CN116015113A - Motor driving and controlling method - Google Patents
Motor driving and controlling method Download PDFInfo
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- CN116015113A CN116015113A CN202111231818.0A CN202111231818A CN116015113A CN 116015113 A CN116015113 A CN 116015113A CN 202111231818 A CN202111231818 A CN 202111231818A CN 116015113 A CN116015113 A CN 116015113A
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Abstract
The invention discloses a motor driving and controlling method, wherein the motor is driven and controlled by a three-phase bridge type inverter circuit connected between a direct-current power supply and the motor, and the three-phase bridge type inverter circuit is composed of six power tubes, and the method comprises the following steps: detecting whether a short circuit or an open circuit occurs in each phase winding of the three-phase bridge inverter circuit and/or the motor, and switching off and/or switching on one or more power tubes of the six power tubes to enable the motor to continue to operate in a standby mode when the short circuit or the open circuit occurs in each phase winding of the three-phase bridge inverter circuit and/or the motor. The motor driving and controlling method according to the invention enables the motor to continue to operate in a standby mode when the motor winding or the driving and controlling circuit fails.
Description
Technical Field
The invention relates to the field of motors, in particular to a motor driving and controlling method.
Background
In brushless direct current motors (Brushless Direct Current, BLDC), in order to correctly commutate, the position of the motor rotor is usually detected by means of hall sensors. The detected position signal is transmitted to a controller (MCU) which can cause certain power tubes in the motor inverter circuit to remain on or off for a specific period of time based on the position signal of the motor rotor, thereby energizing the corresponding windings of the motor.
However, short-circuit or open-circuit faults often occur in some parts of the motor and its inverter circuit, which may cause the motor to fail to operate normally. The corresponding vehicle functions cannot be performed until the motor is removed from service and repair is performed.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a novel motor driving and controlling method. The method ensures that the controller can be automatically switched to corresponding standby driving control logic when the motor winding or the motor inverter circuit fails, and ensures that the motor can still continue to operate in a standby mode. With the driving and controlling method, when faults occur in the inverter circuit, the motor can maintain basic operation capability even before the motor is removed from faults and maintenance is carried out, and complete failure of corresponding vehicle functions caused by the motor faults is avoided.
Specifically, the invention provides a motor driving and controlling method, the motor is driven and controlled by a three-phase bridge type inverter circuit connected between a direct-current power supply and the motor, the three-phase bridge type inverter circuit is composed of six power tubes, wherein the method comprises the following steps:
detecting whether a short circuit or an open circuit occurs in each phase winding of the three-phase bridge inverter circuit and/or the motor, and
and under the condition that short circuit or open circuit is detected to occur in each phase winding of the three-phase bridge type inverter circuit and/or the motor, one or more power tubes of the six power tubes are cut off and/or switched on so as to enable the motor to continue to operate in a standby mode.
According to an alternative embodiment, the three-phase bridge inverter circuit comprises a first bridge connected to the first phase winding of the motor, a second bridge connected to the second phase winding of the motor, and a third bridge connected to the third phase winding of the motor, each bridge comprising an upper bridge arm connected to the positive pole of the power supply and a lower bridge arm connected to the negative pole of the power supply, respectively.
According to an alternative embodiment, the lower leg of the first bridge, the upper leg of the second bridge and the upper leg of the third bridge are disconnected if a short circuit occurs in the upper legs of the first bridge.
According to an alternative embodiment, if a short circuit occurs in the lower leg of the first bridge, the upper leg of the first bridge, the lower leg of the second bridge and the lower leg of the third bridge are disconnected.
According to an alternative embodiment, if an open circuit occurs in the upper leg of the first bridge, the lower leg of the first bridge is disconnected; and/or if the lower bridge arm of the first bridge is opened, the upper bridge arm of the first bridge is disconnected.
According to an alternative embodiment, if an open circuit occurs in the upper legs of the second and third bridges, the upper leg of the first bridge is switched on and the lower leg of the first bridge is switched off.
According to an alternative embodiment, if an open circuit occurs in the lower leg of the second bridge and the lower leg of the third bridge, the upper leg of the first bridge is disconnected and the lower leg of the first bridge is connected.
According to an alternative embodiment, the upper leg of the first bridge and the lower leg of the first bridge are disconnected if a short circuit occurs between the first phase winding and the second phase winding of the motor.
According to an alternative embodiment, the motor is a brushless dc motor.
According to an alternative embodiment, the six power transistors are field effect transistors or insulated gate bipolar transistors.
Other features and advantages of the methods and systems of the present invention will be apparent from, or may be learned by the practice of the invention as set forth hereinafter, the drawings being set forth hereinafter with reference to the drawings.
Drawings
Specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be understood that the detailed description is intended by way of example only and is not intended to limit the spirit and scope of the application. In the drawings:
fig. 1 shows a schematic configuration of a conventional inverter circuit of a brushless dc motor.
Fig. 2 shows a schematic diagram of a motor driving method according to a first exemplary embodiment of the present invention.
Fig. 3 shows a schematic diagram of a motor driving method according to a second exemplary embodiment of the present invention.
Fig. 4 shows a schematic diagram of a motor driving method according to a third exemplary embodiment of the present invention.
Fig. 5 shows a schematic diagram of a motor driving method according to a fourth exemplary embodiment of the present invention.
Fig. 6 shows a schematic diagram of a motor driving method according to a fifth exemplary embodiment of the present invention.
Fig. 7 shows a schematic diagram of a motor drive control method according to a sixth exemplary embodiment of the present invention.
Detailed Description
A motor driving method according to the present invention will be described below by way of example with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention to those skilled in the art. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. Rather, the invention can be considered to be implemented with any combination of the following features and elements, whether or not they relate to different embodiments. Thus, the various aspects, features, embodiments and advantages below are for illustration only and should not be considered as elements or limitations of the claims unless explicitly set forth in the claims.
Fig. 1 shows a schematic configuration of a conventional driving circuit of a brushless dc motor. In the typical example of fig. 1, the driving circuit is a three-phase bridge inverter circuit composed of six power transistors T1-T6, and three-phase output terminals of the inverter circuit are respectively connected to three-phase windings U, V, W of the BLDC motor. Among them, the six power transistors T1 to T6 may be field effect transistors (e.g., MOSFETs and JFETs) or Insulated Gate Bipolar Transistors (IGBTs). Preferably, a freewheeling diode (not shown in fig. 1) may be connected in parallel to each power tube to prevent the power tubes from being broken down by reverse voltage.
As shown in fig. 1, each two power transistors (i.e., two power transistors in the same phase circuit) of the six power transistors T1 to T6 constituting the inverter circuit constitute one bridge. The power tube T1 forms an upper bridge arm of the first bridge, the power tube T2 forms a lower bridge arm of the first bridge, the power tube T3 forms an upper bridge arm of the second bridge, the power tube T4 forms a lower bridge arm of the second bridge, the power tube T5 forms an upper bridge arm of the third bridge, and the power tube T6 forms a lower bridge arm of the third bridge.
Wherein the upper bridge arm of each bridge is connected to the positive electrode V of the power supply bat The lower leg of each bridge is connected to a power supply negative or ground. Furthermore, a first bridge is connected to a first phase winding U of the BLDC motor, a second bridge is connected to a second phase winding V of the BLDC motor, and a third bridge is connected to a third phase winding W of the BLDC motor.
When the motor needs to be driven and controlled, the controller MCU applies corresponding PWM control signals to the control input ends of the power tubes according to the position signals provided by the Hall sensors S1 so as to selectively turn on or off the power tubes, and accordingly current is controlled to flow through corresponding windings in the motor.
However, in actual operation, there is a possibility that the power tube and the motor winding in the inverter circuit may have a short circuit or an open circuit failure, which may cause the motor to fail to operate normally. In response to such a fault condition, the present invention proposes a backup motor drive strategy that ensures that the motor will continue to operate in a backup mode in the event of a circuit failure.
In particular, the invention proposes to detect in real time, by means of the MCU, whether a short circuit or an open circuit has occurred in the three-phase bridge inverter circuit and/or in the windings of the phases of the motor, when the motor is running, for example by measuring the drain-source voltage (Vds) of the individual power tubes to determine the state of the power tubes. In the event that a short or open circuit is detected, the MCU turns one or more of the six power transistors off and/or on to operate the motor in a standby mode (e.g., a "two-phase" mode or an "H-bridge" mode).
Several examples of motor drive strategies according to the present invention when different circuit faults occur are described in detail below with reference to fig. 2 to 7.
Fig. 2 shows a schematic diagram of a motor driving method according to a first exemplary embodiment of the present invention. In the first embodiment shown in fig. 2, assuming that a short circuit occurs in one power tube in the upper arm of the inverter circuit, the lower arm corresponding to the upper arm is disconnected and the remaining two upper arms are left, so that the motor continues to operate in the "two-phase" mode.
For example, if the upper leg T1 of the first bridge is shorted, the lower leg T2 of the first bridge, the upper leg T3 of the second bridge, and the upper leg T5 of the third bridge are disconnected. At this time, T4 and T6 may be selectively turned on by the MCU, thereby controlling current to flow through the U, V phase winding in sequence, or through the U, W phase winding in sequence.
Fig. 3 shows a schematic diagram of a motor driving method according to a second exemplary embodiment of the present invention. In the second embodiment shown in fig. 3, assuming that a short circuit occurs in one power tube in the lower leg of the inverter circuit, the upper leg corresponding to the lower leg is disconnected and the remaining two lower legs are left, so that the motor continues to operate in the "two-phase" mode.
For example, if the lower leg T2 of the first bridge is shorted, the upper leg T1 of the first bridge, the lower leg T4 of the second bridge, and the lower leg T6 of the third bridge are disconnected. At this time, T3 and T5 may be selectively turned on by the MCU, thereby controlling current to flow through the V, U phase winding in sequence, or through the W, U phase winding in sequence.
Fig. 4 shows a schematic diagram of a motor driving method according to a third exemplary embodiment of the present invention. In the third embodiment shown in fig. 4, assuming that one power tube in the upper arm of the inverter circuit is open, the lower arm corresponding to the upper arm is disconnected; or if one power tube in the lower bridge arm of the inverter circuit is open, the upper bridge arm corresponding to the lower bridge arm is disconnected, so that the motor continues to operate in an H-bridge mode.
For example, if an open circuit occurs in the upper leg T3 of the second bridge, the lower leg T4 of the third bridge is disconnected. At this time, T1, T6 or T5, T2 may be selectively turned on by the MCU, thereby controlling current to flow through the U, W phase winding in sequence, or through the W, U phase winding in sequence.
Fig. 5 shows a schematic diagram of a motor driving method according to a fourth exemplary embodiment of the present invention. In the fourth embodiment shown in fig. 5, assuming that the upper arm of both of the two bridges of the inverter circuit is open, the upper arm of the other bridge is turned on, and the lower arm of the other bridge is turned off, so that the motor continues to operate in the "two-phase" mode.
For example, if an open circuit occurs in the upper leg T3 of the second bridge and the upper leg T5 of the third bridge, the upper leg T1 of the first bridge is turned on and the lower leg T2 of the first bridge is turned off. At this time, T4 or T6 may be selectively turned on by the MCU, thereby controlling current to flow through the U, V phase winding in sequence, or through the U, W phase winding in sequence.
Fig. 6 shows a schematic diagram of a motor driving method according to a fifth exemplary embodiment of the present invention. In the fifth embodiment shown in fig. 6, assuming that the lower arm of both the bridges of the inverter circuit is open, the lower arm of the other bridge is turned on, and the upper arm of the other bridge is turned off, so that the motor continues to operate in the "two-phase" mode.
For example, if the lower leg T4 of the second bridge and the lower leg T6 of the third bridge are open, the upper leg T1 of the first bridge is disconnected and the lower leg T2 of the first bridge is connected. At this time, T3 or T5 may be selectively turned on by the MCU, thereby controlling current to flow through the V, U phase winding in sequence, or through the W, U phase winding in sequence.
Fig. 7 shows a schematic diagram of a motor drive control method according to a sixth exemplary embodiment of the present invention. In the sixth embodiment shown in fig. 7, assuming a short circuit between two phase windings in the motor, the upper and lower legs of one bridge are simultaneously disconnected, so that the motor continues to operate in the "H-bridge" mode.
For example, if a short circuit occurs between the first phase winding u and the second phase winding v of the motor, the upper leg T1 of the first bridge and the lower leg T2 of the first bridge are disconnected. At this time, T3, T6 or T5, T4 may be selectively turned on by the MCU, thereby controlling current to flow through the U, W phase winding in sequence or through the W, U phase winding in sequence.
As described in the above-listed embodiments, the motor drive control method according to the present invention can automatically switch to the corresponding standby drive control logic when the motor winding or the motor inverter circuit fails, thereby ensuring that the motor can continue to operate in the standby mode (e.g., the "two-phase" mode or the "H-bridge" mode). With this method, when a failure occurs in the inverter circuit, the motor can be maintained at a basic operation capability even before the motor is removed from the failure and maintenance is performed, and complete failure of the corresponding vehicle function due to the motor failure is avoided.
As will be appreciated by those skilled in the art, referring to fig. 2, 3, 5 and 6, in the "two-phase" mode, only two of the three-phase circuits connected to each winding of the motor may be conductive, while the other phase circuit fails/breaks. Referring to fig. 4 and 7, in the "H-bridge" mode, only two of the three-phase windings of the motor may be energized, and the other phase winding may not be energized.
It will be further understood by those skilled in the art that terms such as "first," "second," "third," and the like herein do not denote the order of components or values in time, space, size, etc., but rather are merely used to distinguish one component or value from another. In addition, in the embodiments of the method of the present invention, the serial numbers of the steps are not used to define the sequence of the steps, and it is within the scope of the present invention for those skilled in the art to change the sequence of the steps without any creative effort.
While the invention has been described in terms of preferred embodiments, the invention is not limited thereto. Any person skilled in the art shall not depart from the spirit and scope of the present invention and shall accordingly fall within the scope of the invention as defined by the appended claims.
Claims (10)
1. The motor driving and controlling method is characterized in that the motor is driven and controlled by a three-phase bridge type inverter circuit connected between a direct-current power supply and the motor, and the three-phase bridge type inverter circuit is composed of six power tubes, wherein the method comprises the following steps:
detecting whether a short circuit or an open circuit occurs in each phase winding of the three-phase bridge inverter circuit and/or the motor, and
and under the condition that short circuit or open circuit is detected to occur in each phase winding of the three-phase bridge type inverter circuit and/or the motor, one or more power tubes of the six power tubes are cut off and/or switched on so as to enable the motor to continue to operate in a standby mode.
2. The method of claim 1, wherein the three-phase bridge inverter circuit comprises a first bridge connected to a first phase winding (u) of the motor, a second bridge connected to a second phase winding (v) of the motor, a third bridge connected to a third phase winding (w) of the motor, each bridge comprising an upper leg connected to a positive pole of a power supply and a lower leg connected to a negative pole of the power supply, respectively.
3. The method of claim 2, wherein,
and if the upper bridge arm (T1) of the first bridge is short-circuited, disconnecting the lower bridge arm (T2) of the first bridge, the upper bridge arm (T3) of the second bridge and the upper bridge arm (T5) of the third bridge.
4. A method according to claim 2 or 3, wherein,
and if the lower bridge arm (T2) of the first bridge is short-circuited, disconnecting the upper bridge arm (T1) of the first bridge, the lower bridge arm (T4) of the second bridge and the lower bridge arm (T6) of the third bridge.
5. A method according to claim 2 or 3, wherein,
-if an open circuit occurs in the upper leg (T1) of the first bridge, disconnecting the lower leg (T2) of the first bridge; and/or if an open circuit occurs in the lower leg (T2) of the first bridge, opening the upper leg (T1) of the first bridge.
6. A method according to claim 2 or 3, wherein,
if an open circuit occurs in the upper leg (T3) of the second bridge and the upper leg (T5) of the third bridge, the upper leg (T1) of the first bridge is switched on and the lower leg (T2) of the first bridge is switched off.
7. A method according to claim 2 or 3, wherein,
if an open circuit occurs between the lower leg (T4) of the second bridge and the lower leg (T6) of the third bridge, the upper leg (T1) of the first bridge is disconnected and the lower leg (T2) of the first bridge is connected.
8. A method according to claim 2 or 3, wherein,
if a short circuit occurs between the first phase winding (u) and the second phase winding (v) of the motor, the upper leg (T1) of the first bridge and the lower leg (T2) of the first bridge are disconnected.
9. A method according to any one of claim 1 to 3, wherein,
the motor is a brushless DC motor.
10. A method according to any one of claim 1 to 3, wherein,
the six power transistors are field effect transistors or insulated gate bipolar transistors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111231818.0A CN116015113A (en) | 2021-10-22 | 2021-10-22 | Motor driving and controlling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111231818.0A CN116015113A (en) | 2021-10-22 | 2021-10-22 | Motor driving and controlling method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116015113A true CN116015113A (en) | 2023-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111231818.0A Pending CN116015113A (en) | 2021-10-22 | 2021-10-22 | Motor driving and controlling method |
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| CN (1) | CN116015113A (en) |
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2021
- 2021-10-22 CN CN202111231818.0A patent/CN116015113A/en active Pending
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