CN110927576A - Locked rotor detection method, device and equipment of brushless motor - Google Patents
Locked rotor detection method, device and equipment of brushless motor Download PDFInfo
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Abstract
The invention discloses a locked rotor detection method, a locked rotor detection device and locked rotor detection equipment of a brushless motor. Wherein the method comprises the following steps: detecting whether the motor running time of the brushless motor reaches preset time to obtain a running time detection result, judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value to obtain an acceleration threshold value judgment result when the running time detection result detects that the motor running time of the brushless motor reaches the preset time, and judging whether the brushless motor has a locked rotor condition according to the acceleration threshold value judgment result. By the mode, whether the brushless motor is locked in rotation or not can be timely detected.
Description
Technical Field
The invention relates to the technical field of brushless motors, in particular to a locked rotor detection method, a locked rotor detection device and locked rotor detection equipment of a brushless motor.
Background
The existing brushless motor stalling detection scheme generally adopts two schemes, one scheme is to detect whether the brushless motor stalls by judging whether the bus current of the brushless motor is larger than the set stalling current, and the other scheme is to detect whether the brushless motor stalls by judging whether the motor steady-state rotating speed of the brushless motor is within the error range of the constant rotating speed.
However, two kinds of current brushless motor's stifled commentaries on classics detection scheme, because brushless motor's motor speed is adjustable, motor speed has a process of accelerating or decelerating from the previous speed to predetermineeing the speed, should detect brushless motor whether have the circumstances of stifled commentaries on classics through the mode of judging brushless motor's bus current and this through the mode of judging brushless motor's motor steady state rotational speed, all need can judge when brushless motor's motor speed reaches the steady state, but brushless motor's motor generally all has the acceleration and deceleration of a period of time, therefore current two kinds of brushless motor's stifled commentaries on classics detection scheme is not high to the real-time nature of stifled commentaries on classics detection, can't realize timely detection and whether have the circumstances of stifled commentaries on classics.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method, an apparatus and a device for detecting a locked rotor of a brushless motor, which can detect whether the brushless motor has a locked rotor in a timely manner.
According to an aspect of the present invention, there is provided a locked rotor detecting method of a brushless motor, including: detecting whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result; when the running time detection result is that the running time of the motor of the brushless motor reaches preset time, judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value to obtain an acceleration threshold value judgment result; and judging whether the brushless motor has the locked rotor condition or not according to the acceleration threshold judgment result.
Wherein, whether the motor operation time of detecting brushless motor reaches the time of predetermineeing and obtains the operation time testing result, include: and detecting whether the motor running time of the brushless motor reaches the preset time by adopting a timing counter mode to obtain a running time detection result.
When the running time detection result is that the running time of the motor of the brushless motor is detected to reach the preset time, determining whether an acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold to obtain an acceleration threshold determination result, including: when the running time detection result is that the running time of the motor of the brushless motor reaches the preset time, a speed observer mode is adopted to obtain a first speed value of the motor rotating speed of the brushless motor in the starting time of the time period of the preset time and a second speed value of the motor rotating speed of the brushless motor in the ending time of the time period of the preset time, the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is calculated according to the first speed value and the second speed value, and whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value or not is judged according to the calculated acceleration value of the motor rotating speed to obtain an acceleration threshold judgment result.
Wherein, the determining whether the brushless motor has a locked rotor condition according to the acceleration threshold determination result includes: according to the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is smaller than a preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition, and when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not smaller than the preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition.
After determining whether the brushless motor has a locked rotor condition according to the acceleration threshold determination result, the method further includes: actively braking a motor of the brushless motor when it is determined that the brushless motor is in a condition where a stall exists.
According to another aspect of the present invention, there is provided a stalling detection device of a brushless motor, comprising: the device comprises a detection module, a judgment module and a judgment module; the detection module is used for detecting whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result; the judging module is used for judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value or not to obtain an acceleration threshold value judging result when the running time detecting result is that the running time of the motor of the brushless motor is detected to reach the preset time; and the judging module is used for judging whether the brushless motor has the locked rotor condition or not according to the acceleration threshold judging result.
Wherein, the detection module is specifically configured to: and detecting whether the motor running time of the brushless motor reaches the preset time by adopting a timing counter mode to obtain a running time detection result.
The judging module is specifically configured to: when the running time detection result is that the running time of the motor of the brushless motor reaches the preset time, a speed observer mode is adopted to obtain a first speed value of the motor rotating speed of the brushless motor in the starting time of the time period of the preset time and a second speed value of the motor rotating speed of the brushless motor in the ending time of the time period of the preset time, the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is calculated according to the first speed value and the second speed value, and whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value or not is judged according to the calculated acceleration value of the motor rotating speed to obtain an acceleration threshold judgment result.
The determination module is specifically configured to: according to the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is smaller than a preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition, and when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not smaller than the preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition.
Wherein, brushless motor's stifled commentaries on classics detection device still includes: a brake module; the braking module is used for actively braking the motor of the brushless motor when the brushless motor is judged to have the locked rotor condition.
According to still another aspect of the present invention, there is provided a stalling detection device of a brushless motor, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the above methods of detecting stalling of a brushless motor.
According to still another aspect of the present invention, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements a stall detection method of a brushless motor according to any one of the above.
It can be found that, with the above scheme, whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result, and when the running time detection result is that the motor running time of the brushless motor reaches the preset time, whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold value is judged to obtain an acceleration threshold value judgment result, and whether the brushless motor has the locked-rotor condition or not can be judged according to the acceleration threshold value judgment result, and whether the locked-rotor condition exists or not can be timely detected.
Furthermore, the scheme can adopt a mode of a timing counter to detect whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result, and the advantage is that whether the motor running time of the brushless motor reaches the preset time can be accurately detected.
Further, in the above scheme, when the operation time detection result is that the motor operation time of the brushless motor is detected to reach the preset time, acquiring a first speed value of the motor rotating speed of the brushless motor at the starting time of the time period of the preset time and a second speed value at the ending time of the time period of the preset time by adopting a speed observer mode, calculating the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time according to the first speed value and the second speed value, judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value according to the calculated acceleration value of the motor rotating speed to obtain an acceleration threshold value judgment result, the advantage of this is that can realize accurate judgement this brushless motor whether the acceleration value of motor speed in this time quantum of predetermineeing the time is not less than the acceleration threshold value that predetermine.
Further, according to the above scheme, when the acceleration threshold determination result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is smaller than the preset acceleration threshold, it may be determined that the brushless motor is in the locked-rotor state, and when the acceleration threshold determination result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not smaller than the preset acceleration threshold, it may be determined that the brushless motor is not in the locked-rotor state.
Furthermore, above scheme can be when judging that this brushless motor is the condition that has the locked rotor, this brushless motor's motor of initiative braking, and such advantage can realize avoiding appearing the locked rotor and leading to the condition that brushless motor's motor damaged, can effectively guarantee brushless motor's motor reliability, improves brushless motor's motor life.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart illustrating an embodiment of a method for detecting a locked rotor of a brushless motor according to the present invention;
fig. 2 is a schematic flow chart of another embodiment of a method for detecting locked rotor of a brushless motor according to the present invention;
fig. 3 is a schematic structural diagram of an embodiment of a locked rotor detecting device of a brushless motor according to the present invention;
fig. 4 is a schematic structural diagram of another embodiment of a locked rotor detecting device of a brushless motor according to the present invention;
fig. 5 is a schematic structural diagram of an embodiment of a locked-rotor detecting apparatus of a brushless motor according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Similarly, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.
The invention provides a locked rotor detection method of a brushless motor, which can realize the timely detection of whether the brushless motor has locked rotor or not.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a method for detecting a locked rotor of a brushless motor according to the present invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 1 if the results are substantially the same. As shown in fig. 1, the method comprises the steps of:
s101: and detecting whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result.
Wherein, whether this detection brushless motor's motor operating time reaches the time of predetermineeing and obtains the operating time testing result, can include:
by adopting the mode of the timing counter, whether the motor running time of the brushless motor reaches the preset time or not is detected to obtain a running time detection result, and the advantage that whether the motor running time of the brushless motor reaches the preset time or not can be accurately detected.
S102: and when the running time detection result is that the running time of the motor of the brushless motor reaches the preset time, judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value or not to obtain an acceleration threshold value judgment result.
Wherein, when the running time detection result is that the running time of the motor of the brushless motor is detected to reach the preset time, determining whether an acceleration value of the motor speed of the brushless motor within the time period of the preset time is not less than a preset acceleration threshold to obtain an acceleration threshold determination result, which may include:
when the operation time detection result is that the motor operation time of the brushless motor is detected to reach the preset time, acquiring a first speed value of the motor rotating speed of the brushless motor at the starting time of the time period of the preset time and a second speed value at the ending time of the time period of the preset time by adopting a speed observer mode, calculating the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time according to the first speed value and the second speed value, judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value according to the calculated acceleration value of the motor rotating speed to obtain an acceleration threshold value judgment result, the advantage of this is that can realize accurate judgement this brushless motor whether the acceleration value of motor speed in this time quantum of predetermineeing the time is not less than the acceleration threshold value that predetermine.
In this embodiment, whether the acceleration value of the motor speed of the brushless motor in the period of the preset time is not less than the preset acceleration threshold may be that the acceleration value of the motor speed of the brushless motor in the period of the preset time is equal to the preset acceleration threshold, or that the acceleration value of the motor speed of the brushless motor in the period of the preset time is greater than the preset acceleration threshold.
S103: and judging whether the brushless motor has the locked rotor condition or not according to the acceleration threshold judgment result.
Wherein, should judge whether this brushless motor has the circumstances of locked rotor according to this acceleration threshold judgement result, can include:
according to the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is smaller than the preset acceleration threshold, the brushless motor is judged to be in the locked-rotor condition, when the acceleration threshold judgment result is that the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not smaller than the preset acceleration threshold, the brushless motor is judged to be in the locked-rotor condition, and the advantage is that whether the locked-rotor condition exists in the brushless motor can be timely detected.
After determining whether the brushless motor has a locked rotor condition according to the acceleration threshold determination result, the method may further include:
when the brushless motor is judged to have the locked rotor condition, the motor of the brushless motor is actively braked, so that the condition that the motor of the brushless motor is damaged due to the locked rotor condition can be avoided, the motor reliability of the brushless motor can be effectively ensured, and the service life of the motor of the brushless motor is prolonged.
It can be found that, in this embodiment, whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result, and when the running time detection result is that the motor running time of the brushless motor reaches the preset time, whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold is determined to obtain an acceleration threshold determination result, and whether the brushless motor has a locked-rotor condition or not can be determined according to the acceleration threshold determination result, so that whether the locked-rotor condition exists or not can be timely detected.
Further, in this embodiment, a timing counter may be used to detect whether the operating time of the motor of the brushless motor reaches the preset time to obtain the operating time detection result, which is advantageous in that it is possible to accurately detect whether the operating time of the motor of the brushless motor reaches the preset time.
Further, in the present embodiment, when the operation time detection result is that the motor operation time of the brushless motor is detected to reach the preset time, acquiring a first speed value of the motor rotating speed of the brushless motor at the starting time of the time period of the preset time and a second speed value at the ending time of the time period of the preset time by adopting a speed observer mode, calculating the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time according to the first speed value and the second speed value, judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value according to the calculated acceleration value of the motor rotating speed to obtain an acceleration threshold value judgment result, the advantage of this is that can realize accurate judgement this brushless motor whether the acceleration value of motor speed in this time quantum of predetermineeing the time is not less than the acceleration threshold value that predetermine.
Further, in this embodiment, according to the acceleration threshold determination result, when the acceleration value of the motor speed of the brushless motor in the time period of the preset time is smaller than the preset acceleration threshold, it may be determined that the brushless motor is in the locked-rotor state, and when the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not smaller than the preset acceleration threshold, it is determined that the brushless motor is not in the locked-rotor state.
Referring to fig. 2, fig. 2 is a schematic flow chart of another embodiment of a method for detecting a locked rotor of a brushless motor according to the present invention. In this embodiment, the method includes the steps of:
s201: and detecting whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result.
As described above in S101, further description is omitted here.
S202: and when the running time detection result is that the running time of the motor of the brushless motor reaches the preset time, judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value or not to obtain an acceleration threshold value judgment result.
As described above in S102, further description is omitted here.
S203: and judging whether the brushless motor has the locked rotor condition or not according to the acceleration threshold judgment result.
As described above in S103, which is not described herein.
S204: and actively braking the motor of the brushless motor when the brushless motor is determined to be in the locked-rotor condition.
It can be found that, in this embodiment, when it is determined that the brushless motor is in the locked rotor condition, the motor of the brushless motor can be actively braked, so that the advantage of avoiding the motor damage of the brushless motor caused by the locked rotor condition can be achieved, the motor reliability of the brushless motor can be effectively ensured, and the motor service life of the brushless motor can be prolonged.
The invention also provides a device for detecting the locked rotor of the brushless motor, which can detect whether the brushless motor has the locked rotor condition in time.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a locked rotor detection device of a brushless motor according to the present invention. In this embodiment, the brushless motor stalling detection device 30 includes a detection module 31, a determination module 32, and a determination module 33.
The detection module 31 is configured to detect whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result.
The determining module 32 is configured to determine whether an acceleration value of a motor speed of the brushless motor within a time period of the preset time is not less than a preset acceleration threshold to obtain an acceleration threshold determination result when the operation time detection result is that it is detected that the operation time of the motor of the brushless motor reaches the preset time.
The determining module 33 is configured to determine whether the brushless motor has a locked rotor condition according to the acceleration threshold determination result.
Optionally, the detection module 31 may be specifically configured to:
and detecting whether the motor running time of the brushless motor reaches the preset time by adopting a timing counter mode to obtain a running time detection result.
Optionally, the determining module 32 may be specifically configured to:
when the running time detection result is that the running time of the motor of the brushless motor reaches the preset time, a speed observer mode is adopted to obtain a first speed value of the motor rotating speed of the brushless motor in the starting time of the time period of the preset time and a second speed value of the motor rotating speed of the brushless motor in the ending time of the time period of the preset time, the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is calculated according to the first speed value and the second speed value, and whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value is judged according to the calculated acceleration value of the motor rotating speed to obtain an acceleration threshold judgment result.
Optionally, the determining module 33 may be specifically configured to:
according to the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is smaller than the preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition, and when the acceleration threshold judgment result is that the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not smaller than the preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition.
Referring to fig. 4, fig. 4 is a schematic structural diagram of another embodiment of a locked rotor detection device of a brushless motor according to the present invention. Different from the previous embodiment, the stalling detection device 40 of the brushless motor according to this embodiment further includes a braking module 41.
The braking module 41 is configured to actively brake the motor of the brushless motor when it is determined that the brushless motor is in the locked-rotor condition.
Each unit module of the locked rotor detecting device 30/40 of the brushless motor can respectively execute the corresponding steps in the above method embodiments, and therefore, the detailed description of each unit module is omitted here, and please refer to the description of the corresponding steps above.
The present invention further provides a stalling detection device of a brushless motor, as shown in fig. 5, including: at least one processor 51; and a memory 52 communicatively coupled to the at least one processor 51; the memory 52 stores instructions executable by the at least one processor 51, and the instructions are executed by the at least one processor 51, so that the at least one processor 51 can execute the stalling detection method of the brushless motor.
Wherein the memory 52 and the processor 51 are coupled in a bus, which may comprise any number of interconnected buses and bridges, which couple one or more of the various circuits of the processor 51 and the memory 52 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 51 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 51.
The processor 51 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory 52 may be used to store data used by the processor 51 in performing operations.
The present invention further provides a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
It can be found that, with the above scheme, whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result, and when the running time detection result is that the motor running time of the brushless motor reaches the preset time, whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold value is judged to obtain an acceleration threshold value judgment result, and whether the brushless motor has the locked-rotor condition or not can be judged according to the acceleration threshold value judgment result, and whether the locked-rotor condition exists or not can be timely detected.
Furthermore, the scheme can adopt a mode of a timing counter to detect whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result, and the advantage is that whether the motor running time of the brushless motor reaches the preset time can be accurately detected.
Further, in the above scheme, when the operation time detection result is that the motor operation time of the brushless motor is detected to reach the preset time, acquiring a first speed value of the motor rotating speed of the brushless motor at the starting time of the time period of the preset time and a second speed value at the ending time of the time period of the preset time by adopting a speed observer mode, calculating the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time according to the first speed value and the second speed value, judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value according to the calculated acceleration value of the motor rotating speed to obtain an acceleration threshold value judgment result, the advantage of this is that can realize accurate judgement this brushless motor whether the acceleration value of motor speed in this time quantum of predetermineeing the time is not less than the acceleration threshold value that predetermine.
Further, according to the above scheme, when the acceleration threshold determination result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is smaller than the preset acceleration threshold, it may be determined that the brushless motor is in the locked-rotor state, and when the acceleration threshold determination result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not smaller than the preset acceleration threshold, it may be determined that the brushless motor is not in the locked-rotor state.
Furthermore, above scheme can be when judging that this brushless motor is the condition that has the locked rotor, this brushless motor's motor of initiative braking, and such advantage can realize avoiding appearing the locked rotor and leading to the condition that brushless motor's motor damaged, can effectively guarantee brushless motor's motor reliability, improves brushless motor's motor life.
In the several embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be substantially or partially implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A locked rotor detection method of a brushless motor is characterized by comprising the following steps:
detecting whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result;
when the running time detection result is that the running time of the motor of the brushless motor reaches preset time, judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value to obtain an acceleration threshold value judgment result;
and judging whether the brushless motor has the locked rotor condition or not according to the acceleration threshold judgment result.
2. The method for detecting a locked rotor of a brushless motor according to claim 1, wherein the detecting whether the motor operation time of the brushless motor reaches a preset time to obtain an operation time detection result comprises:
and detecting whether the motor running time of the brushless motor reaches the preset time by adopting a timing counter mode to obtain a running time detection result.
3. The method of detecting a locked rotor of a brushless motor according to claim 1, wherein the determining whether the acceleration value of the motor speed of the brushless motor within the period of the preset time is not less than a preset acceleration threshold when the operation time detection result is that the motor operation time of the brushless motor is detected to reach the preset time, obtains an acceleration threshold determination result, and includes:
when the running time detection result is that the running time of the motor of the brushless motor reaches the preset time, a speed observer mode is adopted to obtain a first speed value of the motor rotating speed of the brushless motor in the starting time of the time period of the preset time and a second speed value of the motor rotating speed of the brushless motor in the ending time of the time period of the preset time, the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is calculated according to the first speed value and the second speed value, and whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value or not is judged according to the calculated acceleration value of the motor rotating speed to obtain an acceleration threshold judgment result.
4. The method of detecting a locked rotor of a brushless motor according to claim 1, wherein said determining whether there is a locked rotor of the brushless motor based on the result of the acceleration threshold determination comprises:
according to the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is smaller than a preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition, and when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not smaller than the preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition.
5. The method of detecting a locked rotor of a brushless motor according to claim 1, wherein after said determining whether there is a locked rotor of the brushless motor based on the result of the acceleration threshold, further comprising:
actively braking a motor of the brushless motor when it is determined that the brushless motor is in a condition where a stall exists.
6. A stalling detection device of a brushless motor is characterized by comprising:
the device comprises a detection module, a judgment module and a judgment module;
the detection module is used for detecting whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result;
the judging module is used for judging whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value or not to obtain an acceleration threshold value judging result when the running time detecting result is that the running time of the motor of the brushless motor is detected to reach the preset time;
and the judging module is used for judging whether the brushless motor has the locked rotor condition or not according to the acceleration threshold judging result.
7. The brushless motor stall detection apparatus of claim 6, wherein the detection module is specifically configured to:
and detecting whether the motor running time of the brushless motor reaches the preset time by adopting a timing counter mode to obtain a running time detection result.
8. The apparatus according to claim 6, wherein the determining module is specifically configured to:
when the running time detection result is that the running time of the motor of the brushless motor reaches the preset time, a speed observer mode is adopted to obtain a first speed value of the motor rotating speed of the brushless motor in the starting time of the time period of the preset time and a second speed value of the motor rotating speed of the brushless motor in the ending time of the time period of the preset time, the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is calculated according to the first speed value and the second speed value, and whether the acceleration value of the motor rotating speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold value or not is judged according to the calculated acceleration value of the motor rotating speed to obtain an acceleration threshold judgment result.
9. The apparatus according to claim 6, wherein the determining module is specifically configured to:
according to the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is smaller than a preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition, and when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not smaller than the preset acceleration threshold, judging that the brushless motor is in the locked-rotor condition.
10. The apparatus for detecting a stalling of a brushless motor according to claim 6, further comprising:
a brake module;
the braking module is used for actively braking the motor of the brushless motor when the brushless motor is judged to have the locked rotor condition.
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| CN201911400736.7A CN110927576A (en) | 2019-12-26 | 2019-12-26 | Locked rotor detection method, device and equipment of brushless motor |
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| CN201911400736.7A CN110927576A (en) | 2019-12-26 | 2019-12-26 | Locked rotor detection method, device and equipment of brushless motor |
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