Motor control system, method and vehicle

Abstract

The present disclosure relates to a motor control system, method and vehicle. The motor control system includes: a controller, a driver, a bridge arm converter, a motor winding and a Hall sensor corresponding to the motor winding; the controller is connected to the driver, and the driver is connected to the bridge arm switch tube of the bridge arm converter, which is used to control the conduction state of the bridge arm switch tube under the control of the controller to realize motor commutation, and the midpoint of the bridge arm converter is connected to the motor winding; the installation position of the Hall sensor makes the phase of the generated Hall sensor signal differ from the phase of the corresponding reverse electromotive force of the motor winding by a first preset angle; the controller is used to control the motor commutation through the driver and the bridge arm converter according to the Hall sensor signal, the target rotation direction and the commutation direction of the motor. In this way, the current phase of the motor winding can be advanced by a certain angle compared with the phase of its reverse electromotive force, thereby suppressing the torque pulsation during the operation of the motor and improving the stability of the motor operation.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motor control, and in particular, to a motor control system, method and vehicle. Background Art

[0002] After years of development, motors have been used in all aspects of modern society. Due to their excellent regulation and starting performance, brushless DC motors are increasingly used in power systems, but three-phase brushless DC motors have some disadvantages, such as large torque pulsation.

[0003] In the application process of three-phase brushless DC motor, the delay of the Hall sensor's own signal and the influence of the motor winding inductance will cause the phase current of each phase winding to lag behind its reverse electromotive force when the controller controls the motor to change phase, thus causing torque pulsation. The larger the torque pulsation, the lower the stability of the motor, and the higher the energy consumption of the motor. Summary of the invention

[0004] The purpose of the present disclosure is to provide a motor control system, method and vehicle to suppress the torque pulsation of the motor and ensure the stability of the motor operation.

[0005] In order to achieve the above-mentioned object, the present disclosure provides a motor control system according to a first aspect, comprising:

[0006] A controller, a driver, a bridge arm converter, a motor winding, and a Hall sensor corresponding to the motor winding;

[0007] The controller is connected to the driver, and the driver is connected to the bridge arm switch tube of the bridge arm converter, and is used to control the conduction state of the bridge arm switch tube under the control of the controller to realize motor commutation, and the midpoint of the bridge arm converter is connected to the motor winding;

[0008] The installation position of the Hall sensor makes the phase of the generated Hall sensor signal differ from the phase of the corresponding back electromotive force of the motor winding by a first preset angle;

[0009] The controller is used to control the commutation of the motor through the driver and the bridge arm converter according to the Hall sensor signal, the target rotation direction and the commutation direction of the motor.

[0010] Optionally, the controller is used to predetermine the commutation direction in the following manner:

[0011] Controlling the motor to rotate in a first direction;

[0012] During the rotation of the motor, receiving image information, wherein the image information represents a relative relationship between a phase of the Hall sensor signal and a phase of a back electromotive force of the corresponding motor winding;

[0013] When it is determined according to the image information that the phase of the Hall sensor signal leads the phase of the corresponding back electromotive force of the motor winding by the first preset angle, the first direction is determined to be the commutation direction.

[0014] Optionally, the controller is used to: determine the Hall code corresponding to the Hall sensor signal according to the Hall sensor signal, and control the motor commutation through the driver and the bridge arm converter according to the Hall code, the target rotation direction and the commutation direction.

[0015] Optionally, the controller is used to: when the target rotation direction and the commutation direction are the same, control the commutation of the motor through the driver and the bridge arm converter according to the Hall encoding.

[0016] Optionally, the controller is used to: when the target rotation direction and the commutation direction are opposite, determine the sector corresponding to the Hall code, determine the target power-on sequence according to the target rotation direction, and obtain the Hall code of the next sector of the sector corresponding to the Hall code according to the target power-on sequence, and control the commutation of the motor through the driver and the bridge arm converter according to the Hall code of the next sector.

[0017] Optionally, the sectors are divided according to the transition points of the Hall sensor signals.

[0018] A second aspect of the present disclosure provides a motor control method, applied to a controller, comprising:

[0019] Receiving a Hall sensor signal from a Hall sensor, wherein the Hall sensor is installed at a position such that a phase of the Hall sensor signal differs from a phase of a back electromotive force of a corresponding motor winding by a first preset angle;

[0020] The motor commutation is controlled according to the Hall sensor signal, the target rotation direction of the motor and the commutation direction.

[0021] Optionally, the commutation direction is predetermined by:

[0022] Controlling the motor to rotate in a first direction;

[0023] During the rotation of the motor, receiving image information, wherein the image information represents a relative relationship between a phase of the Hall sensor signal and a phase of a back electromotive force of the corresponding motor winding;

[0024] When it is determined according to the image information that the phase of the Hall sensor signal leads the phase of the corresponding back electromotive force of the motor winding by the first preset angle, the first direction is determined to be the commutation direction.

[0025] Optionally, controlling the commutation of the motor according to the Hall sensor signal, the target rotation direction and the commutation direction of the motor includes:

[0026] Determine a Hall code corresponding to the Hall sensor signal according to the Hall sensor signal;

[0027] The motor commutation is controlled according to the Hall code, the target rotation direction and the commutation direction.

[0028] Optionally, controlling the motor commutation according to the Hall code, the target rotation direction and the commutation direction includes:

[0029] When the target rotation direction is the same as the commutation direction, the motor commutation is controlled according to the Hall encoding.

[0030] Optionally, controlling the motor commutation according to the Hall code, the target rotation direction and the commutation direction includes:

[0031] When the target rotation direction is opposite to the commutation direction, determining the sector corresponding to the Hall code;

[0032] determining a target power-on sequence according to the target rotation direction;

[0033] According to the target power-on sequence, obtaining the Hall code of the next sector of the sector corresponding to the Hall code;

[0034] The motor commutation is controlled according to the Hall code of the next sector.

[0035] Optionally, the sectors are divided according to the transition points of the Hall sensor signals.

[0036] A third aspect of the present disclosure provides a vehicle, comprising the motor control system provided by the first aspect.

[0037] In the above technical solution, the installation position of the Hall sensor makes the phase of the generated Hall sensor signal differ from the phase of the corresponding motor winding's reverse electromotive force by a first preset angle; the controller controls the motor commutation through the driver and the bridge arm converter according to the Hall sensor signal, the motor's target rotation direction and the commutation direction. In this way, the current phase of the motor winding can lead the phase of its reverse electromotive force by a certain angle, thereby suppressing the torque pulsation during the operation of the motor, improving the stability of the motor operation, and avoiding the increase of the motor energy consumption.

[0038] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0040] Figure 1 It is a schematic diagram of the corresponding relationship between the phase of the Hall sensor signal and the phase of the back electromotive force of the corresponding motor winding in the related art;

[0041] Figure 2 is a block diagram of a motor control system provided by an exemplary embodiment of the present disclosure;

[0042] Figure 3 is a circuit topology diagram of a motor control system provided by an exemplary embodiment of the present disclosure;

[0043] Figure 4 is a structural schematic diagram of a motor provided by an exemplary embodiment of the present disclosure;

[0044] Figure 5 is a schematic diagram of a corresponding relationship between the phase of a Hall sensor signal and the phase of a back electromotive force of a corresponding motor winding provided by an exemplary embodiment of the present disclosure;

[0045] Figure 6 is a schematic diagram of the corresponding relationship between the Hall sensor signal, the Hall code, the power-on sequence and the motor winding conduction phase provided by an exemplary embodiment of the present disclosure;

[0046] Figure 7 It is a schematic diagram of the corresponding relationship between the power-on sequence, the Hall sensor signal, the Hall code, the Hall code of the next sector, and the conduction phase of the motor winding of the next sector provided by an exemplary embodiment of the present disclosure;

[0047] Figure 8 is a flow chart of a motor control method provided by an exemplary embodiment of the present disclosure;

[0048] Fig. 9is a flowchart of a motor control method provided by another exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0050] A three-phase brushless DC motor usually includes three Hall sensors connected to the three-phase windings of the three-phase brushless DC motor (such as Figure 1 The conventional installation position of the Hall sensor is determined by calculating the angular spacing between the Hall sensors and determining the spacing angle between the three Hall sensors. The installation position of the Hall sensor makes the phase of the generated Hall sensor signal and the phase of the back electromotive force of the corresponding motor winding have the following relationship: Figure 1 The corresponding relationship shown in the figure means that the jumping edge of the Hall sensor signal corresponds to the reverse electromotive force switching point of the corresponding motor winding one by one.

[0051] According to the Hall sensor signal, the controller can realize the two-by-two conduction commutation of the motor windings through the six-step commutation method, thereby realizing the rotation of the motor. However, there may be a delay from the time when the Hall sensor detects the magnetic field signal to the time when the output signal is sent to the controller, which may eventually cause the controller to control the commutation time to be delayed; and the inductance of the motor winding is usually large, which is easy to affect the current phase flowing through the inductor, causing the current phase to lag. The superposition of the two will cause the phase current phase of each phase winding to lag behind its reverse electromotive force phase by 10° to 20° when the controller controls the motor to commutate. Practice has shown that the phase current phase of each phase winding lags behind its reverse electromotive force phase, which will cause torque pulsation during the operation of the motor, reduce the stability of the motor operation, and increase the energy consumption of the motor.

[0052] In order to solve the above problems, the present disclosure provides a motor control system.

[0053] Figure 2 is a block diagram of a motor control system provided by an exemplary embodiment of the present disclosure. Figure 2 As shown, the motor control system includes: a controller 10, a driver 20, a bridge arm converter 30, a motor winding 40 and a Hall sensor 50 corresponding to the motor winding 40;

[0054] The controller 10 is connected to the driver 20, and the driver 20 is connected to the bridge arm switch tube of the bridge arm converter 30, which is used to control the conduction state of the bridge arm switch tube under the control of the controller 10 to realize motor commutation. The midpoint of the bridge arm converter 30 is connected to the motor winding 40; the installation position of the Hall sensor 50 makes the phase of the generated Hall sensor signal differ from the phase of the corresponding reverse electromotive force of the motor winding 40 by a first preset angle; the controller 10 is used to control the motor commutation through the driver 20 and the bridge arm converter 30 according to the Hall sensor signal, the target rotation direction and commutation direction of the motor.

[0055] Figure 3 FIG. 1 is a circuit topology diagram of a motor control system provided by an exemplary embodiment of the present disclosure. Figure 3 As shown, the driver 20 can be an IGBT driver, connected to the bridge arm switch tube (Q0 to Q5) of the bridge arm converter 30. The bridge arm switch tube can be an insulated gate bipolar transistor (IGBT) or a metal-oxide-semiconductor field-effect transistor (MOSFET). The bridge arm converter 30 may include a plurality of half-bridge circuits, each half-bridge circuit consisting of an upper and lower arm of a bridge arm switch tube. The midpoint of the bridge arm converter 30 is connected to the motor winding 40, and the Hall sensor 50 may include a plurality of Hall sensors. As shown in FIG. Figure 4 As shown, a Hall sensor for detecting the rotor position is embedded in the stator of the motor. The Hall sensor can provide new position information when each Hall sensor signal changes. The motor winding 40 can be a three-phase winding, corresponding one-to-one to the three Hall sensors, such as the A-phase winding corresponds to Hall sensor 1, the B-phase winding corresponds to Hall sensor 2, and the C-phase winding corresponds to Hall sensor 3.

[0056] Exemplarily, the first preset angle can be determined by a motor rotation test, for example, it can be set to 30°. For example, the installation position of Hall sensor 1 makes the phase of the Hall sensor signal it generates lead the phase of the reverse electromotive force of the A-phase winding by 30°, the installation position of Hall sensor 2 makes the phase of the Hall sensor signal it generates lead the phase of the reverse electromotive force of the B-phase winding by 30°, and the installation position of Hall sensor 3 makes the phase of the Hall sensor signal it generates lead the phase of the reverse electromotive force of the C-phase winding by 30°. At this time, the phase of the Hall sensor signal has the same phase as the phase of the reverse electromotive force of the corresponding motor winding 40. Figure 5 The corresponding relationship shown is equivalent to Figure 1 On this basis, the phase of the Hall sensor signal leads the corresponding back electromotive force of the motor winding 40 by 30°.

[0057] Exemplarily, in the process of confirming the installation position of the Hall sensor 50, the staff can obtain image information of the phase of the Hall sensor signal and the phase of the corresponding back electromotive force of the motor winding 40 through an oscilloscope, and adjust the installation position of the Hall sensor 50 according to the image information until the phase of the generated Hall sensor signal differs from the phase of the corresponding back electromotive force of the motor winding 40 by a first preset angle.

[0058] The controller 10 can determine the signal to be output to the driver 20 according to the Hall sensor signal, the target rotation direction and the commutation direction of the motor. The driver 20 converts the received signal and sends the converted signal to the bridge arm converter 30 to control the conduction state of the bridge arm switch tube. In this way, the power-on state of the motor winding 40 can be changed, that is, the motor is controlled to perform commutation and realize the rotation of the motor.

[0059] In the above technical solution, the installation position of the Hall sensor 50 makes the phase of the generated Hall sensor signal differ from the phase of the corresponding reverse electromotive force of the motor winding 40 by a first preset angle; the controller 10 controls the motor commutation through the driver 20 and the bridge arm converter 30 according to the Hall sensor signal, the target rotation direction of the motor and the commutation direction. In this way, the current phase of the motor winding 40 can be made to lead the phase of its reverse electromotive force by a certain angle, thereby suppressing the torque pulsation during the operation of the motor, improving the stability of the motor operation, and avoiding the increase of the motor energy consumption.

[0060] Optionally, the controller 10 may be configured to predetermine the commutation direction in the following manner:

[0061] Controlling the motor to rotate in a first direction;

[0062] During the rotation of the motor, image information is received, the image information representing the relative relationship between the phase of the Hall sensor signal and the phase of the back electromotive force of the corresponding motor winding 40;

[0063] When it is determined according to the image information that the phase of the Hall sensor signal leads the phase of the back electromotive force of the corresponding motor winding 40 by a first preset angle, the first direction is determined to be the commutation direction.

[0064] Exemplarily, the first direction can be clockwise or counterclockwise. If the controller 10 controls the motor to rotate in the clockwise direction, during the rotation of the motor, the controller 10 can receive image information. If the controller 10 determines through the image information that the phase of the Hall sensor signal leads the phase of the corresponding motor winding 40 by a first preset angle, then the clockwise direction can be determined as the commutation direction. Alternatively, when the controller 10 controls the motor to rotate in the clockwise direction, the staff can obtain image information through an oscilloscope, determine the commutation direction, and input the determined commutation direction into the controller 10. If the first preset angle is 30°, when the motor rotates clockwise, the image information is as follows: Figure 5 As shown, it can be determined that the clockwise direction is the commutation direction.

[0065] like Figure 1 , Figure 5 As shown, during the operation of the motor, each power cycle includes six states. The order of completing the power cycle is different for different motor rotation directions, and the advance in the clockwise direction is equivalent to the lag in the counterclockwise direction. Therefore, no matter whether the phase of the Hall sensor signal leads or lags the phase of the corresponding motor winding 40 of the reverse electromotive force by the first preset angle, during the rotation of the motor, there is always a rotation direction that will make the phase of the Hall sensor signal lead the phase of the corresponding motor winding 40 of the reverse electromotive force by the first preset angle.

[0066] Optionally, the controller 10 can be used to determine the Hall code corresponding to the Hall sensor signal according to the Hall sensor signal, and control the motor commutation through the driver 20 and the bridge arm converter 30 according to the Hall code, the target rotation direction and the commutation direction.

[0067] For example, different encoding methods will result in different Hall codes corresponding to the Hall sensor signal. Figure 4 Taking the motor shown in the figure as an example, Hall sensor 1 can be set to high position, Hall sensor 2 to middle position, and Hall sensor 3 to low position, and the acquired Hall sensor signal generates Hall code in a three-bit binary manner. The correspondence between Hall sensor signal, Hall code, power-on sequence and motor winding conduction phase can be pre-set according to the encoding method and motor rotation test. For example, the above correspondence can be as follows Figure 6 As shown, when the Hall sensor signal is 101, Figure 6 The content in determines that the corresponding Hall code is 5. Figure 6 In the diagram, taking A+B- as an example, A+ indicates that the A-phase winding is connected to the positive pole of the power supply, and B- indicates that the B-phase winding is connected to the negative pole of the power supply.

[0068] The staff can input the target rotation direction through the control panel of the controller 10, or the controller 10 can determine the target rotation direction by itself, such as according to the set timing instruction, which specifies that if the duration of the motor rotating in the same direction does not reach the preset duration threshold, the current rotation direction of the motor is used as the target rotation direction of the motor at the next moment, and if the duration of the motor rotating in the same direction reaches the duration threshold, the opposite direction of the current rotation direction of the motor is used as the target rotation direction of the motor at the next moment. When the controller 10 determines the Hall code corresponding to the Hall sensor signal, the motor commutation can be further controlled according to the Hall code, the target rotation direction and the commutation direction.

[0069] Optionally, the controller 10 may be used to control the motor commutation through the driver 20 and the bridge arm converter 30 according to the Hall encoding when the target rotation direction and the commutation direction are the same.

[0070] For example, if the target rotation direction of the motor is clockwise, and the commutation direction predetermined by the controller 10 is also clockwise, the controller 10 may Figure 6 The content in determines the Hall code corresponding to the Hall sensor signal. The relationship between the motor rotation direction and the power-on sequence is fixed, and the relationship between the two is related to factors such as the motor winding connection direction, that is, the hardware assembly method of the motor. Therefore, while determining the motor target direction, the controller 10 can determine the target power-on direction. At this time, the controller 10 can further determine the target power-on direction according to Figure 6 The content in determines the corresponding motor winding conduction phase, and the motor commutation is controlled by the driver 20 and the bridge arm converter 30.

[0071] For example, if the motor rotates clockwise corresponding to power-on sequence 1, the motor rotates counterclockwise corresponding to power-on sequence 2, and the commutation direction is clockwise, the controller 10 can determine that the target direction of the motor is clockwise and the Hall sensor signal is 101 according to Figure 6 The content in determines that the Hall code is 5, and the corresponding motor winding conduction phase is A+B-, and the motor commutation can be controlled by the driver 20 and the bridge arm converter 30.

[0072] Practice shows that the current phase of the motor winding leads the phase of its reverse electromotive force by a certain angle, which can effectively suppress torque pulsation, make the motor run better, and effectively reduce energy loss. In this way, when the target rotation direction and the commutation direction are the same, the phase of the Hall sensor signal is advanced by a first preset angle relative to the phase of the reverse electromotive force of the corresponding motor winding, which can make the current phase of the motor winding lead the phase of its reverse electromotive force by a certain angle, thereby suppressing torque pulsation, making the motor run better, and effectively reducing energy loss.

[0073] Still taking the first preset angle of 30° as an example, when the target rotation direction and the commutation direction are the same, in the target rotation direction, the phase of the Hall sensor signal is 30° ahead of the phase of the corresponding motor winding's back electromotive force, and the 30° advance is offset by the phase current phase of the motor winding lagging behind its back electromotive force phase by 10° to 20°, so that when the controller 10 of the motor control system controls the commutation, the phase current phase of the motor winding is 10° to 20° ahead of its back electromotive force phase, thereby suppressing torque pulsation and improving the stability of motor operation.

[0074] Optionally, the controller 10 can be used to determine the sector corresponding to the Hall code when the target rotation direction and the commutation direction are opposite, determine the target power-on sequence according to the target rotation direction, and obtain the Hall code of the next sector of the sector corresponding to the Hall code according to the target power-on sequence, and control the motor commutation through the driver 20 and the bridge arm converter 30 according to the Hall code of the next sector.

[0075] The sectors can be divided according to the transition points of the Hall sensor signals.

[0076] For example, the angle of each sector can be 60°, and each sector corresponds to a Hall code. If the target rotation direction of the motor is clockwise, the commutation direction is counterclockwise, the clockwise rotation of the motor corresponds to power-on sequence 1, and the Hall sensor signal is 101, the controller 10 can determine that the target power-on sequence is power-on sequence 1 according to the target rotation direction of the motor (clockwise), and can Figure 6 The content in determines that the Hall code is 5, and combined with the target power-on sequence, it can be determined that the Hall code of the next sector is 4, and the motor winding conduction phase corresponding to the Hall code 4 of the next sector is A+C-. That is, when the target rotation direction and the commutation direction are opposite, compared with the case where the target rotation direction and the commutation direction are the same, the controller 10 changes the power-on state of each phase winding one sector in advance (i.e. 60° in advance).

[0077] In this way, when the target rotation direction and the commutation direction are opposite, the phase of the Hall sensor signal lags behind the phase of the back electromotive force of the corresponding motor winding by a first preset angle. The controller 10 changes the power-on state of each phase winding one sector in advance, so that the current phase of the motor winding can lead the phase of its back electromotive force by a certain angle, thereby suppressing torque pulsation.

[0078] When the target rotation direction is opposite to the commutation direction, Figure 6 Based on this, the corresponding relationship between the power-on sequence, the Hall sensor signal, the Hall code, the Hall code of the next sector, and the conduction phase of the motor winding of the next sector can be determined as follows: Figure 7 shown.

[0079] Continuing from the above, still taking the first preset angle of 30° as an example, when the target rotation direction and the commutation direction are opposite, in the target rotation direction, the phase of the Hall sensor signal lags behind the phase of the corresponding motor winding's back electromotive force by 30°, combined with the motor winding's phase current phase lagging its back electromotive force phase by 10° to 20°. At this time, the motor winding's phase current phase lags its back electromotive force phase by 40° to 50°. The controller 10 advances one sector (i.e., 60° in advance) and changes the power-on state of each phase winding, so that the motor winding's phase current phase leads its back electromotive force phase by 10° to 20°. In this way, torque pulsation can be suppressed, the motor operation can be made more stable, and energy loss can be effectively reduced.

[0080] In summary, according to the motor rotation system provided by the present invention, when the installation position of the Hall sensor makes the phase of the Hall sensor signal differ from the phase of the back electromotive force of the corresponding motor winding by a first preset angle, no matter whether the motor rotates clockwise or counterclockwise, the current phase of the motor winding can be ahead of the phase of its back electromotive force by a certain angle, that is, the torque pulsation can be suppressed.

[0081] Preferably, the first preset angle may be 30°.

[0082] As mentioned above, when the first preset angle is 30°, it can ensure that the motor can achieve the same effect regardless of whether it is rotating clockwise or counterclockwise. There will be no problem that the motor has a better operating effect when rotating in one direction, but a slightly worse operating effect when rotating in the opposite direction, and a slightly larger torque pulsation.

[0083] The present disclosure also provides a vehicle, including the motor control system provided by the present disclosure. The installation position of the Hall sensor 50 makes the phase of the generated Hall sensor signal differ from the phase of the corresponding reverse electromotive force of the motor winding 40 by a first preset angle; the controller 10 controls the motor commutation through the driver 20 and the bridge arm converter 30 according to the Hall sensor signal, the target rotation direction and the commutation direction of the motor. In this way, the current phase of the motor winding 40 can be made to lead the phase of its reverse electromotive force by a certain angle, thereby suppressing the torque pulsation during the operation of the motor, improving the stability of the motor operation, and avoiding the increase of the motor energy consumption.

[0084] The present disclosure also provides a motor control method. Figure 8 is a flow chart of a motor control method provided by an exemplary embodiment of the present disclosure, which can be applied to the controller 10, such as Figure 8 As shown, the method may include:

[0085] S601, receiving a Hall sensor signal from a Hall sensor.

[0086] The installation position of the Hall sensor makes the phase of the Hall sensor signal differ from the phase of the back electromotive force of the corresponding motor winding by a first preset angle.

[0087] S602, controlling the motor commutation according to the Hall sensor signal, the target rotation direction and commutation direction of the motor.

[0088] The installation position of the Hall sensor makes the phase of the generated Hall sensor signal differ from the phase of the corresponding motor winding's reverse electromotive force by a first preset angle; the controller controls the motor commutation according to the Hall sensor signal, the motor's target rotation direction and the commutation direction. In this way, the current phase of the motor winding can lead the phase of its reverse electromotive force by a certain angle, thereby suppressing the torque pulsation during the operation of the motor, improving the stability of the motor operation, and avoiding the increase of the motor's energy consumption.

[0089] Optionally, the commutation direction may be predetermined by:

[0090] Controlling the motor to rotate in a first direction;

[0091] During the rotation of the motor, image information is received, wherein the image information represents a relative relationship between a phase of a Hall sensor signal and a phase of a back electromotive force of a corresponding motor winding;

[0092] When it is determined according to the image information that the phase of the Hall sensor signal leads the phase of the back electromotive force of the corresponding motor winding by a first preset angle, the first direction is determined to be the commutation direction.

[0093] Optionally, in S602, controlling the motor commutation according to the Hall sensor signal, the target rotation direction and the commutation direction of the motor may include:

[0094] Determine a Hall code corresponding to the Hall sensor signal according to the Hall sensor signal;

[0095] The motor commutation is controlled according to the Hall encoder, target rotation direction and commutation direction.

[0096] Further, controlling the motor commutation according to the Hall code, the target rotation direction and the commutation direction may include:

[0097] When the target rotation direction and the commutation direction are the same, the motor commutation is controlled according to the Hall encoding.

[0098] In this way, when the target rotation direction and the commutation direction are the same, the phase of the Hall sensor signal leads the phase of the back electromotive force of the corresponding motor winding by a first preset angle, so that the current phase of the motor winding can lead the phase of its back electromotive force by a certain angle, thereby suppressing torque pulsation, making the motor run better, and effectively reducing energy loss.

[0099] Further, controlling the motor commutation according to the Hall code, the target rotation direction and the commutation direction may include:

[0100] When the target rotation direction and the commutation direction are opposite, determine the sector corresponding to the Hall code;

[0101] Determine the target power-on sequence according to the target rotation direction;

[0102] According to the target power-on sequence, the Hall code of the next sector of the sector corresponding to the Hall code is obtained;

[0103] According to the Hall code of the next sector, the motor commutation is controlled.

[0104] The sectors can be divided according to the jump points of the Hall sensor signals.

[0105] In this way, when the target rotation direction and the commutation direction are opposite, the phase of the Hall sensor signal lags behind the phase of the back electromotive force of the corresponding motor winding by a first preset angle. Changing the power-on state of each phase winding one sector in advance can make the current phase of the motor winding lead the phase of its back electromotive force by a certain angle, thereby suppressing torque pulsation, making the motor run better, and effectively reducing energy loss.

[0106] Preferably, the first preset angle may be 30°.

[0107] In this way, it can be ensured that the motor operation can achieve the same effect regardless of whether the motor is rotating clockwise or counterclockwise.

[0108] Fig. 9 is a flow chart of a motor control method provided by an exemplary embodiment of the present disclosure. Fig. 9 , the implementation process of the motor control method provided by the present disclosure can be more clearly understood. Fig. 9 As shown, the method may include S701 to S708.

[0109] S701, receiving a Hall sensor signal from a Hall sensor.

[0110] The installation position of the Hall sensor makes the phase of the Hall sensor signal differ from the phase of the back electromotive force of the corresponding motor winding by a first preset angle.

[0111] S702, determining a Hall code corresponding to the Hall sensor signal according to the Hall sensor signal.

[0112] S703, determine whether the target rotation direction of the motor is the same as the commutation direction. If the target rotation direction of the motor is opposite to the commutation direction, execute S704; if the target rotation direction of the motor is the same as the commutation direction, execute S708.

[0113] S704, determining the sector corresponding to the Hall code.

[0114] S705, determining a target power-on sequence according to the target rotation direction.

[0115] S706, acquiring the Hall code of the next sector of the sector corresponding to the Hall code according to the target power-on sequence.

[0116] S707, controlling the motor commutation according to the Hall code of the next sector.

[0117] S708, controls the motor commutation according to the Hall encoding.

[0118] In this way, the current phase of the motor winding can be made to lead the phase of its reverse electromotive force by a certain angle, thereby suppressing the torque pulsation during motor operation, improving the stability of motor operation, and avoiding an increase in motor energy consumption.

[0119] Regarding the method in the above embodiment, the specific manner of each step has been described in detail in the embodiment of the relevant system and will not be elaborated here.

[0120] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0121] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0122] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A motor control system, characterized in that: include: A controller, a driver, a bridge arm converter, a motor winding, and a Hall sensor corresponding to the motor winding; The controller is connected to the driver, and the driver is connected to the bridge arm switch tube of the bridge arm converter, and is used to control the conduction state of the bridge arm switch tube under the control of the controller to realize motor commutation, and the midpoint of the bridge arm converter is connected to the motor winding; The installation position of the Hall sensor makes the phase of the generated Hall sensor signal differ from the phase of the corresponding back electromotive force of the motor winding by a first preset angle; The controller is used to control the commutation of the motor through the driver and the bridge arm converter according to the Hall sensor signal, the target rotation direction and commutation direction of the motor; The controller is used to predetermine the commutation direction in the following manner: Controlling the motor to rotate in a first direction; During the rotation of the motor, receiving image information, wherein the image information represents a relative relationship between a phase of the Hall sensor signal and a phase of a back electromotive force of the corresponding motor winding; When it is determined according to the image information that the phase of the Hall sensor signal leads the phase of the corresponding back electromotive force of the motor winding by the first preset angle, the first direction is determined to be the commutation direction.

2. The motor control system according to claim 1, characterized in that: The controller is used to determine the Hall code corresponding to the Hall sensor signal according to the Hall sensor signal, and control the motor commutation through the driver and the bridge arm converter according to the Hall code, the target rotation direction and the commutation direction.

3. The motor control system according to claim 2, characterized in that: The controller is used to control the motor commutation through the driver and the bridge arm converter according to the Hall encoding when the target rotation direction is the same as the commutation direction.

4. The motor control system according to claim 2, characterized in that: The controller is used to: when the target rotation direction and the commutation direction are opposite, determine the sector corresponding to the Hall code, determine the target power-on sequence according to the target rotation direction, and obtain the Hall code of the next sector of the sector corresponding to the Hall code according to the target power-on sequence, and control the commutation of the motor through the driver and the bridge arm converter according to the Hall code of the next sector.

5. The motor control system according to claim 4, characterized in that: The sectors are divided according to the transition points of the Hall sensor signals.

6. A motor control method, characterized in that: Applicable to controllers, including: Receiving a Hall sensor signal from a Hall sensor, wherein the Hall sensor is installed at a position such that a phase of the Hall sensor signal differs from a phase of a back electromotive force of a corresponding motor winding by a first preset angle; Controlling the commutation of the motor according to the Hall sensor signal, the target rotation direction of the motor and the commutation direction; The commutation direction is predetermined by: Controlling the motor to rotate in a first direction; During the rotation of the motor, receiving image information, wherein the image information represents a relative relationship between a phase of the Hall sensor signal and a phase of a back electromotive force of the corresponding motor winding; When it is determined according to the image information that the phase of the Hall sensor signal leads the phase of the corresponding back electromotive force of the motor winding by the first preset angle, the first direction is determined to be the commutation direction.

7. The method according to claim 6, characterized in that The step of controlling the motor commutation according to the Hall sensor signal, the target rotation direction and the commutation direction of the motor comprises: Determine a Hall code corresponding to the Hall sensor signal according to the Hall sensor signal; The motor commutation is controlled according to the Hall code, the target rotation direction and the commutation direction.

8. The method according to claim 7, characterized in that The step of controlling the motor commutation according to the Hall code, the target rotation direction and the commutation direction comprises: When the target rotation direction is the same as the commutation direction, the motor commutation is controlled according to the Hall encoding.

9. The method according to claim 7, characterized in that: The step of controlling the motor commutation according to the Hall code, the target rotation direction and the commutation direction comprises: When the target rotation direction is opposite to the commutation direction, determining the sector corresponding to the Hall code; determining a target power-on sequence according to the target rotation direction; According to the target power-on sequence, obtaining the Hall code of the next sector of the sector corresponding to the Hall code; The motor commutation is controlled according to the Hall code of the next sector.

10. The method according to claim 9, characterized in that The sectors are divided according to the transition points of the Hall sensor signals.

11. A vehicle, characterized in that: The motor control system comprises the motor control system according to any one of claims 1 to 5.

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