CN117375335B - Method for adjusting line sequence of Hall sensor by motor, control device and BLDC motor - Google Patents

Abstract

The invention discloses a method for adjusting the line sequence of a Hall sensor for a motor, a control device and a BLDC motor. Among them, the method for the motor to adjust the Hall sensor line sequence includes: dividing the rotation plane of the motor rotor according to preset rules to obtain six areas, and generating preset Hall sensor data corresponding to each area; rotating the motor rotor to the preset area, control the motor rotor to rotate once, and obtain the Hall sensor data when the motor rotor passes through each area; based on the multiple Hall sensor data and multiple preset Hall sensor data obtained in sequence, Determine the line sequence of each Hall sensor. The present invention obtains multiple Hall sensor data by rotating the motor rotor once, and adjusts the line sequence of each Hall sensor to make the adjusted multiple Hall sensor data equal to multiple preset Hall sensor data, thereby achieving The purpose of motor debugging is completed when the three-phase Hall sensor line and the three-phase power line are connected arbitrarily.

Description

A method, control device and BLDC motor for adjusting the Hall sensor line sequence of a motor

Technical field

The invention relates to the field of motors, and in particular to a method for adjusting the line sequence of a Hall sensor for a motor, a control device and a BLDC motor.

Background technique

The three-phase BLDC (Brushless Direct Current Motor) motor is a brushless DC motor. The rotor of the BLDC motor is a permanent magnet. The rotor rotates by changing the direction of the magnetic field generated by the surrounding coils, and by controlling the direction and size of the current to the coils. Controls the rotation of the rotor. BLDC motors often use six-step commutation control. After detecting the position of the rotor through the Hall sensor, each phase is controlled to generate a magnetic field to control the rotation of the rotor. The three-phase power lines and the three Hall sensors need to be in one-to-one correspondence to drive the circuit correctly.

In actual debugging work, the line sequence of many motor power lines and Hall sensor lines is unknown. The existing technology adopts a method of continuously adjusting the wiring sequence of power lines or adjusting the wiring sequence of Hall sensor lines to obtain the correct line sequence. Either way requires constant trying and takes a long time.

Contents of the invention

The main purpose of the present invention is to provide a method for adjusting the Hall sensor line sequence of a motor, aiming to improve the efficiency of motor debugging.

In order to achieve the above objectives, the present invention proposes a method for adjusting the line sequence of the Hall sensor for a motor, which method includes:

The rotation plane of the motor rotor is partitioned according to preset rules to obtain six areas, and preset Hall sensor data corresponding to each area is generated; wherein, the preset rules are: determine and determine based on the three-phase power line of the motor. The preset line sequence of the three-phase Hall sensor lines corresponding to the three-phase power lines of the motor, and the position where the Hall sensor data does not change when the motor rotor rotates is divided into a region;

Rotate the motor rotor to the preset area, control the motor rotor to rotate once, and obtain Hall sensor data when the motor rotor passes through each of the areas;

Adjust the line sequence of each Hall sensor based on the multiple Hall sensor data and multiple preset Hall sensor data obtained in sequence;

The step of determining the line sequence of each Hall sensor based on the multiple Hall sensor data and multiple preset Hall sensor data obtained in sequence specifically includes:

Determine whether the first Hall sensor data among the plurality of Hall sensor data is equal to the first preset Hall sensor data among the plurality of preset Hall sensor data, and obtain a first determination result;

Adjust the line sequence of each Hall sensor according to the first determination result, and obtain a plurality of Hall sensor data after adjusting the line sequence, so that the first Hall sensor data among the plurality of Hall sensors is consistent with the first Hall sensor data. A preset Hall sensor data is equal;

Determine whether the second Hall sensor data among the plurality of Hall sensor data after adjusting the line sequence is equal to the second preset Hall sensor data among the plurality of preset Hall sensor data, and obtain the first 2. Determine the results;

Adjust the line sequence of each Hall sensor according to the second determination result, and obtain multiple Hall sensor data after changing the line sequence, so that the multiple Hall sensor data are consistent with the multiple preset Hall sensor data. The data are equal; or,

The step of determining the line sequence of each Hall sensor based on the multiple Hall sensor data and multiple preset Hall sensor data obtained in sequence specifically includes:

Invert the first Hall sensor data among the plurality of Hall sensors, and determine whether the inverted data is consistent with the first preset Hall sensor data among the plurality of preset Hall sensor data. Whether they are equal, the third determined result is obtained;

Adjust the line sequence of each Hall sensor according to the third determination result, and obtain multiple Hall sensor data after changing the line sequence, so that the first Hall sensor data among the multiple Hall sensor data is processed The negated value is equal to the first preset Hall sensor data;

Invert the second Hall sensor data among the plurality of Hall sensor data after changing the line sequence, and determine whether the inverted data is consistent with the second of the plurality of preset Hall sensor data. Whether the Hall sensor data are equal, the fourth determination result is obtained;

Adjust the line sequence of each Hall sensor according to the fourth determination result, and obtain multiple Hall sensor data after changing the line sequence, so that the multiple Hall sensor data are consistent with the multiple preset Hall sensor data. The data are equal.

Optionally, the step of generating preset Hall sensor data corresponding to each area specifically includes:

The output values of the three Hall sensors are formed into a three-digit binary number according to the preset line sequence;

When the rotor is in the six areas, the value of the three-digit binary number is obtained respectively, and this value is used as the preset Hall sensor data corresponding to the area.

Optionally, the step of rotating the motor rotor into the preset area specifically includes:

Two of the three-phase power lines of the motor are connected to make the motor rotor rotate to the corresponding area.

Optionally, the step of controlling the motor rotor to rotate once and obtaining Hall sensor data when the motor rotor passes through each of the regions specifically includes:

Use the two-to-two conduction method to conduct the motor power lines in a predetermined sequence to make the rotor rotate once;

Record the Hall sensor data when the motor rotor passes through each of the areas during one rotation of the rotor.

Optionally, the step of adjusting the line sequence of each Hall sensor according to the first determination result specifically includes:

When the first Hall sensor data is not equal to the first preset Hall sensor data, adjust the line sequence of each Hall sensor so that the first Hall sensor after adjusting the line sequence The data is equal to the first preset Hall sensor data;

When the first Hall sensor data is equal to the first preset Hall sensor data, the line sequence of each Hall sensor is not adjusted;

The adjustment of the line sequence of each Hall sensor according to the second determination result includes:

When the second Hall sensor data is not equal to the second preset Hall sensor data, adjust the line sequence of each Hall sensor so that the second Hall sensor after adjusting the line sequence The data is equal to the second preset Hall sensor data;

When the second Hall sensor data is equal to the second preset Hall sensor data, the line sequence of each Hall sensor is not adjusted.

Optionally, adjusting the line sequence of each Hall sensor according to the third determination result includes:

When the inverted data of the first Hall sensor data is not equal to the first preset Hall sensor data, adjust the line sequence of each Hall sensor so that the adjusted line sequence The inverted data of the first Hall sensor data is equal to the first preset Hall sensor data;

When the inverted data of the first Hall sensor data is equal to the first preset Hall sensor data, the line sequence of each Hall sensor is not adjusted;

The adjusting the line sequence of each Hall sensor according to the fourth determination result includes:

When the inverted data of the second Hall sensor data is not equal to the second preset Hall sensor data, adjust the line sequence of each Hall sensor so that the adjusted line sequence The inverted data of the second Hall sensor data is equal to the second preset Hall sensor data;

When the inverted data of the second Hall sensor data is equal to the second preset Hall sensor data, the line sequence of each Hall sensor is not adjusted.

The invention also proposes a control device, which includes:

memory;

processor; and,

The motor adjustment Hall sensor line sequence program is stored in the memory and executed by the processor. When the motor adjustment Hall sensor line sequence program is executed by the processor, the motor adjustment Hall sensor line sequence program is implemented. Er sensor line sequence method.

The invention also proposes a BLDC motor, which includes the control device.

The invention proposes a method, a control device and a BLDC motor for adjusting the Hall sensor line sequence of a motor. The method includes: dividing the rotation plane of the motor rotor according to preset rules to obtain six areas, and generating preset Hall sensor data corresponding to each area; wherein the preset rules are: according to the three phases of the motor The power line determines the preset line sequence of the three-phase Hall sensor line corresponding to the three-phase power line of the motor, and divides the position where the Hall sensor data does not change when the motor rotor rotates into a region; the motor rotor rotates to the preset areas, control the motor rotor to rotate once, and obtain the Hall sensor data when the motor rotor passes through each of the areas; based on the multiple Hall sensor data and multiple preset Hall sensors acquired in sequence data to determine the line sequence of each Hall sensor. The present invention obtains multiple Hall sensor data by rotating the motor rotor once, and adjusts the line sequence of each Hall sensor to make the adjusted multiple Hall sensor data equal to the multiple preset Hall sensor data, and the motor It can be driven correctly, thereby achieving the purpose of completing motor debugging when the three-phase Hall sensor line and the three-phase power line are connected arbitrarily.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without exerting creative efforts.

Figure 1 is a schematic flow chart of an embodiment of a method for adjusting the line sequence of a Hall sensor for a motor according to the present invention;

Figure 2 is a schematic flowchart of another embodiment of a method for adjusting the line sequence of a Hall sensor for a motor according to the present invention; Figure 3 is a schematic flowchart of another embodiment of a method for adjusting the line sequence of a Hall sensor for a motor according to the present invention;

Figure 4 is a schematic flow chart of a method for adjusting the line sequence of a Hall sensor for a motor according to another embodiment of the present invention;

Figure 5 is a schematic flowchart of a method for adjusting the line sequence of a Hall sensor for a motor according to another embodiment of the present invention;

Figure 6 is a schematic diagram of the position distribution of a three-phase stator and three Hall sensors according to an embodiment of a method for adjusting the line sequence of Hall sensors in a motor according to the present invention;

Figure 7 is a schematic diagram of the rotor plane area division according to one embodiment of the method for adjusting the line sequence of the Hall sensor of the motor according to the present invention.

The realization of the purpose, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiment of the present invention are only used to explain the relationship between components in a specific posture (as shown in the drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

In the present invention, unless otherwise clearly stated and limited, the terms "connection", "fixing", etc. should be understood in a broad sense. For example, "fixing" can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In addition, descriptions such as "first", "second", etc. in the present invention are for descriptive purposes only and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions in various embodiments can be combined with each other, but it must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that such a combination of technical solutions does not exist. , nor within the protection scope required by the present invention.

BLDC motors with Hall sensors generally use six-step commutation control. Among them, the three-phase power lines A, B, and C and the three-phase Hall lines HA, HB, and HC need to correspond one-to-one, otherwise the motor will drive abnormally. In actual work, the power lines of many motors and the Hall lines need to be in one-to-one correspondence. The line sequence of the Hall sensor line is unknown, and it is necessary to constantly try to obtain the line sequence of the Hall sensor line that matches the motor power line; in addition, because there is no standard for the line sequence in the industry, the definition of the line sequence by the motor manufacturer , may not be consistent with how the drive is defined. This situation often requires constantly trying different line sequences for hardware connections, or modifying software drivers to adapt to different motors, which is inefficient.

The BLDC six-step commutation control determines the current position of the motor rotor based on the levels of the three Hall sensors. After determining the position, two phases of the three-phase power lines are turned on, so that the rotor obtains torque in a certain direction. , and at the same time, the torque is controlled through the two-phase PWM duty cycle to control the BLDC motor to run according to the given target, which can be position, speed and torque.

In actual use, the high and low levels output by the three Hall sensors under the action of the motor rotor form a three-digit binary number. The three-digit binary number is the Hall sensor data of the motor rotor at this position. Wherein, the zeroth bit, the first bit and the second bit in the three-digit binary number respectively correspond to the three Hall sensors, and the line sequence of the Hall sensors is the output of the three Hall sensors. The corresponding relationship between the high and low levels and the digits in the three-digit binary number. It should be noted that in the motor, the three Hall sensors correspond to the three stator windings of the motor, and the installation positions of the three Hall sensors have been fixed. The lines of the three Hall sensors are connected to the control device of the motor. The control device combines the high and low levels output by the three Hall sensors into a three-digit binary number, and can adjust the three-phase power according to the three-digit binary number. The motor is operated according to the energization condition of the wire; the control device may be a driver of the motor. When the motor is running normally, the three-digit binary numbers composed of high and low levels output by the three Hall sensors correctly reflect the operation of the motor rotor, that is, the data of the Hall sensors correctly reflect the operation of the rotor, so that all The motor can operate normally. The control device may determine the line sequence of each Hall sensor through the position of the port to which the three Hall sensor lines are respectively connected. Among all the connection states of the three Hall sensor lines and the three ports, there is only one connection state. This enables the Hall sensor data to accurately reflect the operation of the motor rotor, and the motor can drive normally; in other connection states, the motor cannot drive normally.

Since the Hall sensor data is a three-digit binary number, changing the line sequence of each Hall sensor can change the Hall sensor data, so that the Hall sensor lines that are not correctly connected output a Hall composed of high and low levels. After the line sequence of the sensor data is changed, it can correctly reflect the operating position of the motor rotor. This can be achieved by changing the line sequence of the Hall sensor when the three-phase power lines of the motor and the three-phase Hall sensor lines are arbitrarily connected. The purpose of driving the motor correctly is to improve the efficiency of motor debugging.

The invention proposes a method for a motor to adjust the line sequence of a Hall sensor.

Referring to Figure 1, the method includes:

Step S100: Divide the rotation plane of the motor rotor according to preset rules to obtain six areas, and generate preset Hall sensor data corresponding to each area; wherein, the preset rules are: according to the three-phase power of the motor Lines determine the preset line sequence of the three-phase Hall sensor lines corresponding to the three-phase power lines of the motor, and divide the position where the Hall sensor data does not change when the motor rotor rotates into a region;

Step S200: Rotate the motor rotor to the preset area, control the motor rotor to rotate once, and obtain Hall sensor data when the motor rotor passes through each of the areas;

Step S300: Adjust the line sequence of each Hall sensor according to the plurality of Hall sensor data and the plurality of preset Hall sensor data obtained in sequence.

It should be noted that the three-phase power lines are respectively connected to the three stator windings of the motor, and the three Hall sensors correspond to the three stator windings respectively; the three-phase power lines can be divided, for example: in this paper In one embodiment of the invention, referring to Figure 6, it can be divided into three power lines A, B, and C. Correspondingly, the Hall sensor lines corresponding to the three-phase power lines can be divided into HA, HB, and HC; where , the A power line corresponds to the HA Hall sensor line, the B power line corresponds to the HB Hall sensor line, and the C power line corresponds to the HC Hall sensor line. The stator winding represented by the corresponding power line corresponds to the Hall sensor represented by the corresponding Hall sensor line. For example, the stator winding represented by the A power line corresponds to the Hall sensor represented by the HA Hall sensor line. In another embodiment of the present invention, the three-phase power lines can be expressed as three power lines U, V, and W.

The preset line sequence of the three-phase Hall sensor lines corresponding to the three-phase power lines of the motor is determined according to the three-phase power lines of the motor. The stator windings of the motor are distributed 120 degrees apart. Any stator winding can be used as a benchmark, and the line sequence of the Hall sensor can be selected, and the line sequence of the Hall sensor can be used as the preset line sequence; it should be noted that What is more, the control device refers to the preset line sequence and controls the energization of the power line according to the Hall sensor data; referring to Figure 7, in one embodiment of the present invention, the control device is used to control the power supply according to the Hall sensor data. The preset line sequence is included in the program for controlling power line energization. When the rotor of the motor rotates, the three Hall sensors output high and low levels respectively according to the magnetic field driven by the rotation of the rotor; the Hall sensors can output a high level when the magnetic field intensity is strong and a low level when the magnetic field intensity is weak. Level; the high and low levels output by the three Hall sensors compose the Hall sensor data according to the preset line sequence. The position where the Hall sensor data does not change when the motor rotor rotates is divided into a region; since there are three stator windings and three Hall sensors in the motor, the Hall sensor data changes within six times when the motor rotates. Switching takes turns among fixed data, so the rotation plane of the motor rotor can be divided into six areas; where the areas of the six areas are equal. It is easy to understand that the three-phase power lines are connected to the three stator windings in a one-to-one correspondence. Any one of the power lines or its corresponding stator winding can be used as a reference to select the line sequence of the Hall sensor to determine the Hall sensor data corresponding to the above six areas, and the corresponding Hall sensor data can be used as preset Hall sensor data. The preset Hall sensor data represents a three-digit binary number corresponding to the area when the high level output by the three-phase Hall sensor line is combined according to the preset line sequence; there are six preset Hall sensor data.

Rotate the motor rotor into the preset area, control the motor rotor to rotate once, and obtain Hall sensor data when the motor rotor passes through each of the areas. The motor rotor rotates into the preset area; the preset area is one of six areas, and the Hall sensor data corresponding to the preset area is one of the plurality of Hall sensor data. First Hall sensor data. Since the rotation plane of the motor rotor has six areas, when the motor rotor rotates once, the motor rotor passes through the six areas, and six Hall sensor data corresponding to the six areas can be obtained. It should be noted that the stator windings of the motor are distributed 120 degrees apart, and the Hall sensors corresponding to the stator windings are also distributed 120 degrees apart. Specifically, the corresponding stator windings, the center points of the rotor and The position of the Hall sensor can be on a straight line; when a power line or its corresponding stator winding is selected as a reference, the preset area is the area where the stator winding is located or the Hall corresponding to the stator winding. The area where the Hall sensor is located and the corresponding preset Hall sensor data can be obtained. In an embodiment of the present invention, a Hall sensor line sequence can be selected, in which the output value of the Hall sensor corresponding to the stator winding can be used as the second bit of Hall sensor data, and can be based on the electronic rotor plane. In clockwise order, the output values of the other two Hall sensors are used as the first and zeroth bits of the Hall sensor data; thus, a preset Hall sensor data is obtained.

Regarding the method of rotating the motor rotor into the preset area, refer to Figure 7. In one embodiment of the present invention, the rotor can be manually rotated into the preset area; it is easy to understand that the motor There is a mechanical connection between the internal rotor and the motor shaft of the motor. You can make a mark on the motor casing and mark it on the motor shaft. When the rotor rotates to the preset area corresponding to the three stator windings, the motor shaft and the motor casing The location corresponding to the mark. In this way, after determining the power line or stator winding as the reference, the electronic rotor can be rotated to its corresponding preset area. In another embodiment of the present invention, the motor rotor can be rotated to a preset area by connecting the motor power lines; it should be noted that since the stator windings and three Hall sensors are respectively connected to the three-phase power lines, Distributed 120 degrees apart, when one power line or its corresponding stator winding is selected as the reference, the other two power lines can be connected in such a way that the current is input from one power line and output from the other power line. The rotor is rotated to the area where the reference stator winding is located or to the area where the Hall sensor corresponding to the stator winding is located; where, since the direction of the stator winding is determined, when the energization of the two power lines for energization is changed, direction, under the action of currents flowing in different directions, the stator windings corresponding to the two power lines will generate a magnetic field in opposite directions, so that the motor rotor rotates to different areas, and the rotor rotates to the location of the reference stator winding. area or go to the area where the Hall sensor corresponding to the stator winding is located.

Regarding the method of controlling the motor rotor to rotate once, in an embodiment of the present invention, the motor shaft can be manually rotated to drive the rotor to rotate once. In another embodiment of the present invention, two of the three-phase power lines can be connected in a two-by-two conduction manner in a certain order to cause the motor rotor to rotate once, wherein the order can be determined by The R&D personnel determine and write it into the motor control program. It should be noted that when the motor rotor is rotated once, the rotor can be rotated clockwise for one revolution or the rotor can be rotated counterclockwise for one revolution according to actual conditions. The direction of rotation of the rotor is not limited here.

It should be noted that the preset Hall sensor data can be determined based on the three-phase power lines, and the preset line sequence is the line sequence of each Hall sensor when the motor is correctly driven. When the line sequence of each Hall sensor is not adjusted, the line sequence of each Hall sensor may be different from the preset line sequence, and the motor cannot be driven correctly; the present invention adjusts the line sequence of each Hall sensor until the Hall The Er sensor data is the same as the preset Hall sensor data, so that the motor can be driven correctly; wherein the line sequence can be the same as the preset line sequence.

After the motor rotor passes through each of the areas and obtains the Hall sensor data of the area, the line sequence of each Hall sensor can be determined based on the multiple Hall sensor data and multiple preset Hall sensor data acquired in sequence. It should be noted that after the line sequence of each Hall sensor is determined, the plurality of Hall sensor data adjusted according to the determined line sequence and the plurality of preset Hall sensor data are The sensor data is the same. Specifically, since the stator windings are distributed 120 degrees apart and the three Hall sensors are distributed 120 degrees apart, the corresponding positions of the stator windings, the center point of the rotor and the Hall sensors can be on a straight line. Therefore, in any area of the motor rotor on its rotation plane, two of the three Hall sensors output the same level signal, and the other Hall sensor outputs a level signal that is inconsistent with the level signal. ;For example: two Hall sensors output high level, and one Hall sensor outputs low level. Or, two Hall sensors output low level and one Hall sensor outputs high level.

It is easy to understand that when two of the three Hall sensors output the same level signal, whether the two Hall sensors output a high level or a low level is related to the location of the motor rotor. Default area related. In an embodiment of the present invention, when the motor rotor is in the area where the reference stator winding is located, the two Hall sensors output a high level, and the Hall sensor corresponding to the reference stator winding Output low level, that is, the other Hall sensor outputs low level. In another embodiment of the present invention, when the motor rotor is in the area where the Hall sensor corresponding to the stator winding serving as the reference is located, the Hall sensor outputs a high level, and the other two Hall sensors output a low level. . You can use 1 to represent high level and 0 to represent low level; the value range of the Hall sensor data is between 1 and 6. In an embodiment of the present invention, when there are two high levels and one low level in the composition of the Hall sensor data, the corresponding relationship between the three levels and the number of bits of the Hall sensor data can be changed, That is, changing the line sequence of each Hall sensor, thereby changing the value of the Hall sensor data, which can change among 6, 5, and 3; among them, the binary number corresponding to 6 is 110, and the binary number corresponding to 5 is 101 , the binary number corresponding to 3 is 011. In another embodiment of the present invention, when there are two low levels and one high level in the composition of the Hall sensor data, the corresponding relationship between the three levels and the number of bits of the Hall sensor data can be changed. , that is, changing the line sequence of each Hall sensor, thereby changing the value of the Hall sensor data, which can change among 1, 2, and 4; among them, the binary number corresponding to 1 is 001, and the binary number corresponding to 2 is 010, the corresponding binary number of 4 is 100.

It is easy to understand that among the six areas divided by the rotation plane, the Hall sensor data of two adjacent areas is composed of two high levels and one low level, and the Hall sensor data of the other area is composed of two high levels and one low level. The sensor data consists of two low levels and one high level; the Hall sensor data of two adjacent areas cannot be obtained by changing the line sequence of the Hall sensor; however, the Hall sensor data of the two areas separated by one area The composition type of sensor data is the same, and the Hall sensor data of the two areas can be obtained by changing the line sequence transformation of each Hall sensor. For example: the six areas are numbered clockwise or counterclockwise. In an embodiment of the present invention, the output level of the Hall sensor corresponding to the stator winding as the reference can be used as the second bit of the Hall sensor data, and The other two Hall sensor data are respectively used as the first and zeroth bits of the Hall sensor data in the order of the numbers. The six areas can be numbered clockwise; when the area where the Hall sensor corresponding to the stator winding is located is used as the preset area, the values of the Hall sensor data from the first area to the sixth area can be 4 respectively. , 6, 2, 3, 1, 5; when the area where the stator winding is located is used as the preset area, the values of the Hall sensor data from the first area to the sixth area can be 3, 1, 5, 4 respectively. ,6,2. In addition, the six areas can also be numbered counterclockwise; when the area where the Hall sensor corresponding to the stator winding is located is used as the preset area, the values of the Hall sensor data from the first area to the sixth area can be are 4, 5, 1, 3, 2, and 6 respectively; when the area where the stator winding is located is used as the preset area, the values of the Hall sensor data from the first area to the sixth area can be 3, 2, respectively. 6, 4, 5, 1. In this embodiment, the Hall sensor data of two areas separated by one area can be obtained by changing the line sequence transformation of each Hall sensor; in addition, after inverting the Hall sensor data of one area, the following can be obtained: This area is separated by two areas of Hall sensor data, for example: 3 and 4, 2 and 5, and 6 and 1. It can be seen from the above embodiment that the Hall sensor data of the first to sixth areas can be changed from the following data chain: 3, 2, 6, 4, 5, 1. Among them, the Hall sensor data of the preset area determines the Hall sensor data of the first area, and the numbering sequence of the six areas determines the change selection direction of the above-mentioned data link. For example: when the six areas are numbered counterclockwise When the six areas are numbered clockwise, you can select the data in the data chain from right to left, such as the above-mentioned 4, 5, 1, 3, 2, 6. Data, such as the above 3, 1, 5, 4, 6, 2.

It should be noted that one of the six areas can be selected as the preset area, and is not limited to the area where the stator winding as the reference is located and the area where its corresponding Hall sensor is located; it only needs to be based on the selected preset area. Assume that the Hall sensor data of the area is determined by determining the Hall sensor data of the first area in the above data chain. For example: when changing the area as the preset area, in an embodiment of the present invention, the Hall sensor data of the first area may be 5, and the rotor rotates once, and the Hall sensor data obtained from the first area to the sixth area may be 5, 1, 3, 2, 6, 4. If the rotation direction of the rotor is changed, the Hall sensor data of the first to sixth areas may also be 5, 4, 6, 2, 3, 1. In the motor, there are two directions of the stator winding; when the stator winding is energized according to the predetermined order, the winding directions are different, and the magnetic field generated after the stator winding is energized is in the opposite direction. For example: the direction of the stator winding changes, thereby changing the area where the rotor points after power is applied, that is, changing the value of the Hall sensor data in the first area. In an embodiment of the present invention, the Hall sensor data in the first area may be 5. When the rotor rotates once, the Hall sensor data obtained from the first to sixth areas may be 5, 1, 3, 2, 6, and 4. After the winding is changed, the Hall sensor data of the first to sixth areas may be 2, 6, 4, 5, 1, 3.

It should be noted that the serial numbers in the six areas represent which areas the motor rotor passes through. For example, the second area represents the second area the rotor passes through. The numbered directions of the six areas represent the rotation direction of the motor rotor. When the motor rotor rotates once and obtains multiple Hall sensor data, it is only necessary to determine the first Hall sensor data and the second Hall sensor data among the multiple Hall sensor data, and then the entire Hall sensor data can be determined. Multiple Hall sensor data. Wherein, the first Hall sensor data represents a preset area, and the second Hall sensor data represents the change selection direction of the above-mentioned data link.

In actual situations, due to reasons such as the wiring of Hall sensor lines, the control device receives the data output by each Hall sensor, and combines the multiple Hall sensor data obtained with the multiple preset Hall sensor data. The sensor data is inconsistent, causing the motor to be unable to be driven correctly; the present invention adjusts the line sequence of each Hall sensor so that the adjusted multiple Hall sensor data are equal to the multiple preset Hall sensor data; the motor can Drive correctly. In addition, since the motor stator winding or its corresponding power line as the reference can be changed and is not fixed to a specific motor stator winding or its corresponding power line, it can be realized between the three-phase Hall sensor line and the three-phase power line. Motor debugging can be completed when the wires are connected arbitrarily, and there is no need to change the connection method of the Hall sensor wire or power wire.

The invention proposes a method, a control device and a BLDC motor for adjusting the Hall sensor line sequence of a motor. The method includes: dividing the rotation plane of the motor rotor according to preset rules to obtain six areas, and generating preset Hall sensor data corresponding to each area; wherein the preset rules are: according to the three phases of the motor The power line determines the preset line sequence of the three-phase Hall sensor line corresponding to the three-phase power line of the motor, and divides the position where the Hall sensor data does not change when the motor rotor rotates into a region; the motor rotor rotates to the preset areas, control the motor rotor to rotate once, and obtain the Hall sensor data when the motor rotor passes through each of the areas; based on the multiple Hall sensor data and multiple preset Hall sensors acquired in sequence data to determine the line sequence of each Hall sensor. The present invention obtains multiple Hall sensor data by rotating the motor rotor once, and adjusts the line sequence of each Hall sensor to make the adjusted multiple Hall sensor data equal to the multiple preset Hall sensor data, and the motor It can be driven correctly, thereby achieving the purpose of completing motor debugging when the three-phase Hall sensor line and the three-phase power line are connected arbitrarily.

Referring to Figure 2, in one embodiment of the present invention, the step of generating preset Hall sensor data corresponding to each area specifically includes:

Step S110: Combine the output values of the three Hall sensors into a three-digit binary number according to the preset line sequence;

Step S120: Obtain the value of the three-digit binary number when the rotor is in the six areas, and use this value as the preset Hall sensor data corresponding to the area.

In this embodiment, the output values of the three Hall sensors are composed into a three-digit binary number according to the preset line sequence; wherein the three Hall sensors output high and low levels respectively, and the high level Ping can be represented by 1 and 0 respectively. The output values of the three Hall sensors can be combined into a three-digit binary number according to the preset line sequence. The zeroth, first and second bits of the three-digit binary number are the same as those of the three Hall sensors respectively. Correspondingly, the line sequence of the Hall sensor is the corresponding relationship between the high and low levels output by the three Hall sensors and the digits in the three-digit binary number; the preset line sequence can be determined by the R&D personnel, and the When the motor can be driven normally, there is a corresponding relationship between the high and low levels output by the three Hall sensors and the digits in the three-digit binary number. The three-digit binary number is the Hall value of the motor rotor at that position. sensor data. The respective output values of the three Hall sensors when the rotor is in the six regions can be obtained. After combining the output values of the three Hall sensors according to the preset line sequence, the values of the three-digit binary numbers when the rotor is in the six areas can be obtained, that is, the value of the Hall sensor data. value; since the value of the Hall sensor data is obtained by combining the output values of three Hall sensors according to the preset line sequence, this value can be used as the preset Hall sensor data corresponding to the area.

In an embodiment of the present invention, the step of rotating the motor rotor to the preset area specifically includes:

Two of the three-phase power lines of the motor are connected to make the motor rotor rotate to the corresponding area.

In this embodiment, since the stator windings connected to the three-phase power lines and the three Hall sensors are distributed 120 degrees apart, when a power line or its corresponding stator winding is selected as the reference, the current flows from one The power line is input, and the other two power lines are connected through the output of another power line, so that the rotor can be rotated to the area where the stator winding as the reference is located or to the area where the Hall sensor corresponding to the stator winding is located. ; Among them, since the direction of the stator winding is determined, when the energizing direction of the two power lines used for energization is changed, the direction of the resulting magnetic field is opposite under the action of current flowing in different directions by the stator windings corresponding to the two power lines. So that the motor rotor rotates to different areas, the rotor rotates to the area where the reference stator winding is located or to the area where the Hall sensor corresponding to the stator winding is located. The conduction of two of the three-phase power lines of the motor can be controlled to cause the motor rotor to rotate into a corresponding area; the corresponding area can be the preset area. When the connected two-phase power lines are changed, the motor rotor rotates to a different area.

Referring to Figure 3, in one embodiment of the present invention, the step of controlling the motor rotor to rotate once and acquiring Hall sensor data when the motor rotor passes through each of the areas specifically includes:

Step S210: Use pairwise conduction to conduct the motor power lines in a predetermined sequence to make the rotor rotate once;

Step S220: Record the Hall sensor data when the motor rotor passes through each of the regions during one rotation of the rotor.

In this embodiment, in actual use, it is usually used to conduct two phases of the three-phase power lines in sequence according to a predetermined conduction sequence, thereby generating a changing magnetic field to bring the motor rotor to rotate; the two-to-two conduction The method may be to sequentially conduct two phases of the three-phase power line according to a predetermined conduction sequence to rotate the rotor. The conduction sequence is determined by the R&D personnel. The rotor rotates one revolution by connecting two to two, and the rotor rotates through six areas. When the rotor passes through the six areas, the Hall sensor data composed of the output values of the three Hall sensors changes. It should be noted that the control device can determine the line sequence of each Hall sensor through the position of the port to which the three Hall sensor lines are respectively connected. Among all the connection states of the three Hall sensor lines and the three ports, only one One connection state enables the Hall sensor data to accurately reflect the operation of the motor rotor, and the motor can drive normally; in other connection states, the motor cannot drive normally. At this time, it may be that due to the connection relationship of the Hall sensor lines, the line sequence of the Hall sensor is not the same as the preset line sequence, that is, the Hall sensor data composed of the high and low levels output by the three sensors at this time Not the same as the preset Hall sensor data. At this time, when the motor rotor passes through each of the areas, the high and low levels output by the three Hall sensors are combined into Hall sensor data, and then the Hall sensor data is recorded.

Referring to Figure 4, in one embodiment of the present invention, the step of determining the line sequence of each Hall sensor based on the sequentially acquired multiple Hall sensor data and multiple preset Hall sensor data specifically includes:

Step S310: Determine whether the first Hall sensor data among the plurality of Hall sensor data is equal to the first preset Hall sensor data among the plurality of preset Hall sensor data, and obtain the first determination. result;

Step S320: Adjust the line sequence of each Hall sensor according to the first determination result, and obtain multiple Hall sensor data after adjusting the line sequence, so that the first Hall sensor data among the multiple Hall sensors is consistent with the first Hall sensor data. The first preset Hall sensor data is equal;

Step S330: Determine whether the second Hall sensor data among the plurality of Hall sensor data after adjusting the line sequence is equal to the second preset Hall sensor data among the plurality of preset Hall sensor data. , get the second determined result;

Step S340: Adjust the line sequence of each Hall sensor according to the second determination result, and obtain multiple Hall sensor data after changing the line sequence, so that the multiple Hall sensor data are consistent with the multiple preset Hall sensor data are equal.

It can be seen from the above embodiments that there are two winding directions for the stator winding of the motor. When the actual winding direction of the stator winding is the same as the defined winding direction, after the power lines are energized according to the preset sequence, the rotation direction of the rotor will be the same as that of the defined winding direction. The desired direction of rotation is the same; when the actual winding direction of the stator winding is different from the defined winding direction, after the power lines are energized in a preset sequence, the rotation direction of the rotor is opposite to the desired direction of rotation. In this embodiment, the winding method of the stator is the same as the defined winding method. It may be determined whether the first Hall sensor data and the first preset Hall sensor data are equal, and whether the second Hall sensor data and the second preset Hall sensor data are equal. Equal; adjust the line sequence of each Hall sensor according to the determination result, so that the plurality of Hall sensor data and the plurality of preset Hall sensor data are equal, so that the motor can be driven correctly. Specifically, it is determined whether the first Hall sensor data among the plurality of Hall sensor data and the first preset Hall sensor data among the plurality of preset Hall sensor data are equal to obtain the first determination result. , and adjust the line sequence according to the first determination result, so that the first Hall sensor data is equal to the first preset Hall sensor data. As can be seen from the above embodiments, the first Hall sensor data represents Hall sensor data in a preset area. After the line sequence is adjusted, the second Hall sensor data among the plurality of Hall sensor data after the line sequence is adjusted and the second preset Hall sensor data among the plurality of preset Hall sensor data are determined. A second determination result is obtained as to whether the data are equal, and the line sequence of each Hall sensor is adjusted according to the second determination result, so that the plurality of Hall sensor data and the plurality of preset Hall sensor data are equal, so that The motor can be driven correctly.

According to the above embodiment, the serial numbers in the six areas represent which areas the motor rotor passes through. For example, the second area represents the second area the rotor passes through. The numbered directions of the six areas represent the rotation direction of the motor rotor. When the motor rotor rotates once and obtains multiple Hall sensor data, it is only necessary to determine the first Hall sensor data and the second Hall sensor data among the multiple Hall sensor data, and then the entire Hall sensor data can be determined. Multiple Hall sensor data. Wherein, the first Hall sensor data represents a preset area, and the second Hall sensor data represents the change selection direction of the above-mentioned data link. It can be seen from this embodiment that by changing the line sequence, the first Hall sensor data among the plurality of Hall sensor data and the first preset Hall sensor data among the plurality of preset Hall sensors are equal. , and equalize the second Hall sensor data among the plurality of Hall sensor data and the second Hall sensor data. It is easy to understand that when the first Hall sensor data corresponds to the first preset Hall sensor data, and the second Hall sensor data corresponds to the second preset Hall sensor After data correspondence, the plurality of Hall sensor data and the plurality of preset Hall sensor data are in one-to-one correspondence and equal, and the plurality of Hall sensor data are equal to the plurality of preset Hall sensor data.

In an embodiment of the present invention, the step of adjusting the line sequence of each Hall sensor according to the first determination result specifically includes:

When the first Hall sensor data is not equal to the first preset Hall sensor data, adjust the line sequence of each Hall sensor so that the first Hall sensor after adjusting the line sequence The data is equal to the first preset Hall sensor data;

When the first Hall sensor data is equal to the first preset Hall sensor data, the line sequence of each Hall sensor is not adjusted;

The adjustment of the line sequence of each Hall sensor according to the second determination result includes:

When the second Hall sensor data is equal to the second preset Hall sensor data, adjust the line sequence of each Hall sensor so that the second Hall sensor data after adjusting the line sequence Is equal to the second preset Hall sensor data;

When the second Hall sensor data is equal to the second preset Hall sensor data, the line sequence of each Hall sensor is not adjusted.

Referring to Figure 5, in one embodiment of the present invention, the step of determining the line sequence of each Hall sensor based on the plurality of Hall sensor data and the plurality of preset Hall sensor data acquired in sequence specifically includes:

Step S350: Invert the first Hall sensor data among the plurality of Hall sensors, and determine whether the inverted data is consistent with the first preset Hall sensor data among the plurality of preset Hall sensor data. Check whether the sensor data are equal and obtain the third determination result;

Step S360: Adjust the line sequence of each Hall sensor according to the third determination result, and obtain multiple Hall sensor data after changing the line sequence, so that the first Hall sensor data in the multiple Hall sensor data The inverted value of the sensor data is equal to the first preset Hall sensor data;

Step S370: Invert the second Hall sensor data among the plurality of Hall sensor data after changing the line sequence, and determine whether the inverted data is consistent with the second Hall sensor data among the plurality of preset Hall sensor data. Whether the second Hall sensor data is equal, the fourth determination result is obtained;

Step S380: Adjust the line sequence of each Hall sensor according to the fourth determination result, and obtain multiple Hall sensor data after changing the line sequence, so that the multiple Hall sensor data are consistent with the multiple preset Hall sensor data are equal.

In this embodiment, the winding direction of the stator is opposite to the defined winding direction. Since the winding method of the stator is opposite to the defined winding method, when the motor rotor rotates to the corresponding area by conducting two of the three-phase power lines of the motor, the magnetic field generated by the stator causes the rotor to rotate to The area opposite to the corresponding area, the corresponding area is the preset area when the stator winding direction is the same as the defined direction, that is, the area corresponding to the preset Hall sensor data; the Hall sensor of the opposite area is The sensor data is inverted, and the inverted data is equal to the data of the preset Hall sensor.

Determine whether the inverted data of the first Hall sensor data is equal to the first preset Hall sensor data, and determine whether the inverted data of the second Hall sensor data is equal to the second preset Hall sensor data. Whether the data of the two preset Hall sensors are equal; adjust the line sequence of each Hall sensor according to the determination result, so that the data of the plurality of Hall sensors are equal to the data of the plurality of preset Hall sensors after inversion, so that The motor can be driven correctly. Specifically, it is determined whether the inverted data of the first Hall sensor data among the plurality of Hall sensor data is equal to the first preset Hall sensor data among the plurality of preset Hall sensor data. A third determination result is obtained, and the line sequence is adjusted according to the third determination result, so that the inverted data of the first Hall sensor data is equal to the first preset Hall sensor data. As can be seen from the above embodiments, the inverted data of the first Hall sensor data represents the Hall sensor data of the preset area. After the line sequence is adjusted, it is determined that the inverted data of the second Hall sensor data among the plurality of Hall sensor data after the line sequence is adjusted is the same as the second one of the plurality of preset Hall sensor data. Preset whether the Hall sensor data are equal to obtain a fourth determination result, and adjust the line sequence of each Hall sensor according to the fourth determination result, so that the inverted data of the multiple Hall sensor data is consistent with the multiple Hall sensor data. The data of the two preset Hall sensors are equal, so that the motor can be driven correctly.

According to the above embodiment, when the motor rotor rotates once and obtains multiple Hall sensor data, it is only necessary to determine the first Hall sensor data and the second Hall sensor data among the multiple Hall sensor data. The entire plurality of Hall sensor data may be determined. Wherein, the first Hall sensor data represents a preset area, and the second Hall sensor data represents the change selection direction of the above-mentioned data link. It can be seen from this embodiment that by changing the line sequence, the first Hall sensor data among the plurality of Hall sensor data is inverted and the first preset Hall sensor among the plurality of preset Hall sensors is The Hall sensor data is equal, and the data obtained by inverting the second Hall sensor data among the plurality of Hall sensor data is equal to the second Hall sensor data. It is easy to understand that when the first Hall sensor data is inverted, the data after inversion corresponds to the first preset Hall sensor data, and the second Hall sensor data after inversion corresponds to After the second preset Hall sensor data is corresponding, the inverted data of the multiple Hall sensor data is equal to the one-to-one correspondence with the multiple preset Hall sensor data. The multiple Hall sensors The inverted data is equal to the plurality of preset Hall sensor data. That is to say, when the direction of the stator winding is inconsistent with the defined direction, the motor can be driven correctly by adjusting the line sequence.

In an embodiment of the present invention, adjusting the line sequence of each Hall sensor according to the third determination result includes:

When the inverted data of the first Hall sensor data is not equal to the first preset Hall sensor data, adjust the line sequence of each Hall sensor so that the adjusted line sequence The inverted data of the first Hall sensor data is equal to the first preset Hall sensor data;

When the inverted data of the first Hall sensor data is equal to the first preset Hall sensor data, the line sequence of each Hall sensor is not adjusted;

The adjusting the line sequence of each Hall sensor according to the fourth determination result includes:

When the inverted data of the second Hall sensor data is not equal to the second preset Hall sensor data, adjust the line sequence of each Hall sensor so that the adjusted line sequence The inverted data of the second Hall sensor data is equal to the second preset Hall sensor data;

When the inverted data of the second Hall sensor data is equal to the second preset Hall sensor data, the line sequence of each Hall sensor is not adjusted.

The invention also proposes a control device. The control device includes a memory and a processor, and a motor adjustment Hall sensor line sequence program stored in the memory and executed by the processor. The motor adjustment Hall sensor line sequence program is When executed by the processor, the method for adjusting the Hall sensor line sequence of the motor as described above is implemented.

It is worth noting that since the control device of the present invention includes all the technical solutions of all the embodiments of the method for adjusting the line sequence of the Hall sensor by a motor, it at least has the technical solutions brought by the method of adjusting the line sequence of the Hall sensor by a motor. All beneficial effects will not be repeated here.

The present invention also proposes a BLDC motor, which includes the control device or the method for adjusting the Hall sensor line sequence of the motor.

It is worth noting that since the control device of the present invention includes the above-mentioned method for the motor to adjust the Hall sensor line sequence and all the technical solutions of all embodiments of the above-mentioned control device, it at least has the above-mentioned method for the motor to adjust the Hall sensor line sequence and the above-mentioned control. All the beneficial effects brought by the technical solutions of the device will not be repeated here.

The above are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Under the inventive concept of the present invention, equivalent structural transformations can be made using the contents of the description and drawings of the present invention, or directly/indirectly. Application in other related technical fields is included in the scope of patent protection of the present invention7.

Claims (8)

1. A method for adjusting the Hall sensor line sequence of a motor, characterized in that the method includes: The rotation plane of the motor rotor is partitioned according to preset rules to obtain six areas, and preset Hall sensor data corresponding to each area is generated; wherein, the preset rules are: determine and determine based on the three-phase power line of the motor. The preset line sequence of the three-phase Hall sensor lines corresponding to the three-phase power lines of the motor, and the position where the Hall sensor data does not change when the motor rotor rotates is divided into a region; Rotate the motor rotor to the preset area, control the motor rotor to rotate once, and obtain Hall sensor data when the motor rotor passes through each of the areas; Adjust the line sequence of each Hall sensor based on the multiple Hall sensor data and multiple preset Hall sensor data obtained in sequence; The step of determining the line sequence of each Hall sensor based on the multiple Hall sensor data and multiple preset Hall sensor data obtained in sequence specifically includes: Determine whether the first Hall sensor data among the plurality of Hall sensor data is equal to the first preset Hall sensor data among the plurality of preset Hall sensor data, and obtain a first determination result; Adjust the line sequence of each Hall sensor according to the first determination result, and obtain a plurality of Hall sensor data after adjusting the line sequence, so that the first Hall sensor data among the plurality of Hall sensors is consistent with the first Hall sensor data. A preset Hall sensor data is equal; Determine whether the second Hall sensor data among the plurality of Hall sensor data after adjusting the line sequence is equal to the second preset Hall sensor data among the plurality of preset Hall sensor data, and obtain the first 2. Determine the results; Adjust the line sequence of each Hall sensor according to the second determination result, and obtain multiple Hall sensor data after changing the line sequence, so that the multiple Hall sensor data are consistent with the multiple preset Hall sensor data. The data are equal; or, The step of determining the line sequence of each Hall sensor based on the multiple Hall sensor data and multiple preset Hall sensor data obtained in sequence specifically includes: Invert the first Hall sensor data among the plurality of Hall sensors, and determine whether the inverted data is consistent with the first preset Hall sensor data among the plurality of preset Hall sensor data. Whether they are equal, the third determined result is obtained; Adjust the line sequence of each Hall sensor according to the third determination result, and obtain multiple Hall sensor data after changing the line sequence, so that the first Hall sensor data among the multiple Hall sensor data is processed The negated value is equal to the first preset Hall sensor data; Invert the second Hall sensor data among the plurality of Hall sensor data after changing the line sequence, and determine whether the inverted data is consistent with the second of the plurality of preset Hall sensor data. Whether the Hall sensor data are equal, the fourth determination result is obtained; Adjust the line sequence of each Hall sensor according to the fourth determination result, and obtain multiple Hall sensor data after changing the line sequence, so that the multiple Hall sensor data are consistent with the multiple preset Hall sensor data. The data are equal. 2. The method for adjusting the Hall sensor line sequence of a motor as claimed in claim 1, wherein the step of generating preset Hall sensor data corresponding to each area specifically includes: The output values of the three Hall sensors are formed into a three-digit binary number according to the preset line sequence; When the rotor is in the six areas, the value of the three-digit binary number is obtained respectively, and this value is used as the preset Hall sensor data corresponding to the area. 3. The method for adjusting the Hall sensor line sequence of a motor according to claim 1, wherein the step of rotating the motor rotor to the preset area specifically includes: Two of the three-phase power lines of the motor are connected to make the motor rotor rotate to the corresponding area. 4. The method for adjusting the Hall sensor line sequence of a motor as claimed in claim 1, wherein the steps of controlling the motor rotor to rotate once and obtaining the Hall sensor data when the motor rotor passes through each of the areas are specifically described. include: Use the two-to-two conduction method to conduct the motor power lines in a predetermined sequence to make the rotor rotate once; Record the Hall sensor data when the motor rotor passes through each of the areas during one rotation of the rotor. 5. The method for adjusting the line sequence of the Hall sensor of a motor according to claim 1, wherein the step of adjusting the line sequence of each Hall sensor according to the first determination result specifically includes: When the first Hall sensor data is not equal to the first preset Hall sensor data, adjust the line sequence of each Hall sensor so that the first Hall sensor after adjusting the line sequence The data is equal to the first preset Hall sensor data; When the first Hall sensor data is equal to the first preset Hall sensor data, the line sequence of each Hall sensor is not adjusted; The adjustment of the line sequence of each Hall sensor according to the second determination result includes: When the second Hall sensor data is not equal to the second preset Hall sensor data, adjust the line sequence of each Hall sensor so that the second Hall sensor after adjusting the line sequence The data is equal to the second preset Hall sensor data; When the second Hall sensor data is equal to the second preset Hall sensor data, the line sequence of each Hall sensor is not adjusted. 6. The method for adjusting the line sequence of Hall sensors in a motor according to claim 1, wherein the adjusting the line sequence of each Hall sensor according to the third determination result includes: When the inverted data of the first Hall sensor data is not equal to the first preset Hall sensor data, adjust the line sequence of each Hall sensor so that the adjusted line sequence The inverted data of the first Hall sensor data is equal to the first preset Hall sensor data; When the inverted data of the first Hall sensor data is equal to the first preset Hall sensor data, the line sequence of each Hall sensor is not adjusted; The adjusting the line sequence of each Hall sensor according to the fourth determination result includes: When the inverted data of the second Hall sensor data is not equal to the second preset Hall sensor data, adjust the line sequence of each Hall sensor so that the adjusted line sequence The inverted data of the second Hall sensor data is equal to the second preset Hall sensor data; When the inverted data of the second Hall sensor data is equal to the second preset Hall sensor data, the line sequence of each Hall sensor is not adjusted. 7. A control device, characterized in that the control device includes: memory; processor; and, A motor adjustment Hall sensor line sequence program stored in the memory and executed by the processor. When the motor adjustment Hall sensor line sequence program is executed by the processor, the program implements claims 1-6 The method for adjusting the Hall sensor line sequence of a motor according to any one of the above. 8. A BLDC motor, characterized in that the BLDC motor includes the control device according to claim 7.