Method and system for determining energizing sequence of permanent magnet synchronous motor and related components

Abstract

The application discloses a method for determining energizing sequence of a permanent magnet synchronous motor, comprising the following steps: determining the change sequence of the combined value of three Hall sensors in the process of one rotation of the permanent magnet synchronous motor; for any one combined value in the determined change sequence of the combined value, determining the energizing mode corresponding to the combined value, so that when energized according to the energizing mode, the rotor of the permanent magnet synchronous motor rotates in a first direction and stops, and the detected combined value is equal to the value of the combined value moving back by two numbers in the determined change sequence of the combined value; and replacing the change sequence of the combined value with the change sequence of the energizing mode according to a one-to-one correspondence rule as the energizing sequence of the permanent magnet synchronous motor when rotating in the first direction. The application can effectively improve the flexibility of the electric control system. The application also discloses a system for determining energizing sequence of a permanent magnet synchronous motor and related components, which have corresponding effects.

Description

TECHNICAL FIELD

[0001] The present application relates to the motor technical field, in particular to a method and system for determining energizing sequence of a permanent magnet synchronous motor and related components. BACKGROUND

[0002] The current sewing machine in the actual use scene, due to different motor specifications, process and different manufacturers, so that each need different controller control, that is, one electric control system matches one corresponding type of motor, such a one-to-one way makes the cost of electric control system is higher, flexibility is poor. For example, after a certain motor failure, if you want to replace other manufacturers, other specifications of motor, the original electric control system can not match.

[0003] In summary, how to effectively improve the flexibility of the electric control system, so that the electric control system can adapt to different motors, is the technical problem that the technical personnel in the prior art urgently need to solve. SUMMARY

[0004] The purpose of the present application is to provide a method and system for determining energizing sequence of a permanent magnet synchronous motor and related components, to effectively improve the flexibility of the electric control system, so that the electric control system can adapt to different motors.

[0005] To solve the above technical problems, the present application provides the following technical solutions:

[0006] A method for determining energizing sequence of a permanent magnet synchronous motor, comprising:

[0007] During the rotation of the permanent magnet synchronous motor in a preset first direction, the output values of the three Hall sensors are monitored, and the change order of the combined values of the three Hall sensors during one rotation of the permanent magnet synchronous motor is determined;

[0008] For any one of the determined change order of the combined values, the energizing mode corresponding to the combined value is determined, so that when energized according to the energizing mode, the rotor of the permanent magnet synchronous motor rotates in the first direction and stops rotating, and the detected combined value is equal to the target combined value; wherein the target combined value represents the value of the combined value moving back 2 numbers in the determined change order of the combined values;

[0009] The change order of the combined values is replaced by the change order of the energizing mode according to the one-to-one correspondence rule, as the energizing sequence when the permanent magnet synchronous motor rotates in the first direction;

[0010] The combined value y of the three Hall sensors is represented as y=4a+2b+c, a represents the output value of the first Hall sensor, and a has a value of 0 or 1, b represents the output value of the second Hall sensor, and b has a value of 0 or 1, and c represents the output value of the third Hall sensor, and c has a value of 0 or 1.

[0011] Preferably, it further comprises:

[0012] The change period of the combined value of the three Hall sensors in the process of rotating one circle of the permanent magnet synchronous motor is determined, and the change period is taken as the pole pair number of the permanent magnet synchronous motor.

[0013] Preferably, it further comprises:

[0014] It is determined whether 0 and 7 exist in the change sequence of the combined value.

[0015] If yes, the Hall phase angle of the permanent magnet synchronous motor is determined to be 60°, otherwise the Hall phase angle of the permanent magnet synchronous motor is determined to be 120°.

[0016] Preferably, the first direction is the positive rotation direction of the motor.

[0017] Preferably, it further comprises:

[0018] In the process of rotating in the reverse direction, the output values of the three Hall sensors are monitored, and the change sequence of the combined value of the three Hall sensors in the process of reversing one circle of the permanent magnet synchronous motor is determined.

[0019] For any one of the combined values in the change sequence of the combined value determined in the process of reversing one circle of the permanent magnet synchronous motor, the energization mode corresponding to the combined value is determined, so that when energized according to the energization mode, the rotor of the permanent magnet synchronous motor rotates in the reverse direction and stops rotating, and the detected combined value is equal to the target combined value; wherein the target combined value represents that in the process of reversing one circle of the permanent magnet synchronous motor, the combined value moves back by 2 numbers in the determined change sequence of the combined value.

[0020] The change sequence of the combined value is replaced by the change sequence of the energization mode according to the one-to-one correspondence rule, as the obtained energization sequence of the permanent magnet synchronous motor in reverse rotation.

[0021] Preferably, it further comprises:

[0022] The energization sequence issuing instruction is received, and the energization sequence of the permanent magnet synchronous motor when rotating in the first direction is determined based on the energization sequence issuing instruction.

[0023] A system for determining energizing sequence of a permanent magnet synchronous motor, comprising:

[0024] A combination value change sequence determining unit is configured to monitor the output values of the three Hall sensors respectively during rotation of the permanent magnet synchronous motor in a preset first direction, and determine a change sequence of the combination values of the three Hall sensors during one rotation of the permanent magnet synchronous motor.

[0025] An energizing mode corresponding unit is configured to determine, for any one of the determined combination value change sequences, an energizing mode corresponding to the combination value, so that when energized according to the energizing mode, the rotor of the permanent magnet synchronous motor rotates in the first direction and stops, and the detected combination value is equal to a target combination value; wherein the target combination value represents a value of the combination value moving back by two numbers in the determined combination value change sequence.

[0026] An energizing sequence confirming unit is configured to replace the combination value change sequence with a change sequence of energizing modes according to a one-to-one correspondence rule, as the energizing sequence when the permanent magnet synchronous motor rotates in the first direction.

[0027] The combination value y of the three Hall sensors is represented as y=4a+2b+c, a represents the output value of the first Hall sensor, and a has a value of 0 or 1, b represents the output value of the second Hall sensor, and b has a value of 0 or 1, and c represents the output value of the third Hall sensor, and c has a value of 0 or 1.

[0028] Preferably, further comprising:

[0029] A pole pair number determining unit is configured to determine a change period of the combination values of the three Hall sensors during one rotation of the permanent magnet synchronous motor, and take the change period as the pole pair number of the permanent magnet synchronous motor.

[0030] A device for determining energizing sequence of a permanent magnet synchronous motor, comprising:

[0031] A memory is configured to store a computer program;

[0032] A processor is configured to execute the computer program to implement the steps of the method for determining energizing sequence of a permanent magnet synchronous motor according to any one of the above.

[0033] A computer readable storage medium, having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the method for determining energizing sequence of a permanent magnet synchronous motor according to any one of the above.

[0034] The technical scheme provided by the embodiment of the application can identify the energization sequence of the motor, so that the electric control system can adapt to different types of motors. That is, the scheme of the application can identify the energization sequence of the motor without knowing the installation position of the Hall, the type of the Hall, and the winding method of the motor winding, and then the motor can be effectively controlled to rotate according to the identified energization sequence. Specifically, the application controls the permanent magnet synchronous motor to rotate in a preset first direction, monitors the output values of the three Hall sensors during the rotation of the permanent magnet synchronous motor, and determines the change sequence of the combined values of the three Hall sensors during the rotation of the permanent magnet synchronous motor. It can be seen that as long as the change sequence of the combined values of the three Hall sensors is in accordance with the determined change sequence according to a certain energization sequence, the motor can effectively rotate. Therefore, for any one of the determined change sequence of the combined values, the application determines the energization mode corresponding to the combined value, so that when energized according to the energization mode, the rotor of the permanent magnet synchronous motor rotates in the first direction and stops rotating, and the detected combined value is equal to the value of the combined value moving back by two numbers in the determined change sequence of the combined values. Finally, the change sequence of the combined values is replaced by the change sequence of the energization mode according to the one-to-one correspondence rule, and the energization sequence of the permanent magnet synchronous motor when rotating in the first direction is obtained. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0036] Figure 1 An implementation flowchart of a method for determining the energization sequence of a permanent magnet synchronous motor in the application;

[0037] Figure 2 A structure diagram of a permanent magnet synchronous motor in a specific embodiment of the application;

[0038] Figure 3 A schematic diagram of the determined energization sequence in a specific embodiment of the application;

[0039] Figure 4 A structure diagram of a system for determining the energization sequence of a permanent magnet synchronous motor in the application. DETAILED DESCRIPTION

[0040] The core of the present application is to provide a method for determining the energization sequence of a permanent magnet synchronous motor, which can identify the energization sequence of the motor without knowing the installation position of the Hall, the type of the Hall, and the winding method of the motor winding, and then effectively control the rotation of the motor according to the identified energization sequence.

[0041] In order for those skilled in the art to better understand the present application, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0042] Please refer to Figure 1 , the method for determining the energization sequence of a permanent magnet synchronous motor can include the following steps:

[0043] Step S101: During the rotation of the permanent magnet synchronous motor in a preset first direction, the output values of the three Hall sensors are monitored, and the change order of the combined values of the three Hall sensors during one rotation of the permanent magnet synchronous motor is determined.

[0044] For details, please refer to Figure 2 , the structure diagram of the permanent magnet synchronous motor in a specific embodiment, Figure 2 The permanent magnet synchronous motor in the above includes a rotor with 8 segments and a stator with 12 slots. Among the 8 segments, the N-up segment 21 and the S-up segment 22 are arranged alternately. Among the 12 slots, the A-phase slot 11, the B-phase slot 12, and the C-phase slot 13 are arranged alternately. That is, Figure 2 For a 12-slot 8-pole permanent magnet synchronous motor, the magnetic field directions of the segments are arranged alternately, and the winding of the stator is also arranged alternately. Three Hall sensors are embedded between two slots of the stator, respectively marked as 31, 32, and 33. When the magnetic field direction changes, the output level of the Hall sensor will also change accordingly. In other cases, it can be other types of permanent magnet synchronous motors, for example, it can be a 12-slot 10-pole permanent magnet synchronous motor, or a 9-slot 6-pole permanent magnet synchronous motor, and even for the same slot number and pole number of the permanent magnet synchronous motor, the installation position of the three Hall sensors can be different, and the type of the Hall sensor can also be different.

[0045] In the present application, the energization sequence of the permanent magnet synchronous motor can be determined without knowing the slot number, the pole number, the installation position of the three Hall sensors inside the permanent magnet synchronous motor, the type of the Hall sensor, and the winding method of the motor winding.

[0046] The scheme of the present application needs to let the permanent magnet synchronous motor rotate according to the preset first direction, which can be manual rotation of the permanent magnet synchronous motor by the staff, or can use related transmission device to control the rotation of the permanent magnet synchronous motor, which does not affect the implementation of the present application, and can let the permanent magnet synchronous motor rotate according to the preset first direction.

[0047] The first direction can be the forward rotation direction of the motor, or the reverse rotation direction of the motor, but generally it is set to the forward rotation direction of the motor, because some types of permanent magnet synchronous motors may not support reverse rotation, but all types of permanent magnet synchronous motors need to support forward rotation.

[0048] In the scheme of the present application, the permanent magnet synchronous motor structure of Figure 2 The first direction is the forward rotation direction of the motor, and specifically the clockwise direction is described.

[0049] During the rotation of the permanent magnet synchronous motor, the output values of the three Hall sensors will change constantly, and it needs to be emphasized that the output value of the Hall sensor refers to the normalized value, that is, the output value of the Hall sensor is 0 or 1, for example, in a specific occasion, the Hall sensor outputs 0V or 5V digital quantity, then when receiving 0V, it can be determined that the output value of the Hall sensor is 0, and when receiving 5V, it can be determined that the output value of the Hall sensor is 1.

[0050] The three Hall sensors have their own output values, and the present application combines them in binary form, which is equivalent to putting the output values of the three Hall sensors into different bit positions. Therefore, the combined value y of the three Hall sensors can be represented as y=4a+2b+c, where a represents the output value of the first Hall sensor, and a has a value of 0 or 1, b represents the output value of the second Hall sensor, and b has a value of 0 or 1, and c represents the output value of the third Hall sensor, and c has a value of 0 or 1.

[0051] The electronic control system is connected with the three Hall sensors, which can monitor the output values of the three Hall sensors, and any one of the remaining two Hall sensors can be set as the second Hall sensor. For example, in one occasion, the Hall sensors connected with the A interface, B interface and C interface of the electronic control system are sequentially set as the first Hall sensor, the second Hall sensor and the third Hall sensor.

[0052] It can be understood that for a 3-bit binary number, there are 8 values in total, and due to the design of the permanent magnet synchronous motor, two values will not appear, so during the rotation of the permanent magnet synchronous motor, the change sequence of the combined value of the three Hall sensors consists of 6 combined values.

[0053] For example, for the embodiment of Figure 2 In the process of rotating one circle of the permanent magnet synchronous motor, the combination value of the 3 Hall sensors can be detected as a change process of: 1→5→4→6→2→3→1→5→4→6→2→3→1→5→4→6→2→3→1→5→4→6→2→3. Therefore, in this example, the change order of the combination value of the 3 Hall sensors is 1→5→4→6→2→3, and the change order is cycled 4 times in the process of rotating one circle of the permanent magnet synchronous motor.

[0054] It can be understood that, when the permanent magnet synchronous motor is controlled to rotate in the preset first direction, at least one circle of rotation is needed, so that the change order of the combination value of the 3 Hall sensors in the process of rotating one circle of the permanent magnet synchronous motor can be determined.

[0055] In a specific embodiment of the present application, the following can also be included:

[0056] The change period of the combination value of the 3 Hall sensors in the process of rotating one circle of the permanent magnet synchronous motor is determined, and the change period is taken as the pole pair number of the permanent magnet synchronous motor.

[0057] For example, in the above example, it can be determined that the change order of 1→5→4→6→2→3 is cycled 4 times in the process of rotating one circle of the permanent magnet synchronous motor, and therefore the change period of the combination value of the 3 Hall sensors is determined to be 4, which is the pole pair number of the permanent magnet synchronous motor, i.e. the pole pair number is 4, and therefore the pole number is 8.

[0058] In a specific embodiment of the present application, the following can also be included:

[0059] It is determined whether 0 and 7 exist in the determined change order of the combination value;

[0060] If yes, it is determined that the Hall phase angle of the permanent magnet synchronous motor is 60°, otherwise it is determined that the Hall phase angle of the permanent magnet synchronous motor is 120°.

[0061] As described above, due to the design of the permanent magnet synchronous motor, the change order of the combination value of the 3 Hall sensors in the process of rotating one circle of the permanent magnet synchronous motor can be composed of 6 combination values, i.e. 2 values of 3bit binary numbers will not appear in 8 values. In one occasion, 000 and 111 will not appear, and in another occasion, 010 and 101 will not appear.

[0062] Therefore, in this embodiment, it can be determined whether 0 and 7 exist in the determined change order of the combination value. If yes, it can be determined that the Hall phase angle of the permanent magnet synchronous motor is 60°, and if no, it means that 2 and 5 do not exist, and at this time it means that the Hall phase angle of the permanent magnet synchronous motor is 120°.

[0063] The pole pair number and the Hall phase angle of the permanent magnet synchronous motor can be determined in the above embodiments, and can be stored for subsequent viewing by the user. For example, when the user needs to maintain or replace the permanent magnet synchronous motor, the pole pair number and the Hall phase angle of the permanent magnet synchronous motor determined and stored previously can be conveniently known if necessary.

[0064] Step S102: For any one combination value in the determined change order of the combination values, a energization mode corresponding to the combination value is determined, so that when energized according to the energization mode, the rotor of the permanent magnet synchronous motor rotates in the first direction and stops after rotating, and the detected combination value is equal to the target combination value; wherein the target combination value represents a value of the combination value moving back by 2 numbers in the determined change order of the combination values.

[0065] Still taking the determined change order of the combination values in the above embodiments as an example, 1→5→4→6→2→3, for any one combination value in the six combination values, the energization mode corresponding to the combination value needs to be determined.

[0066] If two phases of the permanent magnet synchronous motor are energized, for example, A phase in and B phase out, the rotor of the permanent magnet synchronous motor rotates in the first direction and eventually stops at a certain position. It can be understood that when the rotor of the permanent magnet synchronous motor stops, it means that the angle between the stator magnetic field direction and the rotor magnetic field direction at this time is 0°. In order to maximize the benefit, the angle between the rotor magnetic field direction and the stator magnetic field direction during energization can change from 60° to 120° when energized according to any one energization mode, and the torque is maximum when the angle is 90°.

[0067] That is, for example, when energized according to A phase in and B phase out, after the rotor of the permanent magnet synchronous motor rotates in the first direction and stops, if the detected combination value is 1, the combination value corresponding to the A phase in and B phase out energization is 2, because in the determined change order of the combination values: 1→5→4→6→2→3, the value of 2 moving back by 2 numbers is 1, which is equal to the detected combination value 1 after stopping.

[0068] According to the same principle, for any one combination value in the six combination values 1→5→4→6→2→3, the energization mode corresponding to the combination value can be determined. And it needs to be noted that when the corresponding relationship is determined, there can be multiple ways.

[0069] For example, first, the A-phase is energized and the B-phase is discharged, after the rotor stops rotating, for example, the detected combination value is 1, it can be determined that 2 corresponds to the A-phase is energized and the B-phase is discharged, then, for example, the A-phase is energized and the C-phase is discharged, after the rotor stops rotating, the detected combination value is 3, then 6 corresponds to the A-phase is energized and the C-phase is discharged, then, for example, the B-phase is energized and the C-phase is discharged, after the rotor stops rotating, the detected combination value is 2, then 4 corresponds to the B-phase is energized and the C-phase is discharged, and so on, it can be seen that after 6 times of testing, the 6 combination values respectively correspond to the energization mode can be determined.

[0070] For example Figure 3 In a specific case of the combination value 1→5→4→6→2→3, the specific energization mode is: the C-phase is energized and the A-phase is discharged→the B-phase is energized and the A-phase is discharged→the B-phase is energized and the C-phase is discharged→the A-phase is energized and the C-phase is discharged→the A-phase is energized and the B-phase is discharged→the C-phase is energized and the B-phase is discharged.

[0071] For example, for the combination value 1 in the 6 combination values 1→5→4→6→2→3, 6 energization modes are respectively tested once, it can be determined that when the C-phase is energized and the A-phase is discharged, after the rotor stops rotating, the detected combination value is 4, then it can be determined that the energization mode corresponding to the combination value 1 is the C-phase is energized and the A-phase is discharged. Then, for the combination value 5 in the 6 combination values, 5 energization modes except the C-phase is energized and the A-phase is discharged are respectively tested once, for example, when the B-phase is energized and the A-phase is discharged, after the rotor stops rotating, the detected combination value is 6, then it can be determined that the energization mode corresponding to the combination value 5 is the B-phase is energized and the A-phase is discharged. In this way, after 6+5+4+3+2+1=21 times of testing, the 6 combination values respectively correspond to the energization mode can be determined.

[0072] Step S103: replace the change order of the combination values into the change order of the energization mode according to the one-to-one correspondence rule, as the energization order when the permanent magnet synchronous motor rotates in the first direction.

[0073] After the energization mode corresponding to each combination value in the change order of the combination values is determined, the change order of the energization mode can be replaced according to the one-to-one correspondence rule, for example, in the above example, 1→5→4→6→2→3 is replaced by: the C-phase is energized and the A-phase is discharged→the B-phase is energized and the A-phase is discharged→the B-phase is energized and the C-phase is discharged→the A-phase is energized and the C-phase is discharged→the A-phase is energized and the B-phase is discharged→the C-phase is energized and the B-phase is discharged, which is the obtained energization order when the permanent magnet synchronous motor rotates in the first direction.

[0074] In a specific embodiment of the present application, considering that part of the permanent magnet synchronous motor allows reverse rotation, therefore, for the energization order of reverse rotation, the determination of the energization order can be carried out according to the same principle, which can specifically include:

[0075] In the process of rotating the permanent magnet synchronous motor in the reverse direction, the output values of the three Hall sensors are monitored, and the change order of the combined values of the three Hall sensors in the process of rotating the permanent magnet synchronous motor in the reverse direction is determined.

[0076] For any one of the combined values in the change order of the combined values determined in the process of rotating the permanent magnet synchronous motor in the reverse direction, the energization mode corresponding to the combined value is determined, so that when energized according to the energization mode, the rotor of the permanent magnet synchronous motor rotates in the reverse direction and stops rotating, and the detected combined value is equal to the target combined value; wherein the target combined value represents that the combined value moves 2 numbers of values backward in the determined change order of the combined values in the process of rotating the permanent magnet synchronous motor in the reverse direction.

[0077] The change order of the combined values is replaced by the change order of the energization mode according to the one-to-one correspondence rule as the obtained energization sequence of the permanent magnet synchronous motor in the reverse direction.

[0078] It can be seen that the principle is consistent with the previous embodiment, and only the difference between forward rotation and reverse rotation is not repeated here.

[0079] In one specific embodiment of the application, it can also include:

[0080] Receiving the energization sequence issuing instruction, and determining the energization sequence of the permanent magnet synchronous motor rotating in the first direction based on the energization sequence issuing instruction.

[0081] In this embodiment, the electric control system is allowed to receive the energization sequence issuing instruction, and determine the energization sequence of the permanent magnet synchronous motor rotating in the first direction based on the energization sequence issuing instruction, that is, directly use the energization sequence defined by the energization sequence issuing instruction as the energization sequence of the permanent magnet synchronous motor rotating in the first direction.

[0082] This is because in some cases, the manufacturer of the permanent magnet synchronous motor may directly provide the energization sequence, and in some cases, the staff may find that the program or corresponding hardware for implementing the scheme of the application has a fault, resulting in an incorrect energization sequence. Therefore, in this embodiment, the staff is allowed to define the energization sequence by the energization sequence issuing instruction, so as to meet the use requirements of the staff, thereby improving the flexibility of the scheme of the application.

[0083] The technical scheme provided by the embodiment of the application can identify the energization sequence of the motor, so that the electric control system can adapt to different types of motors. That is, the scheme of the application can identify the energization sequence of the motor without knowing the installation position of the Hall, the type of the Hall, and the winding method of the motor winding, and then the motor can be effectively controlled to rotate according to the identified energization sequence. Specifically, the application controls the permanent magnet synchronous motor to rotate in a preset first direction, monitors the output values of the three Hall sensors respectively during the rotation of the permanent magnet synchronous motor, and determines the change sequence of the combination values of the three Hall sensors during one rotation of the permanent magnet synchronous motor. It can be seen that as long as the change sequence of the combination values of the three Hall sensors is in accordance with the determined change sequence according to a certain energization sequence, the motor can effectively rotate. Therefore, for any one combination value in the determined change sequence of the combination values, the application determines the energization mode corresponding to the combination value, so that when energized according to the energization mode, the rotor of the permanent magnet synchronous motor rotates in the first direction and stops rotating, and the detected combination value is equal to the value of the combination value moving back by two numbers in the determined change sequence of the combination values. Finally, the change sequence of the combination values is replaced by the change sequence of the energization mode according to the one-to-one correspondence rule, and the energization sequence of the permanent magnet synchronous motor when rotating in the first direction is obtained.

[0084] Corresponding to the above method embodiment, the embodiment of the application also provides a permanent magnet synchronous motor energization sequence determination system, which can be mutually corresponding with the above.

[0085] Referring to Figure 4 As shown in the figure, it is a structure schematic diagram of a permanent magnet synchronous motor energization sequence determination system in the application, which comprises:

[0086] The combination value change sequence determination unit 401 is configured to monitor the output values of the three Hall sensors respectively during the rotation of the permanent magnet synchronous motor in a preset first direction, and determine the change sequence of the combination values of the three Hall sensors during one rotation of the permanent magnet synchronous motor.

[0087] The energization mode corresponding unit 402 is configured to determine the energization mode corresponding to any one combination value in the determined change sequence of the combination values, so that when energized according to the energization mode, the rotor of the permanent magnet synchronous motor rotates in the first direction and stops rotating, and the detected combination value is equal to the target combination value; wherein the target combination value represents the value of the combination value moving back by two numbers in the determined change sequence of the combination values.

[0088] The energization sequence confirmation unit 403 is configured to replace the combination value change sequence with the energization mode change sequence according to a one-to-one correspondence rule, as the energization sequence when the permanent magnet synchronous motor rotates in the first direction.

[0089] The combination value y of the three Hall sensors is represented as y=4a+2b+c, a represents the output value of the first Hall sensor, and a has a value of 0 or 1, b represents the output value of the second Hall sensor, and b has a value of 0 or 1, and c represents the output value of the third Hall sensor, and c has a value of 0 or 1.

[0090] In one embodiment of the present application, the method further comprises:

[0091] The pole pair number determination unit is configured to determine the change period of the combination value of the three Hall sensors in the process of one rotation of the permanent magnet synchronous motor, and take the change period as the pole pair number of the permanent magnet synchronous motor.

[0092] In one embodiment of the present application, the method further comprises:

[0093] The Hall phase angle determination unit is configured to determine whether 0 and 7 exist in the determined combination value change sequence, and if so, determine that the Hall phase angle of the permanent magnet synchronous motor is 60°, otherwise, determine that the Hall phase angle of the permanent magnet synchronous motor is 120°.

[0094] In one embodiment of the present application, the first direction is the positive rotation direction of the motor.

[0095] In one embodiment of the present application, the method further comprises a reverse energization sequence determination module configured to:

[0096] In the process of the permanent magnet synchronous motor rotating in the reverse direction, the output values of the three Hall sensors are monitored, and the combination value change sequence of the three Hall sensors in the process of one rotation of the permanent magnet synchronous motor in the reverse direction is determined.

[0097] For any one of the combination values in the determined combination value change sequence in the process of one rotation of the permanent magnet synchronous motor in the reverse direction, the energization mode corresponding to the combination value is determined, so that when energized according to the energization mode, the rotor of the permanent magnet synchronous motor rotates in the reverse direction and stops rotating, and the detected combination value is equal to the target combination value; wherein the target combination value represents that the combination value moves 2 numbers in the determined combination value change sequence.

[0098] The combination value change sequence is replaced with the energization mode change sequence according to a one-to-one correspondence rule, as the obtained energization sequence when the permanent magnet synchronous motor rotates in the reverse direction.

[0099] In one specific embodiment of the present application, further comprising:

[0100] The power-on sequence definition unit is configured to receive a power-on sequence issuing instruction and determine the power-on sequence of the PMSM when rotating in the first direction based on the power-on sequence issuing instruction.

[0101] According to the above method and system embodiments, the present application further provides a PMSM power-on sequence determination device and a computer readable storage medium, which can be mutually corresponding to the above.

[0102] The PMSM power-on sequence determination device can include:

[0103] The memory is configured to store the computer program.

[0104] The processor is configured to execute the computer program to implement the steps of the PMSM power-on sequence determination method according to any one of the above.

[0105] The computer readable storage medium stores the computer program, and the computer program is executed by the processor to implement the steps of the PMSM power-on sequence determination method according to any one of the above. The computer readable storage medium herein includes random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0106] It should be further noted that the relational terms herein, such as first and second, are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0107] Those skilled in the art will further realize that the mere conception of the examples described herein is sufficient to enable practitioners to practice the examples as changed or modified for variations affecting the use of the principles of the present application. Based on the teachings and guidance presented in the above disclosures and the associated drawings, and the preexisting technical knowledge in the technical field, those skilled in the art will be able to employ the present application without undue experimentation.

[0108] The principles and implementations of the present application have been described in specific examples herein, and the above descriptions of the examples are only intended to help understand the technical solutions of the present application and the core ideas thereof. It should be noted that, for those skilled in the art, certain improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A method for determining the energizing sequence of a permanent magnet synchronous motor, characterized in that, include: During the rotation of the permanent magnet synchronous motor in the preset first direction, the output values ​​of the three Hall sensors are monitored, and the order of change of the combined values ​​of the three Hall sensors during the rotation of the permanent magnet synchronous motor is determined. For any one of the determined combination values ​​in the order of change of combination values, a corresponding energizing method is determined such that when the permanent magnet synchronous motor is energized according to the energizing method, after the rotor of the permanent magnet synchronous motor rotates in the first direction and stops rotating, the detected combination value is equal to the target combination value; wherein, the target combination value represents the value of the combination value shifted two numbers forward in the determined order of change of combination values; The order of change of the combination value is replaced with the order of change of the power supply mode according to the one-to-one correspondence rule, which is used as the power supply sequence when the permanent magnet synchronous motor rotates in the first direction. The combined value y of the three Hall sensors is represented as y = 4a + 2b + c, where a represents the output value of the first Hall sensor, and a takes the value of 0 or 1; b represents the output value of the second Hall sensor, and b takes the value of 0 or 1; and c represents the output value of the third Hall sensor, and c takes the value of 0 or 1. In determining the correspondence between the combination value and the energizing method in the order of change of the combination value, the following energizing methods were used: A phase in, B phase out; A phase in, C phase out; B phase in, C phase out; B phase in, A phase out; C phase in, A phase out; and C phase in, B phase out. This was done through six experiments to determine the combination value corresponding to each of the six energizing methods.

2. The method for determining the energizing sequence of a permanent magnet synchronous motor according to claim 1, characterized in that, Also includes: The period of change of the combined values ​​of the three Hall sensors during one revolution of the permanent magnet synchronous motor is determined, and the period of change is used as the number of pole pairs of the permanent magnet synchronous motor.

3. The method for determining the energizing sequence of a permanent magnet synchronous motor according to claim 1, characterized in that, Also includes: Determine whether 0 and 7 exist in the order of changes of the determined combination values; If so, the Hall phase angle of the permanent magnet synchronous motor is determined to be 60°; otherwise, the Hall phase angle of the permanent magnet synchronous motor is determined to be 120°.

4. The method for determining the energizing sequence of a permanent magnet synchronous motor according to claim 1, characterized in that, The first direction is the forward rotation direction of the motor.

5. The method for determining the energizing sequence of a permanent magnet synchronous motor according to claim 4, characterized in that, Also includes: During the rotation of the permanent magnet synchronous motor in the reverse direction, the output values ​​of the three Hall sensors are monitored, and the order of change of the combined values ​​of the three Hall sensors during the rotation of the permanent magnet synchronous motor in one revolution is determined. For any one of the combination values ​​determined in the sequence of changes during one revolution of the permanent magnet synchronous motor, a corresponding energizing method is determined such that when energized according to the energizing method, after the rotor of the permanent magnet synchronous motor rotates in the reverse direction and stops rotating, the detected combination value is equal to the target combination value; wherein, the target combination value represents the value that shifts two numbers backward in the determined sequence of changes of combination values ​​during one revolution of the permanent magnet synchronous motor; The order of change of the combined values ​​is replaced with the order of change of the energizing mode according to the one-to-one correspondence rule, which is used as the energizing sequence when the permanent magnet synchronous motor reverses.

6. The method for determining the energizing sequence of a permanent magnet synchronous motor according to any one of claims 1 to 5, characterized in that, Also includes: The system receives a power-on sequence instruction and determines the power-on sequence of the permanent magnet synchronous motor when it rotates in the first direction based on the power-on sequence instruction.

7. A system for determining the energizing sequence of a permanent magnet synchronous motor, characterized in that, include: The combined value change sequence determination unit is used to monitor the output values ​​of three Hall sensors during the rotation of the permanent magnet synchronous motor in a preset first direction, and to determine the change sequence of the combined values ​​of the three Hall sensors during one revolution of the permanent magnet synchronous motor. The power-on mode corresponding unit is used to determine the power-on mode corresponding to any one of the combined values ​​in the determined sequence of changes of combined values, so that when the permanent magnet synchronous motor is powered on according to the power-on mode, after the rotor rotates in the first direction and stops rotating, the detected combined value is equal to the target combined value; wherein, the target combined value represents the value of the combined value shifted two numbers forward in the determined sequence of changes of combined values; The power-on sequence confirmation unit is used to replace the order of changes in the combined values ​​with the order of changes in the power-on mode according to a one-to-one correspondence rule, as the power-on sequence when the permanent magnet synchronous motor rotates in the first direction. The combined value y of the three Hall sensors is represented as y = 4a + 2b + c, where a represents the output value of the first Hall sensor, and a takes the value of 0 or 1; b represents the output value of the second Hall sensor, and b takes the value of 0 or 1; and c represents the output value of the third Hall sensor, and c takes the value of 0 or 1. In determining the correspondence between the combination value and the energizing method in the order of change of the combination value, the following energizing methods were used: A phase in, B phase out; A phase in, C phase out; B phase in, C phase out; B phase in, A phase out; C phase in, A phase out; and C phase in, B phase out. This was done through six experiments to determine the combination value corresponding to each of the six energizing methods.

8. The energizing sequence determination system for a permanent magnet synchronous motor according to claim 7, characterized in that, Also includes: The pole pair determination unit is used to determine the change period of the combined value of the three Hall sensors during one revolution of the permanent magnet synchronous motor, and to use the change period as the pole pair number of the permanent magnet synchronous motor.

9. A device for determining the energizing sequence of a permanent magnet synchronous motor, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the method for determining the energizing sequence of a permanent magnet synchronous motor as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method for determining the energizing sequence of a permanent magnet synchronous motor as described in any one of claims 1 to 6.

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