if the suspended phase voltage and the reference voltage meet the first relational expression, calculating phase change time and triggering phase change according to a back electromotive force zero crossing point of the suspended phase detected by comparing the suspended phase voltage and the reference voltage in the current phase change period, and then driving a motor to operate by using a zero crossing point detection method.
8. The motor starting method according to claim 2, wherein the expected stator position specified in the current stator conduction mode is a position where an angle between the rotor position and a magnetic field direction of the stator is in a range of 60 degrees to 120 degrees.
9. The motor starting method of claim 1 wherein said adjusting motor starting parameters comprises: increasing the duty ratio of a rotor pre-positioning stage in the last starting period as the duty ratio of the rotor pre-positioning stage in the current starting period; and the number of the first and second groups,
and increasing the duty ratio of the external synchronous acceleration stage in the last starting period as the duty ratio of the external synchronous acceleration stage in the current starting period, or reducing the stator commutation frequency of the external synchronous acceleration stage in the last starting period as the stator commutation frequency of the external synchronous acceleration stage in the current starting period.
10. The motor starting method of claim 9, wherein the duty cycle of the rotor pre-positioning stage of the previous starting cycle is increased by a first calculated value as the duty cycle of the rotor pre-positioning stage of the current starting cycle, the first calculated value being calculated by the following formula:
wherein n represents an upper limit number of allowable restarts of the outer sync acceleration phase,
representing the maximum duty cycle allowed to increase after n restarts,
indicating the initial duty cycle, U, of the rotor at the pre-positioning stagebatRepresenting the supply voltage, RmRepresenting the motor loop impedance.
11. The motor starting method of claim 9,
increasing the duty ratio of the external synchronous acceleration stage of the last starting period according to a second calculated value to be used as the duty ratio of the external synchronous acceleration stage of the current starting period, wherein the second calculated value delta rrampCalculated using the following function:
Δrramp＝r(Ubat，tm，ΔTL，De)；
reducing the stator commutation frequency of the external synchronous acceleration stage of the last starting period according to a third calculated value as the stator commutation frequency of the external synchronous acceleration stage of the current starting period, wherein the third calculated value is calculated by adopting the following function:
Δframp＝f(Ubat，tm，ΔTL，De)；
wherein, UbatRepresenting the motor supply voltage,. DELTA.TLRepresenting the rate of change of load, DeRepresenting the deviation of the actual position of the rotor from the expected position, tmIndicating the motor temperature.
12. A method for starting an electric motor according to claim 1, characterized in that the first target point in time t is selected1And the second target time point t2And the point in time t at which the zero crossing of the back emf is expectedzSatisfies the following conditions:
|t1-tz|＝|t2-tz|。
13. the motor starting method according to claim 1, wherein in a last stator commutation period of the external synchronous acceleration stage, a phase difference between a rotor and a stator is detected, and it is judged that the switching condition is satisfied; and in each stator phase change period of the operating state switching stage, detecting the phase difference between the rotor and the stator, and judging whether to return to the rotor and stator stage to restart the motor.
14. A readable storage medium storing a computer program which, when executed, implements a motor starting method according to any one of claims 1 to 13.
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| WO2024140465A1 (en) * | 2022-12-27 | 2024-07-04 | 南京泉峰科技有限公司 | Electric tool and control method therefor |
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| WO2022242708A1 (en) | 2022-11-24 |
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Application publication date: 20210907 |