CN113740622A - Electric tool, brushless DC motor and phase-loss detection method thereof - Google Patents
Electric tool, brushless DC motor and phase-loss detection method thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/16—Measuring asymmetry of polyphase networks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H1/00—Details of emergency protective circuit arrangements
- H02H1/0007—Details of emergency protective circuit arrangements concerning the detecting means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
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Abstract
The invention relates to a readable storage medium, an electric tool, a direct current brushless motor and a phase-lack detection method thereof, wherein the phase-lack detection method is carried out when the direct current brushless motor runs: when determining phase conversion according to detection data of a position sensor, determining a current non-conducting phase according to the detection data; determining the theoretical change trend of the terminal voltage of the non-conducting phase according to the detection data, and taking the current non-conducting phase as the current detection phase when the theoretical change trend of the terminal voltage of the non-conducting phase is ascending; and detecting the terminal voltage of the current detection phase, and judging whether the current detection phase has a phase failure according to the detection value of the terminal voltage of the current detection phase. By implementing the technical scheme of the invention, the detection of the open-phase fault can be realized when the DC brushless motor operates, and the protection is generated in time, thereby avoiding the damage of the controller and improving the reliability of the controller.
Description
Technical Field
The invention relates to the field of motors, in particular to a readable storage medium, an electric tool, a direct current brushless motor and a phase-lack detection method thereof.
Background
The direct current brushless motor is a permanent magnet synchronous motor with self-control frequency conversion, and consists of a motor body, a position sensor and an electronic switch circuit, wherein the motor body is used for generating air gap magnetic flux, and a stator is used as an armature, consists of a multi-phase winding and is connected to a direct current power supply through a driver; the position sensor is used for detecting the relative position of the motor rotor and the stator; the electronic switching circuit consists of a power tube and a controller and is used for controlling the electrifying sequence and the conduction time of the motor stator winding to realize phase change.
The phase-loss detection of the existing dc brushless motor is generally applied before the motor is started, but under some working conditions, such as in an electric tool, the motor may cause phase loss due to strong impact after running, for example, an open circuit of a stator winding of a certain phase, poor contact of a power tube, and the like may cause phase loss during running. When the motor has a phase-loss fault, the phase current output of the motor is abnormal or lost, the output torque of the motor generates large fluctuation, and the controller is easy to burn when working in a phase-loss state of a winding. Therefore, it is necessary to detect the phase loss of the dc brushless motor during operation.
Disclosure of Invention
The present invention is directed to a readable storage medium, an electric tool, a dc brushless motor and a phase-loss detection method thereof, which are provided to overcome the defect of the prior art that the phase-loss detection cannot be performed on the dc brushless motor in operation.
The technical scheme adopted by the invention for solving the technical problems is as follows: the method for detecting the phase loss of the direct current brushless motor is constructed, and the following steps are carried out when the direct current brushless motor runs:
a first determination step: when determining phase conversion according to detection data of a position sensor, determining a current non-conducting phase according to the detection data;
a second determination step: determining the theoretical change trend of the terminal voltage of the non-conducting phase according to the detection data, and taking the current non-conducting phase as the current detection phase when the theoretical change trend of the terminal voltage of the non-conducting phase is ascending;
a voltage detection step: and detecting the terminal voltage of the current detection phase, and judging whether the current detection phase has a phase failure according to the detection value of the terminal voltage of the current detection phase.
Preferably, the voltage detecting step includes:
detecting the terminal voltage of the current detection phase in real time in a specific time period;
if the detection values of the terminal voltages of the current detection phases in a specific time period are all smaller than the preset voltage value, determining that the phase-lack fault occurs in the current detection phases;
and if the detection value of the terminal voltage of the current detection phase in a specific time period is not less than the preset voltage value, determining that the phase-lack fault does not occur in the current detection phase.
Preferably, the second determining step further comprises: initializing a phase-missing detection count value corresponding to the current detection phase to 0;
further, the voltage detecting step includes:
s31, carrying out real-time detection on the terminal voltage of the current detection phase;
step S32, judging whether the current detection value of the terminal voltage of the current detection phase is smaller than a preset voltage value, if so, executing step S34; if not, go to step S33;
s33, adding 1 to a phase-lack detection count value corresponding to the current detection phase;
step S34, judging whether the specific time period is finished, if so, executing step S35; if not, go to step S31;
step S35, judging whether the phase-lack detection count value corresponding to the current detection phase is 0, if yes, executing step S36; if not, go to step S37;
s36, determining that the phase-lack fault occurs in the current detection phase;
and S37, determining that the current detection phase has no phase failure.
Preferably, the specific time period is: a period from a time when a theoretical trend of change of the terminal voltage of the non-conductive phase becomes rising to a time when a commutation is determined again from detection data of the position sensor.
Preferably, the method further comprises the following steps:
a first initialization step: initializing a commutation number value of the DC brushless motor to 0 when the DC brushless motor starts to operate;
further, the first determination step includes:
when phase change is determined according to detection data of the position sensor, adding 1 to the phase change number value, and judging whether the current phase change number value is larger than a first preset number value or not;
and if the current phase change number value is larger than a first preset number value, determining the current non-conducted phase according to the detection data.
Preferably, the method further comprises the following steps:
a second initialization step: initializing the cycle detection count value corresponding to each phase to 0 when the direct current brushless motor starts to operate;
further, the voltage detecting step includes:
detecting the terminal voltage of the current detection phase, judging whether the current detection period has a phase-lack fault according to the detection value of the terminal voltage of the current detection phase, determining the current detection phase as the current fault phase when the current detection period has the phase-lack fault, and taking the current detection period as the current fault period;
judging whether the fault phase of the current fault period and the fault phase of the previous fault period are the same, and if the fault phases are the same, adding 1 to a period detection count value corresponding to the current fault phase; if the phases are not the same, clearing a cycle detection count value corresponding to the fault phase of the previous fault cycle;
judging whether the cycle detection count value corresponding to the current fault phase is greater than a second preset numerical value or not, and if so, determining that the current fault phase has a phase-lack fault; and if the number is not greater than the second preset number, the first determining step is executed again.
Preferably, the second preset decimal value is greater than or equal to 2.
The present invention also constructs a readable storage medium storing a computer program that, when executed by a controller, implements the open-phase detection method described above.
The present invention also constructs a dc brushless motor comprising a controller and a memory storing a computer program, the controller implementing the above-described open-phase detection method when executing the computer program.
The invention also provides an electric tool comprising the direct current brushless motor.
In the technical scheme provided by the invention, when the phase change is determined according to the detection data of the position sensor, the current non-conducting phase is determined, then the theoretical change trend of the terminal voltage of the non-conducting phase is judged, the terminal voltage is detected when the theoretical change trend is increased, and whether the phase-lack fault occurs in the current detection phase is judged according to the detection value of the terminal voltage. Therefore, the detection of the open-phase fault can be realized when the DC brushless motor operates, and the protection is generated in time, thereby avoiding the damage of the controller and improving the reliability of the controller.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort. In the drawings:
fig. 1 is a schematic diagram of terminal voltages during normal operation and in the event of a phase loss fault;
FIG. 2 is a flowchart illustrating a phase loss detection method of a brushless DC motor according to a first embodiment of the present invention;
FIG. 3 is a flowchart of step S30 in FIG. 2 according to a second embodiment;
fig. 4 is a waveform diagram of terminal voltages at the time of a phase-loss fault in one of phases of the dc brushless motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In some working conditions (such as in an electric tool), the phase-loss fault of the brushless direct-current motor is caused by strong impact after the brushless direct-current motor runs, and the phase-loss fault needs to be detected and protected in time so as to improve the reliability of a product.
Research and test prove that: with reference to fig. 1, when the dc brushless motor is in normal operation, the waveform of the terminal voltage Ui presents a complete trapezoidal wave, and the waveform has a rising interval; when the brushless dc motor has a phase loss fault, the rising edge of the waveform of the terminal voltage Ui' is a vertical line, i.e., the rising edge is always at a low level in the section where the voltage should rise, and no slope occurs. Based on this, whether the open-phase fault occurs can be judged by detecting the voltage of the theoretical rising interval of the terminal voltage.
Fig. 2 is a flowchart of a phase loss detection method of a dc brushless motor according to a first embodiment of the present invention, in which the dc brushless motor is a three-phase dc brushless motor, and the following steps are performed when the dc brushless motor is operated:
first determination step S10: when determining phase conversion according to detection data of a position sensor, determining a current non-conducting phase according to the detection data;
in this step, it is first explained that the dc brushless motor puts the armature on the stator in order to omit the brushes, and the rotor is made of permanent magnets, which is the opposite of the general dc motor. In addition, in order to rotate the motor, the phase of each phase winding of the stator armature must be continuously exchanged and electrified, so that the magnetic field of the stator can be continuously changed along with the position of the rotor, and torque is generated to drive the rotor to rotate. In the brushless DC motor, a position sensor is arranged to detect the relative position of a stator and a rotor, and a controller controls the electrifying sequence and the conducting time of stator windings of each phase according to the detection data of the position sensor, so as to realize electronic phase change (namely, change of conducting windings). Moreover, at each phase change, only the corresponding two-phase stator winding is made conductive and the other-phase stator winding is made nonconductive according to the current detection data of the position sensor.
Second determination step S20: determining the theoretical change trend of the terminal voltage of the non-conducting phase according to the detection data, and taking the current non-conducting phase as the current detection phase when the theoretical change trend of the terminal voltage of the non-conducting phase is ascending;
in this step, since commutation (changing the stator winding that is conducting) is determined according to the relative position of the rotor and the stator, when the rotational direction of the rotor is determined, the switching order of the conducting windings (i.e., the commutation order) is also determined. Moreover, the theoretical variation trend of the terminal voltage of the non-conducting phase at the current moment can be determined according to the current relative position of the rotor and the stator, wherein the theoretical variation trend of the terminal voltage is the terminal voltage variation trend determined according to the relative position of the stator and the rotor during normal operation (no phase-lack fault occurs). If the theoretical trend of the terminal voltage is decreasing, no detection is performed, and only when the theoretical trend of the terminal voltage is increasing, as at time t1 in fig. 1, the detection is started, and the current non-conducting phase is taken as the current detection phase.
Voltage detection step S30: and detecting the terminal voltage of the current detection phase, and judging whether the current detection phase has a phase failure according to the detection value of the terminal voltage of the current detection phase.
In this step, with reference to fig. 1, since the terminal voltage of the currently detected phase (non-conducting phase) is different in waveform when a phase-loss fault occurs from when a phase-loss fault does not occur: when no open-phase fault occurs, the terminal voltage presents a complete trapezoidal wave and has a section of rising interval; when a phase loss fault occurs, the voltage level is always low in the section that should be raised, and no slope occurs. Therefore, whether the phase-lack fault occurs in the current detection phase can be judged according to the detection value of the terminal voltage of the current detection phase.
In an alternative embodiment, the voltage detecting step S30 may include:
detecting the terminal voltage of the current detection phase in real time in a specific time period;
if the detection values of the terminal voltages of the current detection phases in a specific time period are all smaller than the preset voltage value, determining that the phase-lack fault occurs in the current detection phases;
and if the detection value of the terminal voltage of the current detection phase in a specific time period is not less than the preset voltage value, determining that the phase-lack fault does not occur in the current detection phase.
In this embodiment, to improve the accuracy of terminal voltage detection, the terminal voltage of the current detection phase may be detected several times continuously within a period of time (e.g., the time period between times t1 and t2 in fig. 1), and it is determined whether the detected value at each time is less than a preset voltage value, which may be determined according to hardware conditions, for example, the preset voltage value is determined to be one-16 times of the bus voltage. If the terminal voltages of the current detection phases are continuously detected to be smaller than the preset voltage value, the occurrence of the phase-lack fault is determined; otherwise, it is determined that the phase-missing fault does not occur.
In another alternative embodiment, the second determining step S20 further includes: the phase-missing detection count value T1 corresponding to the current detection phase is initialized to 0. Also, in conjunction with fig. 3, the voltage detecting step S30 may include:
s31, carrying out real-time detection on the terminal voltage of the current detection phase;
step S32, judging whether the current detection value of the terminal voltage of the current detection phase is smaller than a preset voltage value, if so, executing step S34; if not, go to step S33;
s33, adding 1 to a phase-lack detection count value T1 corresponding to the current detection phase;
step S34, judging whether the specific time period is finished, if so, executing step S35; if not, step S31 is executed, and the specific time period is preferably: a period from a time when the theoretical trend of change in terminal voltage of the non-conducting phase becomes rising to a time when the commutation is determined again from the detection data of the position sensor, that is, a period between times t1 to t2 in fig. 1;
step S35, judging whether the phase-lack detection count value T1 corresponding to the current detection phase is 0, if yes, executing step S36; if not, go to step S37;
s36, determining that the phase-lack fault occurs in the current detection phase;
and S37, determining that the current detection phase has no phase failure.
In this embodiment, the terminal voltage of the current detection phase is detected a plurality of times continuously in a specific time period (for example, the time period between times t1 and t2 in fig. 1), and the number of times of detection in the specific time period is related to the sampling frequency of the terminal voltage and the rotation speed of the dc brushless motor. After each detection, it is determined whether the current detection value is smaller than a preset voltage value, which may be determined according to hardware conditions, for example, the preset voltage value is determined to be 16 times of the bus voltage, and if the current detection value is not smaller than the preset voltage value, the open-phase detection count value T1 is increased by 1, otherwise, the open-phase detection count value T1 is kept unchanged. When a specific time period is over (for example, it is determined that phase needs to be changed again according to detection data of the position sensor), judging whether a phase-lack detection count value T1 is 0, if so, indicating that detection values of terminal voltages in the specific time period are all smaller than a preset voltage value, and further determining that a phase-lack fault occurs; otherwise, it is determined that the phase-missing fault does not occur.
In an alternative embodiment, the method for detecting a phase loss of a dc brushless motor of the present invention further includes:
a first initialization step: initializing a commutation number value of the DC brushless motor to 0 when the DC brushless motor starts to operate;
further, the first determination step S10 includes:
when phase change is determined according to detection data of the position sensor, adding 1 to the phase change number value, and judging whether the current phase change number value is larger than a first preset number value or not;
and if the current phase change number value is larger than a first preset number value, determining the current non-conducted phase according to the detection data.
Since the motor has a low rotation speed immediately after the start of operation and is less likely to cause a phase failure due to impact, it is not necessary to perform phase failure detection immediately after the start of operation. Based on this, in this embodiment, it is determined whether the number of commutation times is greater than a first preset number, that is, it is determined whether the motor has stably operated, and the phase-lack detection is performed only when the motor has stably operated.
Further, in an optional embodiment, before the first determining step S10, the method further includes:
a second initialization step: initializing the cycle detection count value corresponding to each phase to 0 when the direct current brushless motor starts to operate;
further, the voltage detecting step S30 includes:
detecting the terminal voltage of the current detection phase, judging whether the current detection period has a phase-lack fault according to the detection value of the terminal voltage of the current detection phase, determining the current detection phase as the current fault phase when the current detection period has the phase-lack fault, and taking the current detection period as the current fault period;
judging whether the fault phase of the current fault period and the fault phase of the previous fault period are the same, and if the fault phases are the same, adding 1 to a period detection count value corresponding to the current fault phase; if the phases are not the same, clearing a cycle detection count value corresponding to the fault phase of the previous fault cycle;
judging whether the cycle detection count value corresponding to the current fault phase is greater than a second preset numerical value or not, and if so, determining that the current fault phase has a phase-lack fault; and if the number of the first determination steps is not larger than a second preset number, re-executing the first determination step, wherein the second preset number is larger than or equal to 2, preferably 2.
In this embodiment, to improve the accuracy of the phase loss detection, after the occurrence of the phase loss fault is detected in one detection period, the currently detected phase may be recorded as P1. Then, steps S10, S20, and S30 are repeatedly executed, and if the occurrence of the phase-missing fault is detected again in the next detection cycle, the current detection phase is recorded as P2. Then, it is determined whether P1 is the same as P2, and if so, the cycle check count value T2 is incremented by 1, and if not, the cycle check count value T2 is cleared. Finally, whether T2 is larger than a second preset time value is judged, if not, the steps S10, S20 and S30 are continuously and repeatedly executed; and if so, finally determining that the phase-lack fault occurs. Referring to fig. 4, when the second preset value is 2, the terminal voltage of the same phase as the non-conducting phase is continuously detected three times and is lower than the preset voltage value, so that it is determined that the phase-missing fault occurs.
By using the open-phase detection method of the brushless DC motor provided by the embodiment, open-phase detection can be performed when the brushless DC motor operates, and protection is timely generated, so that damage to the controller is avoided, and the reliability of the controller is improved.
The present invention also constructs a readable storage medium that stores a computer program, and that, when executed by a controller, implements the open-phase detection method of the above embodiment.
The present invention also constructs a dc brushless motor that includes a controller and a memory storing a computer program, and the controller implements the open-phase detection method of the above embodiment when executing the computer program.
The present invention also provides an electric power tool including the above-described dc brushless motor, such as an electric wrench.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A phase-loss detection method of a DC brushless motor is characterized in that the following steps are carried out when the DC brushless motor runs:
a first determination step: when determining phase conversion according to detection data of a position sensor, determining a current non-conducting phase according to the detection data;
a second determination step: determining the theoretical change trend of the terminal voltage of the non-conducting phase according to the detection data, and taking the current non-conducting phase as the current detection phase when the theoretical change trend of the terminal voltage of the non-conducting phase is ascending;
a voltage detection step: and detecting the terminal voltage of the current detection phase, and judging whether the current detection phase has a phase failure according to the detection value of the terminal voltage of the current detection phase.
2. The method according to claim 1, wherein the voltage detecting step includes:
detecting the terminal voltage of the current detection phase in real time in a specific time period;
if the detection values of the terminal voltages of the current detection phases in a specific time period are all smaller than the preset voltage value, determining that the phase-lack fault occurs in the current detection phases;
and if the detection value of the terminal voltage of the current detection phase in a specific time period is not less than the preset voltage value, determining that the phase-lack fault does not occur in the current detection phase.
3. The method according to claim 2, wherein the second determining step further comprises: initializing a phase-missing detection count value corresponding to the current detection phase to 0;
further, the voltage detecting step includes:
s31, carrying out real-time detection on the terminal voltage of the current detection phase;
step S32, judging whether the current detection value of the terminal voltage of the current detection phase is smaller than a preset voltage value, if so, executing step S34; if not, go to step S33;
s33, adding 1 to a phase-lack detection count value corresponding to the current detection phase;
step S34, judging whether the specific time period is finished, if so, executing step S35; if not, go to step S31;
step S35, judging whether the phase-lack detection count value corresponding to the current detection phase is 0, if yes, executing step S36; if not, go to step S37;
s36, determining that the phase-lack fault occurs in the current detection phase;
and S37, determining that the current detection phase has no phase failure.
4. The method according to claim 2 or 3, wherein the specific period of time is: a period from a time when a theoretical trend of change of the terminal voltage of the non-conductive phase becomes rising to a time when a commutation is determined again from detection data of the position sensor.
5. The method for detecting a phase loss of a brushless dc motor according to claim 1, further comprising:
a first initialization step: initializing a commutation number value of the DC brushless motor to 0 when the DC brushless motor starts to operate;
further, the first determination step includes:
when phase change is determined according to detection data of the position sensor, adding 1 to the phase change number value, and judging whether the current phase change number value is larger than a first preset number value or not;
and if the current phase change number value is larger than a first preset number value, determining the current non-conducted phase according to the detection data.
6. The method for detecting a phase loss of a brushless dc motor according to claim 1, further comprising:
a second initialization step: initializing the cycle detection count value corresponding to each phase to 0 when the direct current brushless motor starts to operate;
further, the voltage detecting step includes:
detecting the terminal voltage of the current detection phase, judging whether the current detection period has a phase-lack fault according to the detection value of the terminal voltage of the current detection phase, determining the current detection phase as the current fault phase when the current detection period has the phase-lack fault, and taking the current detection period as the current fault period;
judging whether the fault phase of the current fault period and the fault phase of the previous fault period are the same, and if the fault phases are the same, adding 1 to a period detection count value corresponding to the current fault phase; if the phases are not the same, clearing a cycle detection count value corresponding to the fault phase of the previous fault cycle;
judging whether the cycle detection count value corresponding to the current fault phase is greater than a second preset numerical value or not, and if so, determining that the current fault phase has a phase-lack fault; and if the number is not greater than the second preset number, the first determining step is executed again.
7. The method according to claim 6, wherein the second predetermined value is equal to or greater than 2.
8. A readable storage medium storing a computer program, wherein the computer program, when executed by a controller, implements the phase loss detection method of any one of claims 1-6.
9. A dc brushless motor comprising a controller and a memory storing a computer program, wherein the controller implements the open-phase detection method according to any one of claims 1 to 6 when executing the computer program.
10. An electric power tool comprising the dc brushless motor according to claim 9.
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