Motor driving method and device based on pulse injection, equipment and storage medium

Abstract

The application provides a motor driving method and device based on pulse injection, equipment and storage medium. The motor driving method is applied to a driving circuit. The motor driving method comprises the following steps: performing real-time voltage parameter detection on a suspended phase of a driving voltage of a motor to obtain a detection result; injecting a pulse signal into the suspended phase based on the detection result; and judging a current position of a rotor of the motor according to a voltage signal generated based on the pulse signal and a transient suspended phase of the driving voltage. The motor driving method based on pulse injection can keep driving torque when the motor is at zero speed under the condition of no sensor, and can still provide a large driving torque when the motor is blocked by external force or is forced to reverse.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a motor driving method, apparatus, device and storage medium based on pulse injection. Background Technology

[0002] Currently, there are many driving methods for brushless DC motors, such as the traditional back EMF zero-crossing detection method, diode freewheeling method, and observer method. These methods result in zero or very small back EMF when the motor is stationary or running at low speeds, failing to guarantee low-speed torque. They require open-loop operation to reach higher speeds before switching to normal back EMF detection logic. Another method uses an ADC (analog-to-digital converter) to sample the floating phase voltage of a square-wave driven motor. This leverages the motor's salient polarity to ensure sufficient driving torque at zero or low speeds. However, this method encounters commutation errors when the motor reverses under external force, leading to torque loss and high current. Yet another method uses sensors to detect the rotor position to control motor operation. However, adding sensors increases motor size and manufacturing costs, and sensors are susceptible to external influences, significantly reducing motor drive stability in harsh environments.

[0003] Therefore, given the shortcomings of current brushless DC motor drive methods, how to maintain driving torque at zero speed without sensors, and how to provide a large driving torque even when the motor is stopped by external forces or forced to reverse, has become an urgent problem to be solved in the field of motor control technology. Summary of the Invention

[0004] The main objective of this application is to provide a motor driving method, apparatus, device, and storage medium based on pulse injection, which aims to maintain driving torque at zero speed without sensors, and to provide a large driving torque even when the motor is stopped by external force or forced to reverse.

[0005] To achieve the above objectives, this application provides a motor driving method based on pulse injection, wherein the motor driving method is applied to the aforementioned driving circuit, and the motor driving method includes:

[0006] The voltage parameters of the floating phase of the motor's drive voltage are detected in real time to obtain the detection results;

[0007] Based on the detection results, a pulse signal is injected into the suspended phase;

[0008] The current position of the motor rotor is determined based on the voltage signal generated by the pulse signal during the instantaneous floating phase of the driving voltage.

[0009] Optionally, in some feasible embodiments, the voltage parameters of the floating phase include: a first voltage value before the floating phase and a second voltage value when the floating phase is freewheeling; the step of real-time detection of the voltage parameters of the floating phase for the motor drive voltage to obtain the detection result includes:

[0010] The first voltage value and the second voltage value are detected at fixed intervals;

[0011] The first voltage value is compared with the second voltage value to obtain the detection result.

[0012] Optionally, in some feasible embodiments, the detection result includes reaching the same inductance point and not reaching the same inductance point; the step of comparing the first voltage value with the second voltage value to obtain the detection result includes:

[0013] When the relationship between the first voltage value and the second voltage value remains unchanged, the detection result is determined to be that the inductance is not at the same point.

[0014] When the first voltage value is equal to the second voltage value, or when the relationship between the first voltage value and the second voltage value changes, the detection result is determined to be that the inductance is the same.

[0015] Optionally, in some feasible embodiments, the step of injecting a pulse signal into the suspended phase based on the detection result includes:

[0016] When the detection result indicates that the inductance is the same, a pulse signal is injected into the suspended phase.

[0017] Optionally, in some feasible embodiments, the step of determining the current position of the motor rotor based on the voltage signal generated by the pulse signal according to the instantaneous floating phase of the driving voltage includes:

[0018] The induced voltage value of the instantaneously suspended phase is detected, and the bus voltage value of the bus of the drive circuit is detected;

[0019] The induced voltage value is compared with the bus voltage value to obtain a comparison result;

[0020] Based on the comparison results, it is determined whether the current position is a rotor reversal.

[0021] Optionally, in some feasible embodiments, after the step of determining the current position of the motor rotor based on the voltage signal generated by the pulse signal according to the instantaneous floating phase of the driving voltage, the method further includes:

[0022] When the rotor is in reverse at the current position, the drive voltage is adjusted.

[0023] Optionally, in some feasible embodiments, before the step of real-time detection of voltage parameters of the floating phase of the motor's drive voltage to obtain the detection result, the method further includes:

[0024] The rotor speed of the motor is detected.

[0025] Furthermore, to achieve the above objectives, this application also provides a motor drive device based on pulse injection, the motor drive device comprising:

[0026] The voltage detection module is used to detect the voltage parameters of the floating phase of the motor's drive voltage in real time to obtain the detection results.

[0027] A pulse injection module is used to inject a pulse signal into the suspended phase based on the detection result;

[0028] The position detection module is used to determine the current position of the motor rotor based on the voltage signal generated by the pulse signal during the instantaneous floating phase of the driving voltage.

[0029] In addition, to achieve the above objectives, this application also provides a motor drive device based on pulse injection, the motor drive device comprising: a memory, a processor, and a motor driver program based on pulse injection stored in the memory and executable on the processor, wherein the motor driver program based on pulse injection, when executed by the processor, implements the steps of the motor drive method based on pulse injection as described above.

[0030] This application also provides a storage medium storing a pulse injection-based motor driver program, which, when executed by a processor, implements the steps of the pulse injection-based motor driving method described above.

[0031] This application provides a motor driving method based on pulse injection, which is applied to a drive circuit. The motor driving method includes: real-time detection of voltage parameters of the floating phase of the motor's drive voltage to obtain a detection result; injecting a pulse signal into the floating phase based on the detection result; and determining the current position of the motor's rotor based on the voltage signal generated by the pulse signal of the instantaneous floating phase of the drive voltage.

[0032] Compared to existing technologies that use position sensors or drive methods that employ back EMF zero-crossing detection, diode freewheeling, observer methods, or ADC-based sampling of the floating phase voltage of a square wave driven motor, the motor driving method of this application performs real-time detection of the voltage parameters of the floating phase of the motor's drive voltage to obtain the detection result. Then, based on the detection result, a pulse signal is injected into the floating phase. Finally, based on the voltage signal generated by the pulse signal from the instantaneous floating phase of the drive voltage, the current position of the motor rotor is determined.

[0033] Thus, this application's method, based on the above-mentioned detection of the voltage parameters of the floating phase of the motor drive voltage, and then injecting a pulse signal into the floating phase according to the detection result, and then determining the position of the motor rotor based on the instantaneous induced voltage of the floating phase, is a driving method for the motor that, compared with traditional driving methods that use position sensors or back EMF zero-crossing detection, diode freewheeling, observer methods, or ADC sampling of the floating phase voltage of the square wave driven motor, can maintain driving torque at zero speed without using sensors, and can still provide a large driving torque even when the motor is stopped by external force or even forced to reverse. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of a pulse-injection-based motor drive device in the hardware operating environment of the device involved in the embodiments of this application;

[0037] Figure 2 This is a schematic diagram illustrating the implementation process of an embodiment of the motor driving method based on pulse injection of this application;

[0038] Figure 3 This is a schematic diagram of the drive circuit of an embodiment of the motor drive method based on pulse injection according to this application;

[0039] Figure 4 This is a schematic diagram of the six-step commutation of a square wave in an embodiment of the motor driving method based on pulse injection according to this application;

[0040] Figure 5 This is a schematic diagram illustrating the implementation process of an embodiment of the motor driving method based on pulse injection of this application;

[0041] Figure 6 This is a schematic diagram of the voltage waveform of an embodiment of the motor driving method based on pulse injection according to this application;

[0042] Figure 7 This is a schematic diagram of the functional modules of the pulse injection-based motor drive device of this application.

[0043] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0044] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0046] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0047] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0048] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a pulse-injection-based motor drive device, which is part of the hardware operating environment of the device involved in the embodiments of this application.

[0049] like Figure 1As shown, the pulse injection-based motor drive device may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to establish communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0050] Optionally, the pulse injection-based motor drive device may also include a rectangular user interface, a network interface, a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, etc. The rectangular user interface may include a display screen and an input submodule such as a keyboard. Optionally, the rectangular user interface may also include a standard wired interface or a wireless interface. The network interface may optionally include a standard wired interface or a wireless interface (such as a WiFi interface).

[0051] Those skilled in the art will understand that Figure 1 The structure of the pulse injection-based motor drive device shown does not constitute a limitation on the pulse injection-based motor drive device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0052] like Figure 1 As shown, the memory 1005, serving as a computer storage medium, may include an operating device, a network communication module, and a pulse injection-based motor driver. The operating device is a program that manages and controls the hardware and software resources of the pulse injection-based motor drive device, supporting the operation of the pulse injection-based motor driver and other software and / or programs. The network communication module is used to enable communication between the various components within the memory 1005, as well as communication with other hardware and software in the pulse injection-based motor drive device.

[0053] exist Figure 1 In the pulse injection-based motor drive device shown, the processor 1001 executes the pulse injection-based motor drive program stored in the memory 1005 and performs the following steps:

[0054] The voltage parameters of the floating phase of the motor's drive voltage are detected in real time to obtain the detection results;

[0055] Based on the detection results, a pulse signal is injected into the suspended phase;

[0056] The current position of the motor rotor is determined based on the voltage signal generated by the pulse signal during the instantaneous floating phase of the driving voltage.

[0057] Optionally, in some feasible embodiments, the voltage parameters of the floating phase include: a first voltage value before the floating phase and a second voltage value when the floating phase is freewheeling; the step of real-time detection of the voltage parameters of the floating phase for the motor drive voltage to obtain the detection result includes:

[0058] The first voltage value and the second voltage value are detected at fixed intervals;

[0059] The first voltage value is compared with the second voltage value to obtain the detection result.

[0060] Optionally, in some feasible embodiments, the detection result includes reaching the same inductance point and not reaching the same inductance point; the step of comparing the first voltage value with the second voltage value to obtain the detection result includes:

[0061] When the relationship between the first voltage value and the second voltage value remains unchanged, the detection result is determined to be that the inductance is not at the same point.

[0062] When the first voltage value is equal to the second voltage value, or when the relationship between the first voltage value and the second voltage value changes, the detection result is determined to be that the inductance is the same.

[0063] Optionally, in some feasible embodiments, the step of injecting a pulse signal into the suspended phase based on the detection result includes:

[0064] When the detection result indicates that the inductance is the same, a pulse signal is injected into the suspended phase.

[0065] Optionally, in some feasible embodiments, the step of determining the current position of the motor rotor based on the voltage signal generated by the pulse signal according to the instantaneous floating phase of the driving voltage includes:

[0066] The induced voltage value of the instantaneously suspended phase is detected, and the bus voltage value of the bus of the drive circuit is detected;

[0067] The induced voltage value is compared with the bus voltage value to obtain a comparison result;

[0068] Based on the comparison results, it is determined whether the current position is a rotor reversal.

[0069] Optionally, in some feasible embodiments, after the step of determining the current position of the motor rotor based on the voltage signal generated by the pulse signal according to the instantaneous floating phase of the driving voltage, the method further includes:

[0070] When the rotor is in reverse at the current position, the drive voltage is adjusted.

[0071] Optionally, in some feasible embodiments, before the step of real-time detection of voltage parameters of the floating phase of the motor's drive voltage to obtain the detection result, the method further includes:

[0072] The rotor speed of the motor is detected.

[0073] Based on the hardware structure of the pulse injection-based motor drive device described above, a first embodiment of the pulse injection-based motor drive method of this application is proposed.

[0074] Please refer to Figure 2 , Figure 2 This is a schematic flowchart illustrating an embodiment of the pulse injection-based motor drive method of this application. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0075] like Figure 2 As shown, in the first embodiment of the motor driving method based on pulse injection of this application, the motor driving method based on pulse injection of this application includes:

[0076] Step S10: Real-time detection of voltage parameters for the floating phase of the motor's drive voltage to obtain detection results;

[0077] It should be noted that, in this embodiment, the motor driving method is applied to the drive circuit, and the drive circuit is as follows: Figure 3 As shown, Figure 3 This is a schematic diagram of the driving circuit in an embodiment of this application. UH is the upper bridge MOSFET of phase U, UL is the lower bridge MOSFET of phase U, VH is the upper bridge MOSFET of phase V, VL is the lower bridge MOSFET of phase V, WH is the upper bridge MOSFET of phase W, WL is the lower bridge MOSFET of phase W, and M is the motor. In this embodiment, when using a square wave signal to drive the motor, there are six conduction modes, including: UH_VL (phase U is connected to the signal source, phase V is grounded, UH and VL are conducting, current flows from the upper bridge of phase U into the U-phase winding of the motor and then out through the V-phase winding, and flows to ground through the lower bridge MOSFET of phase V, thereby generating electromagnetic torque and driving the motor to rotate. At this time, phase W is floating, and subsequent conduction modes follow the same pattern, which will not be described again), UH_WL, VH_WL, VH_UL, WH_UL, and WH_VL. A floating phase refers to a phase in which no MOSFET is conducting at the current moment.

[0078] In this embodiment, when using a square wave signal to drive the motor, the MCU (Microcontroller Unit) detects the voltage parameters of the floating phase at fixed intervals and obtains the detection results of the voltage parameters.

[0079] Step S20: Inject a pulse signal into the suspended phase based on the detection result;

[0080] In this embodiment, after obtaining the detection result, a pulse signal is injected into the suspended phase based on the detection result.

[0081] Step S30: Determine the current position of the motor rotor based on the voltage signal generated by the pulse signal during the instantaneous floating phase of the driving voltage.

[0082] It should be noted that in this embodiment, at the instant the pulse signal is injected into the suspended phase, the suspended phase is connected to the signal source. At this moment, the phase that was originally connected to the signal source is now suspended, which is the momentary suspended phase.

[0083] In this embodiment, when a pulse signal is injected into the suspended phase, an induced voltage is instantaneously generated in the suspended phase. The magnitude of the induced voltage is used to determine whether the motor rotor has reversed, thereby determining the current position of the motor rotor.

[0084] Optionally, in some feasible embodiments, before the step of real-time detection of voltage parameters of the floating phase of the motor's drive voltage to obtain the detection result, the method further includes:

[0085] Step S40: Detect the rotor speed of the motor.

[0086] In this embodiment, the rotor speed of the motor is detected in real time during the motor driving process. When the rotor speed of the motor is lower than the set threshold speed, the subsequent voltage detection step is performed.

[0087] Optionally, in some feasible embodiments, after the step of determining the current position of the motor rotor based on the voltage signal generated by the pulse signal according to the instantaneous floating phase of the driving voltage, the method further includes:

[0088] Step S50: When the rotor is in reverse at the current position, adjust the driving voltage.

[0089] It should be noted that, in this embodiment, as Figure 4 As shown, Figure 4This is a schematic diagram of a six-step commutation of a square wave in an embodiment of the motor driving method based on pulse injection of this application. The three waveforms from top to bottom represent the three-phase voltages U, V, and W of the motor, respectively. The motor is driven by a six-step commutation of the square wave. The conduction mode from state 1 (STATUS1) to state 6 (STATUS6) cycles as follows: WH_VL, UH_VL, UH_WL, VH_WL, VH_UL, WH_UL.

[0090] In this embodiment, if it is determined that the motor is currently reversing, the drive voltage is pushed back by one step, that is, the state is pushed back one step, and the motor is reversed.

[0091] Specifically, in actual use, assuming the current conduction state is UH_VL, when the rotor speed is detected to be lower than the threshold speed, the duty cycle of UH_VL is increased every few carrier cycles. The voltage parameter of the floating phase W is detected at this time. Based on the voltage parameter, a pulse signal is injected into phase W. During the time of one pulse signal, the conduction state of the motor changes to WH_VL. At this time, the instantaneously floating phase is phase U. Phase U will generate an induced voltage based on the pulse signal. The magnitude of the induced voltage is used to determine whether the motor has reversed. If the motor reverses, the drive voltage is pushed back by one beat, that is, the conduction state changes to WH_VL.

[0092] In this embodiment, compared to existing technologies that use position sensors or drive methods that employ back EMF zero-crossing detection, diode freewheeling, observer methods, or ADC-based sampling of the floating phase voltage of a square wave driven motor, the driving method of this application performs real-time voltage parameter detection on the floating phase of the motor's drive voltage when the motor's rotor speed is below a threshold speed. Based on this detection result, a pulse signal is injected into the floating phase. Finally, the current position of the motor's rotor is determined based on the voltage signal generated by the pulse signal from the instantaneous floating phase of the drive voltage, and the drive voltage is adjusted accordingly.

[0093] Thus, this application's method, based on the above-mentioned detection of the voltage parameters of the floating phase of the motor drive voltage, and then injecting a pulse signal into the floating phase according to the detection result, and then determining the position of the motor rotor based on the instantaneous induced voltage of the floating phase, is a driving method for the motor that, compared with traditional driving methods that use position sensors or back EMF zero-crossing detection, diode freewheeling, observer methods, or ADC sampling of the floating phase voltage of the square wave driven motor, can maintain driving torque at zero speed without using sensors, and can still provide a large driving torque even when the motor is stopped by external force or even forced to reverse.

[0094] Furthermore, based on the first embodiment of the pulse injection-based motor driving method of this application described above, a second embodiment of the pulse injection-based motor driving method of this application is proposed.

[0095] In some feasible embodiments, the voltage parameters of the floating phase include: a first voltage value before the floating phase and a second voltage value when the floating phase is freewheeling. Step S10 above, which involves real-time detection of the voltage parameters of the floating phase of the motor's drive voltage to obtain the detection result, includes:

[0096] Step S101: Detect the first voltage value and the second voltage value at fixed intervals;

[0097] It should be noted that, in this embodiment, the second voltage value when the floating phase continues to flow refers to the voltage value of the floating phase when it is reverse-conducted according to the current conduction mode.

[0098] In this embodiment, when the rotor speed of the motor is lower than the threshold speed, the duty cycle of UH_VL is increased every few carrier cycles. The first voltage value of the floating phase W is detected at this time, and then all bridge arms are turned off to allow the current in the motor to continue flowing. During the process of motor continuous current flow, the second voltage value of phase W is read again.

[0099] Step S102: Compare the first voltage value with the second voltage value to obtain the detection result.

[0100] In this embodiment, the first voltage value and the second voltage value are compared to determine whether the DC brushless motor has reached the same inductance point during operation.

[0101] Optionally, in some feasible embodiments, the above detection result includes reaching the same inductance point and not reaching the same inductance point; the above step S102, comparing the first voltage value with the second voltage value to obtain the detection result, includes:

[0102] Step S1021: When the relationship between the first voltage value and the second voltage value has not changed, it is determined that the detection result is that the inductance is not the same.

[0103] Step S1022: When the first voltage value is equal to the second voltage value, or when the relationship between the first voltage value and the second voltage value changes, the detection result is determined to be that the inductance is the same.

[0104] In this embodiment, if the initial first voltage value is greater than the second voltage value, when the first voltage value is detected to be equal to the second voltage value, or the first voltage value is less than the second voltage value, it indicates that the motor has reached the point of equal inductance.

[0105] Optionally, in some feasible embodiments, step S20 above, the step of injecting a pulse signal into the suspended phase based on the detection result, includes:

[0106] Step S201: When the detection result indicates that the inductance is the same, a pulse signal is injected into the suspended phase.

[0107] In this embodiment, when the first voltage value of the suspended phase is detected to be equal to the second voltage value, or the first voltage value is less than the second voltage value, a pulse signal is injected into the suspended phase to induce a voltage in the instantaneous suspended phase at this time.

[0108] Optionally, in some feasible embodiments, step S30 above, which involves determining the current position of the motor rotor based on the voltage signal generated by the pulse signal during the instantaneous floating phase of the driving voltage, includes:

[0109] Step S301: Detect the induced voltage value of the instantaneously floating phase, and detect the bus voltage value of the bus of the drive circuit;

[0110] In this embodiment, while injecting a pulse signal into the suspended phase, the induced voltage of the momentarily suspended phase is detected, and the bus voltage value of the motor drive circuit bus is also detected.

[0111] Step S302: Compare the induced voltage value with the bus voltage value to obtain a comparison result;

[0112] In this embodiment, after detecting the induced voltage value and the bus voltage value, the induced voltage value is compared with the threshold voltage value to obtain the comparison result.

[0113] Step S303: Determine whether the current position is a rotor reversal based on the comparison result.

[0114] In this embodiment, as Figure 4 As shown, at the falling edge corresponding to the current conduction state (i.e., if UH_VL is on, the induced voltage of phase W gradually decreases during normal operation), if the induced voltage value is less than the threshold voltage, it is determined that the motor rotor is in reverse. At the rising edge corresponding to the conduction state, if the induced voltage is greater than the threshold voltage, it is determined that the motor rotor is in reverse.

[0115] Specifically, in actual use, such as Figure 5 As shown, Figure 5This is a schematic diagram of the implementation process of a motor driving method based on pulse injection in this application. For example, if the current conduction state is UH_VL, during normal motor driving, the rotor speed of the motor is detected in real time. If the rotor speed is high and exceeds the threshold speed, normal driving is maintained. If the rotor speed does not reach the threshold speed, the duty cycle of UH_VL is increased every few carrier cycles, that is, a large pulse is inserted every few pulses. The first voltage of the floating phase W is detected at this time, and then all bridge arms are turned off to allow the current in the motor to freewheel. During the freewheeling process of the motor, the second voltage of phase W is read again, and the first voltage value and the second voltage value are compared. Figure 6 As shown, Figure 6 The magnitude relationship of the fourth group of voltage values ​​in the middle elliptical circuit changes compared to the first three groups, indicating that the motor has reached the point of equal inductance. At this point, the conduction mode is changed to WH_VL, and a pulse is injected into the W phase, such as... Figure 6 As shown in the box, phase U is suspended during this pulse time and generates an induced voltage. The magnitude of this induced voltage and the magnitude of the drive circuit bus voltage are detected. Because phase W is a falling edge when the conduction mode is UH_VL, if the induced voltage is less than the threshold voltage, it is determined that the motor rotor is currently in reverse. At this time, the drive voltage is pushed back one pulse to change the conduction mode to WH_VL to ensure the normal drive of the motor.

[0116] In this embodiment, compared to existing technologies that use position sensors or drive methods that employ back EMF zero-crossing detection, diode freewheeling, observer methods, or ADC-based sampling of the floating phase voltage of a square wave driven motor, the pulse injection-based motor drive method of this application detects the voltage parameters of the floating phase in real time through the drive circuit, compares the voltage value of the floating phase with the voltage value during freewheeling to obtain the detection result, then injects a pulse signal into the floating phase based on the detection result, and finally compares the instantaneous voltage value of the floating phase generated by the pulse signal with the bus voltage value to determine the current position of the motor rotor.

[0117] Thus, the method of determining the position of the motor rotor by injecting pulses into the motor and thereby adjusting the voltage vector of the drive motor, as described above, is superior to traditional drive methods that use position sensors or back EMF zero-crossing detection, diode freewheeling, observer methods, or ADC sampling of the floating phase voltage of the square wave drive motor. Compared with these methods, the pulse injection-based motor drive method of this application can maintain the driving torque of the motor at zero speed without using sensors, and can still provide a large driving torque even when the motor is stopped by external force or even forced to reverse.

[0118] In addition, please refer to Figure 7 , Figure 7This is a functional block diagram of the pulse injection-based motor drive device of this application. This application also provides a pulse injection-based motor drive device, which includes:

[0119] The voltage detection module 10 is used to detect the voltage parameters of the floating phase of the motor's drive voltage in real time to obtain the detection results.

[0120] Pulse injection module 20 is used to inject pulse signals into the suspended phase based on the detection results;

[0121] The position detection module 30 is used to determine the current position of the motor rotor based on the voltage signal generated by the pulse signal during the instantaneous floating phase of the driving voltage.

[0122] Optionally, the voltage detection module 10 includes:

[0123] A detection instruction unit is used to detect the first voltage value and the second voltage value at fixed intervals;

[0124] A voltage comparison unit is used to compare the first voltage value with the second voltage value to obtain the detection result.

[0125] Optionally, the voltage comparison unit includes:

[0126] The result judgment subunit is used to determine that the detection result is that the inductance is not equal when the relationship between the first voltage value and the second voltage value has not changed; and to determine that the detection result is that the inductance is equal when the first voltage value is equal to the second voltage value, or when the relationship between the first voltage value and the second voltage value has changed.

[0127] Optionally, the pulse injection module 20 includes:

[0128] An injection judgment unit is used to inject a pulse signal into the floating phase when the detection result indicates that the inductance is the same.

[0129] Optionally, the position detection module 30 includes:

[0130] A transient voltage detection unit is used to detect the induced voltage value of the transient floating phase and the bus voltage value of the bus of the drive circuit.

[0131] An instantaneous voltage comparison unit is used to compare the induced voltage value with the bus voltage value to obtain a comparison result;

[0132] The result judgment unit is used to determine whether the current position is a rotor reversal based on the comparison result.

[0133] Optionally, the above-mentioned motor drive device further includes:

[0134] The voltage adjustment module 40 is used to adjust the drive voltage when the rotor is in reverse at the current position.

[0135] Optionally, the above-mentioned motor drive device further includes:

[0136] The speed detection module 50 is used to detect the rotor speed of the motor.

[0137] The specific implementation of the motor drive device based on pulse injection in this application is basically the same as the embodiments of the motor drive method based on pulse injection described above, and will not be repeated here.

[0138] Furthermore, this application also proposes a storage medium storing a pulse injection-based motor driver program, which, when executed by a processor, implements the steps of the pulse injection-based motor driving method of this application as described above.

[0139] The specific embodiments of the computer storage medium in this application are basically the same as the embodiments of the motor driving method based on pulse injection described above, and will not be repeated here.

[0140] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0141] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0142] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0143] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A motor driving method based on pulse injection, characterized in that, The motor driving method is applied to a drive circuit, and the motor driving method includes: The voltage parameters of the floating phase of the motor's drive voltage are detected in real time to obtain the detection results; Based on the detection results, a pulse signal is injected into the suspended phase; The current position of the motor rotor is determined based on the voltage signal generated by the pulse signal during the instantaneous floating phase of the driving voltage. The voltage parameters of the floating phase include: a first voltage value before the floating phase is opened and a second voltage value when the floating phase is freewheeling. The step of real-time detection of the voltage parameters of the floating phase for the motor drive voltage to obtain the detection result includes: The first voltage value and the second voltage value are detected at fixed intervals; The first voltage value is compared with the second voltage value to obtain the detection result; The detection result includes reaching the same inductance point and not reaching the same inductance point; the step of comparing the first voltage value with the second voltage value to obtain the detection result includes: When the relationship between the first voltage value and the second voltage value remains unchanged, the detection result is determined to be that the inductance is not at the same point. When the first voltage value is equal to the second voltage value, or when the relationship between the first voltage value and the second voltage value changes, the detection result is determined to be that the inductance is the same. The step of determining the current position of the motor rotor based on the voltage signal generated by the pulse signal during the instantaneous floating phase of the driving voltage includes: The induced voltage value of the instantaneously suspended phase is detected, and the bus voltage value of the bus of the drive circuit is detected; The induced voltage value is compared with the bus voltage value to obtain a comparison result; Based on the comparison results, it is determined whether the current position is a rotor reversal.

2. The motor driving method according to claim 1, characterized in that, The step of injecting a pulse signal into the suspended phase based on the detection result includes: When the detection result indicates that the inductance is the same, a pulse signal is injected into the suspended phase.

3. The motor driving method based on pulse injection according to claim 1, characterized in that, After the step of determining the current position of the motor rotor based on the voltage signal generated by the pulse signal according to the instantaneous floating phase of the driving voltage, the method further includes: When the rotor is in reverse at the current position, the drive voltage is adjusted.

4. The motor driving method according to claim 1, characterized in that, Before the step of real-time detection of voltage parameters of the floating phase of the motor's drive voltage to obtain the detection result, the method further includes: The rotor speed of the motor is detected.

5. A motor drive device based on pulse injection, characterized in that, The motor drive device includes: The voltage detection module is used to detect the voltage parameters of the floating phase of the motor's drive voltage in real time to obtain the detection results. A pulse injection module is used to inject a pulse signal into the suspended phase based on the detection result; The position detection module is used to determine the current position of the motor rotor based on the voltage signal generated by the pulse signal during the instantaneous floating phase of the driving voltage. The voltage parameters of the floating phase include: a first voltage value before the floating phase and a second voltage value when the floating phase is freewheeling; the voltage detection module includes: A detection instruction unit is used to detect the first voltage value and the second voltage value at fixed intervals; A voltage comparison unit is used to compare the first voltage value with the second voltage value to obtain the detection result; The voltage comparison unit includes: The result judgment subunit is used to determine that the detection result is that the inductance is not equal when the relationship between the first voltage value and the second voltage value has not changed; and to determine that the detection result is that the inductance is equal when the first voltage value is equal to the second voltage value, or when the relationship between the first voltage value and the second voltage value has changed. The position detection module includes: A transient voltage detection unit is used to detect the induced voltage value of the transient floating phase and the bus voltage value of the bus of the drive circuit. An instantaneous voltage comparison unit is used to compare the induced voltage value with the bus voltage value to obtain a comparison result; The result judgment unit is used to determine whether the current position is a rotor reversal based on the comparison result.

6. A motor drive device based on pulse injection, characterized in that, The motor drive device includes: a memory, a processor, and a pulse injection-based motor driver program stored in the memory and executable on the processor. When the pulse injection-based motor driver program is executed by the processor, it implements the steps of the pulse injection-based motor drive method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium stores a pulse-injection-based motor driver program, which, when executed by a processor, implements the steps of the pulse-injection-based motor driving method as described in any one of claims 1 to 4.

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