CN118100701B - Differential drive method, system, medium and equipment for three-phase six-wire direct current brushless motor - Google Patents
Differential drive method, system, medium and equipment for three-phase six-wire direct current brushless motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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Abstract
The application relates to a differential drive method of a three-phase six-wire direct current brushless motor, which comprises the following steps: three groups of coils with different phases, a full bridge drive electrically connected with two ends of each group of coils to drive the three groups of coils respectively, and three current paths communicating the three groups of coils with the full bridge drive, the method comprising the steps of: the initial stage: initial current initial values of the three current paths are sequentially set as I1, I2 and I3, wherein the I1, the I2 and the I3 satisfy a nonlinear relation, and current is increased: the current values of the three current paths are sequentially increased step by step; and (3) detecting and starting: the rotational speed V of the motor is monitored, and once a sufficient start rotational speed Vst is reached, the current is stopped from increasing and the motor is put into operation. The motor can more flexibly adjust the output torque when being started, thereby realizing a more stable and effective starting process and improving the dynamic balance of the motor starting.
Description
Technical Field
The application relates to motor driving, in particular to a differential-discharge driving method and system for a three-phase six-wire direct current brushless motor.
Background
Conventional three-phase dc motors are typically driven by three half-bridges, the coils of which are typically connected in a star configuration, as shown in fig. 1, with three coils having a common terminal, which conventional connections result in more power consumption and noise. In the prior art, a three-wire connection method is also presented, the three phase coil windings no longer have a common end point, but two ends of the three groups of phase coil windings are respectively connected with a drive, and the drive is changed from a traditional half-bridge to a full-bridge, for example, the prior application of the inventor: CN107994814A, CN110557060A, CN116614024a.
However, the three-wire connection method has its own problems, for example, in the three-wire connection method, the current path of the motor is more complicated than in the conventional star connection method. In the three-wire connection, the two ends of the coil of each phase are connected to the driver without a common connection point. This means that current must flow from one port into the coils and then out of the other, rather than from a common connection point into all coils as in the star connection. This connection makes the start-up at low speed and stationary more complex. At low speeds and at rest, the motor needs to generate a large starting torque to overcome the static friction and inertia, which are dynamic. Under the traditional star connection method, the current path is relatively simple, enough starting moment can be easily generated, but a solution for dynamic balance during starting is not good. However, under the three-wire method, the current path, although becoming more complex, offers the possibility of better balancing the dynamic characteristics of the motor at start-up. Therefore, it is necessary to provide a three-phase six-wire brushless dc motor differential drive method that adapts to the current path of the three-wire connection method to provide sufficient starting torque at low speed and in a stationary state and smoothly adapts to the dynamic characteristics of the motor.
Content of the application
The application aims to provide a three-phase six-wire brushless direct current motor differential drive method which is suitable for a current path of a three-wire connection method, provides enough starting torque under low speed and static state and smoothly adapts to the dynamic characteristic of a motor.
According to an aspect of the present application, there is provided a differential drive method of a three-phase six-wire brushless dc motor, the motor including: three groups of coils with different phases, a full bridge drive electrically connected with two ends of each group of coils to drive the three groups of coils respectively, and three current paths communicating the three groups of coils with the full bridge drive, the method comprising the steps of:
The initial stage: initial current initial values of the three current paths are sequentially set as I1, I2 and I3, wherein I1, I2 and I3 are variables related to rated current of a motor running state, and I1, I2 and I3 are not linearly related to each other so as to improve dynamic balance of motor starting;
Increasing the current: the current values of the three current paths are sequentially increased step by step, the current value increment of the three current paths in unit time is recorded as a variable k1 corresponding to I1, a variable k2 corresponding to I2 and a variable k3 corresponding to I3, wherein k1, k2 and k3 are sequentially increased, and k1, k2 and k3 are not linearly related to each other so as to gradually improve the torque of the motor;
and (3) detecting and starting: the rotational speed V of the motor is monitored, and once a sufficient start rotational speed Vst is reached, the current is stopped from increasing and the motor is put into operation.
More preferably, in the initial phase:
rated current of the motor running state is recorded as Ie, and the relation is satisfied:
I1＝r×Ie；
Wherein r is a proportionality coefficient which satisfies that r is more than or equal to 0.1 and less than or equal to 0.2 so as to avoid impact caused by too large current applied by the motor during starting.
More preferably, in the initial phase:
the relation between I1, I2 and I3 is satisfied:
In＝I1+c×sin(k×n)；
where In is an initial current value of the nth path, n=2 or 3, I1 is a determined initial value, c is a constant indicating an offset of the initial value, and k is a constant, and a period of the sine function is controlled so that different current paths generate different torques to balance dynamic characteristics of the motor.
More preferably, during the current increase phase:
The current value increase per unit time of any current path is noted kn, n=1, 2, or 3, and satisfies the relation:
kn＝a×log(n+b)；
0.1＜a＜10；
0＜b＜10；
Where a is a coefficient controlling the rate of current increase and b is an offset controlling the initial rate of current increase.
A three-phase six-wire brushless dc motor differential drive system, the motor comprising: three sets of coils of different phases, a full bridge drive electrically connected to two ends of each set of coils to drive the three sets of coils, respectively, and three current paths connecting the three sets of coils and the full bridge drive, respectively, the system comprising:
The initial current control module is connected with the full-bridge drive, initial current initial values of the three current paths are sequentially set to be I1, I2 and I3, wherein I1, I2 and I3 are variables related to rated current of a motor running state, and I1, I2 and I3 are not in linear correlation, so that dynamic balance of motor starting is improved;
the starting current increasing module is connected with the full bridge drive, current values of three current paths are sequentially increased step by step, current value increasing amounts of the three current paths in unit time are recorded as a variable k1 corresponding to I1, a variable k2 corresponding to I2 and a variable k3 corresponding to I3, wherein k1, k2 and k3 are sequentially increased, and k1, k2 and k3 are not linearly related to each other so as to gradually improve the torque of the motor;
Starting a rotating speed detection module: the motor is connected with three current paths and a full bridge drive respectively, the rotating speed V of the motor is monitored, and once the sufficient starting rotating speed Vst is reached, the current is stopped from increasing and the motor is switched into an operating state.
More preferably, in the initial phase:
rated current of the motor running state is recorded as Ie, and the relation is satisfied:
I1＝r×Ie；
Wherein r is a proportionality coefficient which satisfies that r is more than or equal to 0.1 and less than or equal to 0.2 so as to avoid impact caused by too large current applied by the motor during starting.
More preferably, in the initial phase:
the relation between I1, I2 and I3 is satisfied:
In＝I1+c×sin(k×n)；
where In is an initial current value of the nth path, n=2 or 3, I1 is a determined initial value, c is a constant indicating an offset of the initial value, and k is a constant, and a period of the sine function is controlled so that different current paths generate different torques to balance dynamic characteristics of the motor.
More preferably, during the current increase phase:
The current value increase per unit time of any current path is noted kn, n=1, 2, or 3, and satisfies the relation:
kn＝a×log(n+b)；
0.1＜a＜10；
0＜b＜10；
Where a is a coefficient controlling the rate of current increase and b is an offset controlling the initial rate of current increase.
A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method.
A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the method.
The application has the following beneficial effects:
1. the starting process of the motor is divided into an initial stage, a current increasing stage and a detection stage, the initial current is given a smaller value, impact caused by overlarge current of three paths is avoided, and the current is gradually increased to a current value meeting the starting rotating speed through the current increasing stage.
2. In the process, in order to improve the dynamic balance of the motor start, in the initial stage, the current initial values I1, I2 and I3 of the three circuit paths are variables related to rated current of the motor running state, and the I1, I2 and I3 are not in linear correlation, and a user can adjust the current initial values according to specific conditions, so that the motor can adjust the output moment more flexibly during the start, thereby realizing a more stable and effective start process and improving the dynamic balance of the motor start;
3. In the current increasing stage, the current values of the three current paths are sequentially increased step by step, the current value increasing amounts k1, k2 and k3 in unit time of the three current paths are sequentially increased, and the current values k1, k2 and k3 are not linearly related, which means that the current increase does not take a certain current value as a target, and when the rotating speed of the motor is detected to reach the starting rotating speed Vst, the current values of the three current paths are also in a nonlinear relation, so that the dynamic balance of the motor can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
Fig. 1 is a circuit configuration diagram of a three-phase six-wire brushless dc motor according to an embodiment of the present application;
fig. 2 is a schematic diagram illustrating steps of a differential driving method of a three-phase six-wire brushless dc motor according to an embodiment of the application;
FIG. 3 is a block diagram illustrating a connection structure between a three-phase six-wire DC brushless motor system and a motor according to an embodiment of the application;
FIG. 4 is a block diagram of a computer device according to an embodiment of the present application;
Reference numerals illustrate:
100. a motor; 10. three current paths; 20. a coil; 30. full bridge driving; 200. a system; 210. an initial current control module; 220. starting a current increasing module; 230. starting a rotating speed detection module; 300. a computer device;
Detailed Description
In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the application. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1 to 4, the present application provides a differential driving method for a three-phase six-wire brushless dc motor 100, wherein the motor 100 includes: three sets of coils 20 of different phases, a full bridge drive 30 electrically connected to both ends of each set of coils 20 to drive the three sets of coils 20, respectively, and three current paths 10 connecting the three sets of coils 20 and the full bridge drive 30.
The method comprises the steps of:
s10, initial stage: initial current initial values of the three current paths 10 are sequentially set as I1, I2 and I3, wherein I1, I2 and I3 are variables related to rated current of the operating state of the motor 100, and I1, I2 and I3 are not linearly related to each other, so as to improve dynamic balance of motor start.
Where I1, I2, and I3 are parameters related to rated current of the motor 100 in a normal operation state. The rated current is the current value required for the motor 100 under the designed operating conditions, and is generally specified in the specifications of the motor 100. Accordingly, at start-up, setting the initial current value to a variable related to the rated current helps to ensure that the current is not excessive during start-up, thereby avoiding damage to the motor 100 and related equipment.
Wherein the relationship between I1, I2 and I3 is not a simple linear relationship. In this case, changing one of the parameters (say increasing I1) does not simply result in the other parameters (say I2 and I3) changing accordingly in a fixed ratio. Instead, they interact in a non-linear manner. The purpose of this arrangement is to adjust the initial current value of each current path on a case-by-case basis when starting the motor 100, so that the motor 100 can better adapt to different starting conditions and load situations. Since the motor 100 may be subjected to various conditions, such as load variation, starting inertia, etc., when starting, setting the initial current value in a nonlinear correlation manner may improve the starting flexibility and adaptability of the motor 100, thereby improving the dynamic balance of the starting.
Wherein, when the motor 100 is started, enough torque needs to be generated to overcome inertia and static friction force so that the motor 100 can be started smoothly. By setting the nonlinear relationship, different moments can be generated when the initial current value of each current path is started, so that better moment balance is generated in the starting process of the motor 100, vibration and unbalance phenomena when the motor 100 is started can be reduced, and dynamic characteristics of the motor 100 when the motor is started can be balanced better. Such dynamic balancing may reduce vibration and instability during start-up, improving the smoothness and reliability of motor 100 start-up.
The three current paths 10 correspond to three groups of coils 20 respectively, referring to fig. 1, two ends of the three groups of coils 20 are respectively connected with the full-bridge drive 30, each group of coils 20 corresponds to one current path, and the three groups of coils 20 are respectively and independently connected with the full-bridge drive 30, and have no common intersection point, which is different from the traditional star connection method with common intersection points. The three current paths 10 are respectively denoted as a first current path, a second current path and a third current path 10, wherein the initial current value of the first current path is denoted as I1, the initial current value of the second current path is denoted as I2, and the initial current value of the third current path 10 is denoted as I3.
S20 increases current: the current values of the three current paths 10 are sequentially increased step by step, and the current value increase amount of the three current paths 10 in unit time is recorded as a variable k1 corresponding to I1, a variable k2 corresponding to I2 and a variable k3 corresponding to I3, wherein k1, k2 and k3 are sequentially increased, and k1, k2 and k3 are not linearly related to each other so as to gradually increase the torque of the motor 100.
Wherein it is assumed that the motor 100 starts up with increasing currents of current paths 1, 2 and 3, respectively, where k1 represents the rate of increasing the current of current path 1, k2 represents the rate of increasing the current of current path 2, and k3 represents the rate of increasing the current of current path 3. These rates will increase stepwise, i.e. k1< k2< k3, which means that the current of current path 1 increases the slowest and the current of current path 3 increases the fastest. By increasing the rate of current step by step, the current variation at the start-up of the motor 100 can be controlled so that the motor 100 can reach an operating state more smoothly. This increase helps to improve the starting characteristics of the motor 100 and allows for optimal adjustment of the current increase rate to improve the performance and stability of the motor 100, depending on the situation.
Where "non-linear correlation between k1, k2 and k 3" means that the relationship between the three rates of increasing current is not a simple linear relationship. In other words, changing one of the rates (e.g., increasing k 1) does not simply cause the other rates (e.g., k2 and k 3) to change accordingly in a fixed ratio manner. Instead, they may interact in a non-linear manner. In this case, adjusting the current increase rate of each current path does not proceed in the same manner. But will adjust the current increase rate of each path differently depending on the specific requirements and operating conditions of the motor 100, as well as the dynamics of the start-up phase. The arrangement of such non-linear relationships may provide greater flexibility to accommodate different start-up conditions and load conditions. By adjusting the rate of current increase per path, the dynamic behavior of motor 100 at start-up may be better controlled, thereby improving the start-up characteristics and stability of motor 100.
The increasing amount of the nonlinear relationship can be adjusted according to the dynamic characteristic of the motor 100, so that the current increases slowly in the initial stage of starting, so as to avoid the excessive current impact generated when the motor 100 is started. As the starting speed of the motor 100 increases, the amount of current increase increases gradually to provide more torque, helping the motor 100 overcome inertia and static friction, and achieving a smooth starting process.
The sequentially increasing nonlinear relationship can effectively control the current change in the starting process of the motor 100, and avoid the starting instability caused by overlarge current fluctuation and the risk of damage to the motor 100. At the same time, the increased current also helps to protect the motor 100 and the associated equipment such as the drive, and to extend its useful life.
S30, detecting and starting: the rotational speed V of the motor 100 is monitored, and once a sufficient start rotational speed Vst is reached, the current is stopped from increasing and the motor is shifted to an operating state.
In this case, once the sufficient start-up rotation speed Vst is reached, the current is stopped from increasing and the motor is turned into an operating state, which means that the current is not increased by a certain current value, and when the rotation speed of the motor 100 is detected to reach the start-up rotation speed Vst, the current values of the three current paths 10 are also nonlinear, so that the dynamic balance of the motor 100 can be effectively improved.
Meanwhile, once the motor 100 is started and reaches a sufficient rotational speed, additional current may cause overload or damage to the motor 100. By monitoring the rotational speed and stopping increasing the current after a sufficient start-up rotational speed is reached, this situation can be effectively avoided, protecting the motor 100 and related equipment. Energy may also be saved and the energy efficiency of the system 200 may be improved.
Meanwhile, when the motor 100 reaches a sufficient rotation speed, further increase of the current may cause unstable operation of the motor 100 and even vibration or noise. Thus, stopping the increase in current ensures that the motor 100 maintains a stable operating state after start-up.
More preferably, in the initial phase:
the rated current of the operating state of the motor 100 is denoted Ie and satisfies the relation:
I1＝r×Ie；
Where r is a proportionality coefficient that satisfies 0.1 r.ltoreq.0.2 to avoid the current applied by motor 100 at start-up from being too large to cause a surge.
Taking the motor 100 drive of the electric toothbrush as an example, assuming that the rated current Ie of the electric toothbrush=200 mA,
When r=0.1, initial current i1=r×ie =0.1×200 ma=20 mA;
when r=0.15, initial current i1=r×ie =0.15×200 ma=30 mA;
when r=0.2, initial current i1=r×ie =0.2×200 ma=40 mA;
Wherein by limiting the magnitude of the initial current, excessive current application at start-up is avoided, thereby reducing the risk of damage to the electric toothbrush motor 100 and the battery, extending their useful life. A smaller initial current means less vibration and noise at start-up, making the use of the electric toothbrush smoother and more comfortable. Meanwhile, the energy consumption during starting is reduced, electric energy is saved, the use cost is reduced, and the influence on the environment is reduced.
More preferably, in the initial phase:
the relation between I1, I2 and I3 is satisfied:
In＝I1+c×sin(k×n)；
Where In is an initial current value of the nth path, n=2 or 3, I1 is a determined initial value, c is a constant indicating an offset of the initial value, k is a constant controlling a period of the sine function, and n is a sequence number of the path so that different current paths generate different torques to balance dynamic characteristics of the motor 100.
When r=0.1, the initial current i1=r×ie=0.1×200ma=20ma, assuming that c=5 mA (the initial value is shifted by 5 mA) and k=pi/3 (the period of the sine function is 2 pi/3 and the amplitude is 10 mA) still taking the motor 100 drive of the electric toothbrush as an example.
For the second current path, n=2, there is:
I2＝I1+c×sin(k×n)＝20mA+5mA×sin(π/3×2)≈20mA+5mA×sin(2π/3)≈20mA-5mA×0.866≈20mA-4.33mA≈15.67mA
for the third circuit path, n=3, there is:
I3＝I1+c×sin(k×n)＝20mA+5mA×sin(π/3×3)≈20mA+5mA×sin(π)≈20mA；
Thus, in this scenario, the initial current value i1=20ma for the first current path, the initial current value i2=15.67 mA for the second current path, and the initial value i3=20ma for the third current path 10.
When r=0.15, initial current i1=r×ie =0.15×200 ma=30 mA; still taking the motor 100 drive of the electric toothbrush as an example, let c=5 mA (the offset of the initial value is 5 mA), k=pi/3 (the period of the sine function is 2 pi/3, the amplitude is 10 mA).
For the second current path, n=2, there is:
I2＝I1+c×sin(k×n)＝30mA+5mA×sin(π/3×2)≈30mA+5mA×sin(2π/3)≈30mA-5mA×0.866≈30mA-4.33mA≈25.67mA
for the third circuit path, n=3, there is:
I3＝I1+c×sin(k×n)＝30mA+5mA×sin(π/3×3)≈30mA+5mA×sin(π)≈30mA；
Thus, in this scenario, the initial current value i1=30ma for the first current path, i2= 25.67mA for the second current path, and i3=30ma for the third current path 10.
When r=0.2, initial current i1=r×ie =0.2×200 ma=40 mA; still taking the motor 100 drive of the electric toothbrush as an example, let c=5 mA (the offset of the initial value is 5 mA), k=pi/3 (the period of the sine function is 2 pi/3, the amplitude is 10 mA).
For the second current path, n=2, there is:
I2＝I1+c×sin(k×n)＝40mA+5mA×sin(π/3×2)≈40mA+5mA×sin(2π/3)≈40mA-5mA×0.866≈30mA-4.33mA≈35.67mA
for the third circuit path, n=3, there is:
I3＝I1+c×sin(k×n)＝40mA+5mA×sin(π/3×3)≈40mA+5mA×sin(π)≈40mA；
thus, in this scenario, the initial current value i1=40 mA for the first current path, the initial current value i2=35.67 mA for the second current path, and the initial value i3=40 mA for the third current path 10.
Wherein, in the initial stage, the initial current value of each current path is adjusted by a sine function, so that the flexibility and stability of the motor 100 at the time of starting can be further increased. The period and amplitude of the sinusoidal function are set such that different paths produce different torques to balance the dynamic characteristics of the motor 100. Controlling the ratio r to be in the range of 0.1 to 0.2 ensures that the current applied by the motor 100 at start-up is not too great, thereby avoiding excessive shock during start-up of the motor 100 and protecting the motor 100 and its driving components.
More preferably, during the current increase phase:
The current value increase per unit time of any current path is noted kn, n=1, 2, or 3, and satisfies the relation:
kn＝a×log(n+b)；
0.1＜a＜10；
0＜b＜10；
Where a is a coefficient controlling the rate of current increase and b is an offset controlling the initial rate of current increase.
Here, assuming that the initial current value i1=20 mA of the first current path, the initial current value i2=15.67 mA of the second current path, the initial value of the third current path 10 is i3=20 mA. Still taking the motor 100 drive of the electric toothbrush as an example, assuming a coefficient of control current increase rate a=3, b=1 of control current initial increase rate offset, ma/s represents an increased current value per second, then:
K1＝3×log(1+1)＝3×log(2)＝2.079(mA/s)；
K2＝3×log(2+1)＝3×log(3)＝3.279(mA/s)；
K3＝3×log(3+1)＝3×log(4)＝4.158(mA/s)；
Therefore, the starting process of the motor 100 is divided into an initial stage, a current increasing stage and a detection stage, a smaller value is given to the initial current, the impact caused by overlarge current of three paths is avoided, and the current is gradually increased to a current value meeting the starting rotating speed through the current increasing stage. In this process, in order to improve the dynamic balance of the motor 100 during starting, in the initial stage, the current initial values I1, I2 and I3 of the three circuit paths are variables related to the rated current of the running state of the motor 100, and the current initial values I1, I2 and I3 are not linearly related, so that the user can adjust the current initial values according to specific conditions, so that the motor 100 can more flexibly adjust the output torque during starting, thereby realizing a more stable and effective starting process, and further improving the dynamic balance of the motor 100 during starting; in the current increasing stage, the current values of the three current paths 10 are sequentially increased step by step, the current value increasing amounts k1, k2 and k3 in the unit time of the three current paths 10 are sequentially increased, and the current values k1, k2 and k3 are not linearly related, which means that the current increase is not aimed at a certain current value, and when the rotation speed of the motor 100 is detected to reach the starting rotation speed Vst, the current values of the three current paths 10 are also in a nonlinear relationship, so that the dynamic balance of the motor 100 can be effectively improved.
The present embodiment further provides a differential drive system 200 of the three-phase six-wire brushless dc motor 100, where the motor 100 includes: three sets of coils 20 of different phases, a full bridge drive 30 electrically connected to both ends of each set of coils 20 to drive the three sets of coils 20, respectively, and three current paths 10 connecting the three sets of coils 20 and the full bridge drive 30, the system 200 comprising: an initial current control module 210, a starting current increment module 220, and a starting rotational speed detection module 230.
The initial current control module 210 is connected to the full-bridge drive 30, and initial current values of the three current paths 10 are sequentially set to I1, I2, and I3, where I1, I2, and I3 are variables related to rated currents of the motor operating states, and I1, I2, and I3 are not linearly related to each other, so as to improve dynamic balance of starting of the motor 100. The starting current increment module 220 is connected with the full-bridge drive 30, and current values of the three current paths 10 sequentially and stepwise increase, wherein the current value increment of the three current paths 10 in unit time is recorded as a variable k1 corresponding to I1, a variable k2 corresponding to I2 and a variable k3 corresponding to I3, wherein k1, k2 and k3 sequentially and incrementally increase, and k1, k2 and k3 are not linearly related to each other, so as to gradually increase the torque of the motor 100. The start-up speed detection module 230 is connected to the three current paths 10 and the full-bridge drive 30, respectively, and monitors the speed V of the motor 100, and stops increasing current and shifts to an operating state once a sufficient start-up speed Vst is reached.
More preferably, in the initial phase:
the rated current of the operating state of the motor 100 is denoted Ie and satisfies the relation:
I1＝r×Ie；
Where r is a proportionality coefficient that satisfies 0.1 r.ltoreq.0.2 to avoid the current applied by motor 100 at start-up from being too large to cause a surge.
More preferably, in the initial phase:
the relation between I1, I2 and I3 is satisfied:
In＝I1+c×sin(k×n)；
where In is an initial current value of the nth path, I1 is a determined initial value, c is a constant, an offset representing the initial value, k is a constant, and a period of the sine function is controlled, and n is a sequence number of the path, so that different current paths generate different torques to balance dynamic characteristics of the motor 100.
More preferably, during the current increase phase:
The current value increase per unit time of any current path is noted kn, n=1, 2, or 3, and satisfies the relation:
kn＝a×log(n+b)；
0.1＜a＜10；
0＜b＜10；
Where a is a coefficient controlling the rate of current increase and b is an offset controlling the initial rate of current increase.
Wherein FIG. 4 illustrates an internal block diagram of computer device 300 in one embodiment. The computer device 300 may be a terminal or a server. As shown in fig. 4, the computer device 300 includes a processor, memory, and a network interface connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the computer device 300 stores the operating system 200, and may also store a computer program, which when executed by a processor, causes the processor to implement the method described in the present embodiment. The internal memory may also store a computer program that, when executed by a processor, causes the processor to perform the method described in the present embodiment. It will be appreciated by those skilled in the art that the structure shown in FIG. 3 is merely a block diagram of some of the structures associated with the present inventive arrangements and does not constitute a limitation of the computer device 300 to which the present inventive arrangements may be applied, and that a particular computer device 300 may include more or less components than those shown, or may combine some of the components, or have a different arrangement of components.
A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method as described above.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The above embodiments represent only a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the application, which are within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (6)
1. A three-phase six-wire brushless dc motor differential drive method, the motor comprising: three groups of coils with different phases, a full bridge drive electrically connected with two ends of each group of coils to drive the three groups of coils respectively, and three current paths communicating the three groups of coils with the full bridge drive, wherein the method comprises the steps of:
The initial stage: initial current initial values of the three current paths are sequentially set as I1, I2 and I3, wherein I1, I2 and I3 are variables related to rated current of a motor running state, and I1, I2 and I3 are not linearly related to each other so as to improve dynamic balance of motor starting; wherein, the relation formula is satisfied among I1, I2 and I3:
In＝I1+c×sin(k×n)；
Wherein In is an initial current value of an nth path, n=2 or 3, I1 is a determined initial value, c is a constant representing an offset of the initial value, k is a constant, and a period of a sine function is controlled so that different current paths generate different torques to balance dynamic characteristics of the motor;
Increasing the current: the current values of the three current paths are sequentially increased step by step, the current value increment of the three current paths in unit time is recorded as a variable k1 corresponding to I1, a variable k2 corresponding to I2 and a variable k3 corresponding to I3, wherein k1, k2 and k3 are sequentially increased, and k1, k2 and k3 are not linearly related to each other so as to gradually improve the torque of the motor; during the current increasing phase:
The current value increase per unit time of any current path is noted kn, n=1, 2, or 3, and satisfies the relation:
kn＝a×log(n+b)；
0.1＜a＜10；
0＜b＜10；
wherein a is a coefficient for controlling the current increasing rate, and b is an offset for controlling the initial current increasing rate;
and (3) detecting and starting: the rotational speed V of the motor is monitored, and once a sufficient start rotational speed Vst is reached, the current is stopped from increasing and the motor is put into operation.
2. The differential drive method of a three-phase six-wire brushless dc motor according to claim 1, wherein, in an initial stage:
rated current of the motor running state is recorded as Ie, and the relation is satisfied:
I1＝r×Ie；
Wherein r is a proportionality coefficient which satisfies that r is more than or equal to 0.1 and less than or equal to 0.2 so as to avoid impact caused by too large current applied by the motor during starting.
3. A three-phase six-wire brushless dc motor differential drive system, the motor comprising: three sets of coils of different phases, a full bridge drive electrically connected to two ends of each set of coils to drive the three sets of coils, respectively, and three current paths connecting the three sets of coils and the full bridge drive, the system comprising:
The initial current control module is connected with the full-bridge drive, initial current initial values of the three current paths are sequentially set to be I1, I2 and I3, wherein I1, I2 and I3 are variables related to rated current of a motor running state, and I1, I2 and I3 are not in linear correlation, so that dynamic balance of motor starting is improved; wherein, the relation formula is satisfied among I1, I2 and I3:
In＝I1+c×sin(k×n)；
Wherein In is an initial current value of an nth path, n=2 or 3, I1 is a determined initial value, c is a constant representing an offset of the initial value, k is a constant, and a period of a sine function is controlled so that different current paths generate different torques to balance dynamic characteristics of the motor;
The starting current increasing module is connected with the full bridge drive, current values of three current paths are sequentially increased step by step, current value increasing amounts of the three current paths in unit time are recorded as a variable k1 corresponding to I1, a variable k2 corresponding to I2 and a variable k3 corresponding to I3, wherein k1, k2 and k3 are sequentially increased, and k1, k2 and k3 are not linearly related to each other so as to gradually improve the torque of the motor; wherein the current value increase amount per unit time of any current path is kn, n=1, 2 or 3, and satisfies the relation:
kn＝a×log(n+b)；
0.1＜a＜10；
0＜b＜10；
wherein a is a coefficient for controlling the current increasing rate, and b is an offset for controlling the initial current increasing rate;
Starting a rotating speed detection module: the motor is connected with three current paths and a full bridge drive respectively, the rotating speed V of the motor is monitored, and once the sufficient starting rotating speed Vst is reached, the current is stopped from increasing and the motor is switched into an operating state.
4. A three-phase six-wire brushless dc motor differential drive system according to claim 3, wherein, in an initial stage:
rated current of the motor running state is recorded as Ie, and the relation is satisfied:
I1＝r×Ie；
Wherein r is a proportionality coefficient which satisfies that r is more than or equal to 0.1 and less than or equal to 0.2 so as to avoid impact caused by too large current applied by the motor during starting.
5. A computer readable storage medium, characterized in that a computer program is stored, which, when being executed by a processor, causes the processor to perform the steps of the method according to any of claims 1 to 2.
6. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method of any of claims 1 to 2.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1494346A2 (en) * | 2003-07-04 | 2005-01-05 | B.D.G. El. S.P.A. | A controller device, in particular for induction motors and more particularly for compressors in refrigerating apparatuses. |
| CN102739131A (en) * | 2011-04-05 | 2012-10-17 | 大金工业株式会社 | Motor driving device and heat pump device using the motor driving device |
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| JPH06121510A (en) * | 1992-10-07 | 1994-04-28 | Fujitsu Ltd | Structure of two-phase dc brushless motor and rotational control method therefor |
| US7589484B2 (en) * | 2002-07-10 | 2009-09-15 | Seagate Technology Llc | Closed loop acceleration control for a data storage device motor |
| GB2542633A (en) * | 2015-09-28 | 2017-03-29 | Melexis Technologies Nv | Method of starting a three-phase BLDC motor and motor driver using same |
| KR102030271B1 (en) * | 2018-03-28 | 2019-10-08 | 주식회사 세턴 | Apparatus for bldc motor control and method for initial position detecting of bldc motor using the same |
| WO2020135237A1 (en) * | 2018-12-24 | 2020-07-02 | 浙江大学 | Method for quantitatively analyzing starting capability of stepper motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1494346A2 (en) * | 2003-07-04 | 2005-01-05 | B.D.G. El. S.P.A. | A controller device, in particular for induction motors and more particularly for compressors in refrigerating apparatuses. |
| CN102739131A (en) * | 2011-04-05 | 2012-10-17 | 大金工业株式会社 | Motor driving device and heat pump device using the motor driving device |
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