CN115987151A - Multi-mode control strategy of direct current brushless motor - Google Patents
Multi-mode control strategy of direct current brushless motor Download PDFInfo
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- CN115987151A CN115987151A CN202310265493.0A CN202310265493A CN115987151A CN 115987151 A CN115987151 A CN 115987151A CN 202310265493 A CN202310265493 A CN 202310265493A CN 115987151 A CN115987151 A CN 115987151A
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Abstract
The invention discloses a multi-mode control strategy of a brushless direct current motor, which comprises the following steps: diagnosing the health state of the three-phase Hall sensor; switching control strategies in real time according to the health state; and the selected control strategy determines the conducted switching tube according to the provided rotor position information and by contrasting a preset reversing table, and generates and outputs a PWM signal. The method can diagnose the faults of the Hall sensor in real time and quickly and accurately switch the control strategy. The running reliability and stability of the motor under complex working conditions are improved.
Description
Technical Field
The invention relates to the technical field related to motor control boxes, in particular to a multi-mode control strategy of a brushless direct current motor.
Background
The history of industrial development of a brushless direct current motor (BLDCM) is long and the application field is very wide. Nowadays, a dc brushless motor has become an important component in the industrial fields of automobiles, medical electronics, aerospace and the like, and in a brushless dc motor driving system, a hall position sensor is generally used for determining a rotor position and an inverter commutation point so as to realize current square wave control in consideration of simple structure and low cost. However, due to the influence of the problems such as severe working environment and loss of connecting wires, the hall sensor fails, so that the inverter cannot normally change phases, the speed of the motor is out of control, and the motor system is further influenced or even damaged.
In order to ensure the stable operation of the motor driving system under the severe working conditions, the traditional method is usually realized by a single fault-tolerant control strategy. For example, hardware fault-tolerant control and software fault-tolerant control, wherein when a software fault-tolerant mode can generate a fault, fault-tolerant processing is performed on the fault by changing a system operation strategy and control parameters, the existing hardware layout of a system does not need to be changed, redundant components do not need to be added, and the original system can be recovered to the operation state before the fault to the maximum extent by using devices without faults.
Disclosure of Invention
The present invention is directed to a multi-mode control strategy for a dc brushless motor, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-mode control strategy of a direct current brushless motor comprises the following steps:
step 1: diagnosing the health state of the three-phase Hall sensor;
step 2: switching control strategies in real time according to the health state;
and step 3: and the selected control strategy determines the conducted switching tube according to the provided rotor position information and by contrasting a preset reversing table, and generates and outputs a PWM signal.
Specifically, the specific process for diagnosing the health state of the three-phase hall sensor in the step 1 is as follows:
delaying 120 degrees according to the real-time electric rotating speed of the motor and the occurrence time of the jumping edge at the previous time, estimating the occurrence time of the next jumping edge, and if the next jumping edge occurs within the estimated time, judging that the Hall sensor is healthy and has no fault; if not, the Hall sensor is judged to be in fault.
Specifically, the specific switching logic in step 2 is:
if no fault exists, a sensing control strategy is kept;
if one or two Hall sensors have faults, switching to a fault-tolerant control strategy;
and if all the three Hall sensors have faults, switching to a non-inductive control strategy.
Specifically, the inductive control strategy uses a three-phase hall sensor to collect rotor position information, and switches on a corresponding switch tube according to a well formulated reversing meter to drive the direct-current brushless motor to rotate.
Specifically, according to the fault-tolerant control strategy, according to the result of whether the hall sensor fails or not given by fault diagnosis, the healthy hall sensor is used for reconstructing the signal of the failed hall sensor, the position information of the rotor is acquired through the normal and reconstructed signals, and then the corresponding switch tube is switched on according to the formulated reversing meter, so that the direct-current brushless motor is driven to rotate.
Specifically, the non-inductive control strategy is to collect the position information of the rotor according to the counter electromotive force information instead of the signals of the hall sensors, and then to conduct the corresponding switch tubes according to the established reversing meter to drive the direct current brushless motor to rotate.
Compared with the prior art, the invention has the beneficial effects that:
through the switching of the control strategy, the motor can normally run under the normal and fault conditions of the Hall sensor, and the reliability is high;
the fault diagnosis link independently detects the three-phase Hall sensors, can diagnose and position a fault switch tube in time when a single tube or a plurality of tubes have faults, and has short diagnosis time;
the three control strategies of the scheme can realize the functions of starting, accelerating and decelerating the direct current brushless motor, the fault tolerance capability is strong, the operation stability of the equipment under the severe working condition is improved, and the operation and maintenance cost of the equipment is reduced.
Drawings
Fig. 1 is an overall flowchart of a multi-mode control strategy of a dc brushless motor according to the present invention;
FIG. 2 is a control flow diagram of the inductive control of the multi-modal control strategy of the brushless DC motor according to the present invention;
FIG. 3 is a control flow diagram of fault-tolerant control of a multi-modal control strategy for a brushless DC motor according to the present invention;
fig. 4 is a control flow chart of the non-inductive control of the multi-mode control strategy of the dc brushless motor according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a multi-mode control strategy of a direct current brushless motor comprises the following steps:
step 1: diagnosing the health state of the three-phase Hall sensor;
step 2: switching the control strategy in real time according to the health state, wherein the specific switching logic is as follows: if no fault exists, a sensing control strategy is kept; if one or two Hall sensors have faults, switching to a fault-tolerant control strategy; if all the three Hall sensors have faults, switching to a non-inductive control strategy;
and step 3: and the selected control strategy determines the conducted switching tube according to the provided rotor position information by contrasting a preset reversing table, and generates and outputs a PWM signal.
The inductive control strategy is characterized in that a three-phase Hall sensor position sensor is used for collecting rotor position information, and corresponding switch tubes are switched on according to a well established reversing meter to drive the direct-current brushless motor to rotate.
Fault-tolerant control strategy, according to the hall sensor result of whether breaking down that failure diagnosis gave, use healthy hall sensor to rebuild the hall sensor signal of trouble to through normal and signal after rebuilding, gather rotor position information, and then according to the good switching-over table of formulating, switch on corresponding switch tube, drive direct current brushless motor is rotatory, the concrete logic of rebuilding trouble hall sensor signal does: the method comprises the following steps of H1 fault (reconstructing an H1 signal by delaying H3 by 120 degrees), H2 fault (reconstructing an H2 signal by delaying H1 by 120 degrees), H3 fault (reconstructing an H3 signal by delaying H2 by 120 degrees), H1 and H2 fault (reconstructing H1 and H2 signals by using H3), H2 and H3 fault (reconstructing H2 and H3 signals by using H1), H3 and H1 fault (reconstructing H3 and H1 signals by using H2), wherein H1, H2 and H3 respectively represent a first Hall sensor, a second Hall sensor and a third Hall sensor, and an included angle between two adjacent phases of the first Hall sensor, the second Hall sensor and the third Hall sensor is 120 degrees.
According to the non-inductive control strategy, rotor position information is acquired according to counter electromotive force information instead of signals of the Hall sensors, and then corresponding switch tubes are switched on according to a well established reversing table to drive the direct-current brushless motor to rotate.
Specifically, when the method is used, the occurrence time of the next jumping edge is estimated by delaying 120 degrees according to the real-time electric rotating speed of the motor and the occurrence time of the jumping edge at the previous time. And if the fault occurs within the estimated time, judging that the health of the Hall sensor is not in fault. If not, the Hall sensor is judged to be in fault. The three-phase Hall sensors are monitored in real time through the method, if no fault exists, a sensing control strategy is kept, if one or two Hall sensors have faults, the fault-tolerant control strategy is switched to, and if all three Hall sensors have faults, the non-sensing control strategy is switched to.
As shown in fig. 2, the three-phase hall sensor collects position information of the rotor, and determines the on-state of the six-way switching tube according to a well established commutation table, namely six-step commutation. Meanwhile, the rotor position information is differentiated to obtain the rotating speed information, the duty ratio of the PWM signal is obtained after the PI is closed-loop, six paths of PWM signals are determined according to the opening state of the switching tube, the inverter full bridge is driven, and then the motor is driven to rotate.
As shown in fig. 3, after obtaining the fault information (taking an H3 fault as an example), the H3 signal is reconstructed using the H1 lag of 120 °. The position information of the rotor is acquired through the healthy H1 and H2 signals and the reconstructed H3 signal, and the switching-on state of the six-way switching tube is determined according to a well established reversing table, namely six-step reversing. Meanwhile, the rotor position information is differentiated to obtain the rotating speed information, the duty ratio of the PWM signal is obtained after the PI is closed-loop, six paths of PWM signals are determined according to the opening state of the switching tube, the inverter full bridge is driven, and then the motor is driven to rotate.
As shown in fig. 4, in the starting stage, in one control cycle, the injection vector positions the position, and selects a proper driving vector to drive and accelerate the motor. And after the speed of the motor reaches the switching rotating speed, switching to closed-loop control. And then terminal voltage detection is carried out, the back electromotive force zero crossing point moment of the motor is calculated, 30-degree electric angle delay is carried out, the position information of the rotor is obtained, and the opening state of the six-way switching tube is determined according to a well established reversing table, namely six-step reversing. Meanwhile, the rotor position information is differentiated to obtain the rotating speed information, the duty ratio of the PWM signal is obtained after the PI is closed-loop, six paths of PWM signals are determined according to the opening state of the switching tube, the inverter full bridge is driven, and then the motor is driven to rotate.
Wherein, in fig. 2-4:
PI is proportional integral Control, PI Control;
PWM: pulse Width Modulation, which is Pulse Width Modulation and then generates 6 paths of PWM waves to control a motor;
BLDCM, i.e. dc brushless motors.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying any number of indicated technical features, whereby the features defined as "first", "second", "third", "fourth" may explicitly or implicitly include at least one such feature.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A multi-mode control strategy of a DC brushless motor is characterized by comprising the following steps:
step 1: diagnosing the health state of the three-phase Hall sensor;
step 2: switching control strategies in real time according to the health state;
and step 3: and the selected control strategy determines the conducted switching tube according to the provided rotor position information and by contrasting a preset reversing table, and generates and outputs a PWM signal.
2. The multi-modal control strategy of the brushless dc motor according to claim 1, wherein the specific process for diagnosing the health status of the three-phase hall sensor in step 1 is as follows:
delaying 120 degrees according to the real-time electric rotating speed of the motor and the occurrence time of the jumping edge at the last time, estimating the occurrence time of the next jumping edge, and if the jumping edge occurs within the estimated time, judging that the Hall sensor is healthy and has no fault; if not, the Hall sensor is judged to be in fault.
3. The multi-modal control strategy for the brushless dc motor according to claim 2, wherein the specific switching logic in step 2 is:
if no fault exists, a sensing control strategy is kept;
if one or two Hall sensors have faults, switching to a fault-tolerant control strategy;
and if all the three Hall sensors have faults, switching to a non-inductive control strategy.
4. A multi-modal control strategy for a dc brushless motor according to claim 3, wherein: the inductive control strategy is characterized in that a three-phase Hall sensor is used for collecting rotor position information, and corresponding switch tubes are switched on according to a well established reversing meter to drive the direct-current brushless motor to rotate.
5. A multi-modal control strategy for a dc brushless motor according to claim 3, wherein: according to the fault-tolerant control strategy, according to the result of whether the Hall sensor fails or not, the healthy Hall sensor is used for rebuilding the signal of the failed Hall sensor, the position information of the rotor is collected through the normal signal and the rebuilt signal, and then the corresponding switch tube is switched on according to the established reversing table to drive the direct current brushless motor to rotate.
6. The multi-modal control strategy for a brushless dc motor of claim 3, wherein: the non-inductive control strategy is characterized in that rotor position information is acquired according to counter potential information instead of signals of a Hall sensor, and then corresponding switch tubes are conducted according to a well established reversing table to drive the direct current brushless motor to rotate.
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| CN202310265493.0A CN115987151A (en) | 2023-03-20 | 2023-03-20 | Multi-mode control strategy of direct current brushless motor |
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| CN202310265493.0A CN115987151A (en) | 2023-03-20 | 2023-03-20 | Multi-mode control strategy of direct current brushless motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116819971A (en) * | 2023-08-28 | 2023-09-29 | 合力（天津）能源科技股份有限公司 | Output stability control method and system for turbine generator set |
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| JP2012135097A (en) * | 2010-12-20 | 2012-07-12 | Samsung Yokohama Research Institute Co Ltd | Motor control device and method |
| US20170093313A1 (en) * | 2015-09-29 | 2017-03-30 | Microchip Technology Incorporated | Linear Hall Effect Sensors For Multi-Phase Permanent Magnet Motors With PWM Drive |
| CN110752799A (en) * | 2019-10-31 | 2020-02-04 | 江苏科技大学 | Switching method and switching system for double-mode control of brushless direct current motor |
| US20210203257A1 (en) * | 2019-12-27 | 2021-07-01 | Texas Instruments Incorporated | Sensorless angle estimation for trapezoidal control |
| CN114257142A (en) * | 2021-12-13 | 2022-03-29 | 北京兆易创新科技股份有限公司 | Motor control device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012135097A (en) * | 2010-12-20 | 2012-07-12 | Samsung Yokohama Research Institute Co Ltd | Motor control device and method |
| US20170093313A1 (en) * | 2015-09-29 | 2017-03-30 | Microchip Technology Incorporated | Linear Hall Effect Sensors For Multi-Phase Permanent Magnet Motors With PWM Drive |
| CN110752799A (en) * | 2019-10-31 | 2020-02-04 | 江苏科技大学 | Switching method and switching system for double-mode control of brushless direct current motor |
| US20210203257A1 (en) * | 2019-12-27 | 2021-07-01 | Texas Instruments Incorporated | Sensorless angle estimation for trapezoidal control |
| CN114257142A (en) * | 2021-12-13 | 2022-03-29 | 北京兆易创新科技股份有限公司 | Motor control device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116819971A (en) * | 2023-08-28 | 2023-09-29 | 合力（天津）能源科技股份有限公司 | Output stability control method and system for turbine generator set |
| CN116819971B (en) * | 2023-08-28 | 2023-11-14 | 合力（天津）能源科技股份有限公司 | Output stability control method and system for turbine generator set |
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