Low-speed control method, device and equipment for non-inductive fan driver and medium

Abstract

The invention relates to a low-speed control method, device and equipment for a non-inductive fan driver and a medium, and belongs to the field of non-inductive fan control. The method comprises the following steps: acquiring operation data of a non-inductive fan through observation; calculating an extended back electromotive force according to the operation data of the non-inductive fan; calculating # imgabs0 # axis counter electromotive force and beta axis counter electromotive force according to the extended counter electromotive force; according to the # imgabs 1 # shaft back electromotive force and the beta shaft back electromotive force, # imgabs 2 # shaft voltage and beta shaft voltage are calculated; calculating a back electromotive force estimation value of a # imgabs4 # shaft according to the voltage of the # imgabs3 # shaft; outputting # imgabs5 # shaft counter electromotive force estimation credible information according to the actual stator current difference value; when # imgabs6 # shaft counter electromotive force estimation credible information is output, the actual electric angle speed and the actual electric angle position are calculated according to the # imgabs7 # shaft counter electromotive force estimation value, and a non-inductive fan driver is controlled. The purpose of low-speed control of the non-inductive fan driver is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of sensorless fan control, and in particular relates to a low-speed control method, device, equipment and medium for a sensorless fan driver. Background Art

[0002] The sensorless fan driver is a type of fan driver that is used to drive the brushless motor in the fan. Different from the driver with Hall sensor to detect the position, it uses sensorless to control the motor rotation, thereby driving the fan to work. The rotor of the brushless motor is a permanent magnet. In the drive mode with Hall sensor, the Hall sensor can detect the rotor position, so as to energize the stator coil in sequence to make the motor rotate. The sensorless drive obtains the rotor position information through other methods, such as detecting the back electromotive force, to achieve the control of the motor and drive the fan to operate. For example, in some micro and small motor systems, the installation of position sensors may be inconvenient or costly, so the sensorless drive becomes a suitable choice. The sensorless fan controller controls the speed by detecting the back electromotive force of the fan, but when the fan runs at low speed, the back electromotive force data parameters will be lost, making it difficult to observe the rotor position, resulting in the obstruction of the low-speed control of the sensorless fan. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a method, device, equipment and medium for low-speed control of a sensorless fan driver.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A low-speed control method for a sensorless fan driver, the implementation of the low-speed control method for a sensorless fan driver comprising the following steps:

[0006] The operation data of the non-inductive fan is obtained by observation, and the operation data of the non-inductive fan includes d-axis stator inductance, q-axis stator inductance, electrical angular velocity, rotor flux, d-axis stator current, q-axis stator current, electrical angle, stator resistance, Axis stator current, β-axis stator current;

[0007] Calculating the extended back electromotive force according to the operating data of the non-inductive fan;

[0008] Calculate based on the electrical angle and the extended back electromotive force Axis back EMF and β-axis back EMF;

[0009] According to the axis back EMF and the β-axis back EMF are calculated Shaft voltage and β-axis voltage;

[0010] By approximating the differential term according to the Shaft voltage calculation Estimated shaft back EMF;

[0011] Obtain the actual stator current difference, and output according to the actual stator current difference Reliable information for shaft back EMF estimation;

[0012] When the output is When estimating reliable information about the axis back EMF, according to the The estimated value of the axis back electromotive force calculates the actual electrical angular velocity and the actual electrical angular position;

[0013] The sensorless fan driver is controlled according to the actual electrical angular velocity and the actual electrical angle position.

[0014] Preferably, the calculation formula of the extended back electromotive force is: Where E is the extended back electromotive force in volts, L d is the d-axis stator inductance, in Henry, L q is the q-axis stator inductance in Henry, ω ε is the electrical angular velocity, is the rotor flux, i d is the d-axis stator current in amperes, i q is the q-axis stator current in amperes, and p is the differential term.

[0015] Preferably, the The calculation formulas of the β-axis back EMF and the β-axis back EMF are as follows: in, for Shaft back EMF, in volts, E β is the β-axis back EMF in volts, E is the extended back EMF in volts, θ ε The electrical angle.

[0016] Preferably, the The calculation formula of the shaft voltage and the β-axis voltage is in, for Shaft voltage, in volts, U β is the β-axis voltage in volts, R is the stator resistance in ohms, L d is the d-axis stator inductance, in Henry, L q is the q-axis stator inductance in Henry, for Shaft stator current in amperes, ω ε is the electrical angular velocity, i β is the β-axis stator current in amperes, for Shaft back EMF, in volts, E β is the β-axis back electromotive force in volts, and p is the differential term.

[0017] Preferably, the The calculation formula for the estimated value of shaft back EMF is in, for The estimated shaft back EMF in volts, To estimate the electrical angular velocity, U for The shaft voltage is in volts, R is the stator resistance in ohms, for Shaft stator current in amperes, i β is the β-axis stator current in amperes, L d is the d-axis stator inductance in Henry.

[0018] Preferably, the actual stator current difference is the actual stator current and the The actual stator current includes The actual stator current of the axis and the actual stator current of the β axis are output when the actual stator current difference is 0. The axis back EMF estimation reliable information, at this time The shaft back EMF estimate is compared with The actual back EMF of the axes is equal.

[0019] Preferably, the calculation formula of the actual electrical angular velocity is: Among them, ω is the actual electrical angular velocity, kp is the proportional gain, ki is the integral gain, for The estimated value of the shaft back electromotive force is in volts. The actual electrical angle position is calculated based on the actual electrical angular velocity. The calculation formula is θ=∫ωdt, where θ is the actual electrical angle position.

[0020] A sensorless fan driver low-speed control device, used to execute the above-mentioned sensorless fan driver low-speed control method, comprising a data acquisition module, a back electromotive force estimation module, and a sensorless fan control module;

[0021] The data acquisition module is used to obtain the operating data of the sensorless fan through observation, and the operating data of the sensorless fan includes d-axis stator inductance, q-axis stator inductance, electrical angular velocity, rotor flux, d-axis stator current, q-axis stator current, electrical angle, stator resistance, Axis stator current, β-axis stator current;

[0022] The back electromotive force estimation module is used to calculate the extended back electromotive force according to the operation data of the non-inductive fan; and calculate the back electromotive force according to the electrical angle and the extended back electromotive force. axis back electromotive force and β axis back electromotive force; according to the axis back EMF and the β-axis back EMF are calculated axis voltage and β axis voltage; by approximating the differential term according to the Shaft voltage calculation Estimated shaft back EMF;

[0023] The sensorless fan control module is used to obtain the actual stator current difference. When the actual stator current difference is 0, the output Axis back EMF estimation reliable information; when the output is When estimating reliable information about the axis back EMF, according to the The actual electrical angular velocity is calculated based on the estimated value of the shaft back electromotive force, and the actual electrical angle position is calculated based on the actual electrical angular velocity; the sensorless fan driver is controlled based on the actual electrical angular velocity and the actual electrical angle position.

[0024] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned low-speed control method for a sensorless fan driver when executing the program.

[0025] A storage medium containing computer executable instructions, wherein the computer executable instructions are used to execute the above-mentioned low-speed control method of a sensorless fan driver when executed by a computer processor.

[0026] The beneficial effects of the present invention are:

[0027] (1) Judging by the actual stator current difference The shaft back EMF estimate is compared with The actual electrical angular velocity and actual electrical angle position are calculated by checking whether the actual back electromotive force of the shaft is consistent, so as to achieve the purpose of controlling the sensorless fan driver and solve the problem of difficulty in observing the rotor position caused by the loss of back electromotive force data parameters when the fan is running at low speed. As long as the stator current changes, the actual back electromotive force of the motor can still be evaluated;

[0028] (2) Calculate the extended back EMF through the operating data of the non-inductive fan; Calculate the extended back EMF based on the electrical angle and the extended back EMF Axis back electromotive force and β-axis back electromotive force; according to Calculation of axial back EMF and β-axis back EMF axis voltage and β axis voltage; approximated by differential terms according to Shaft voltage calculation The estimated value of the shaft back electromotive force has a simple calculation process and high accuracy, which is conducive to the subsequent acquisition of the actual electrical angular velocity and actual electrical angle position of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0030] Figure 1 The present invention is a flowchart of the steps of a low-speed control method for a sensorless fan driver. DETAILED DESCRIPTION

[0031] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0032] The working principle and use process of the present invention:

[0033] See also Figure 1 , a low-speed control method for a sensorless fan driver, comprising:

[0034] S1: Obtain the operating data of the sensorless fan by observation, wherein the operating data of the sensorless fan includes d-axis stator inductance, q-axis stator inductance, electrical angular velocity, rotor flux, d-axis stator current, q-axis stator current, electrical angle, stator resistance, Axis stator current, β-axis stator current;

[0035] S2: Calculate the extended back electromotive force according to the non-inductive fan operation data. The calculation formula is: Where E is the extended back electromotive force in volts, L d is the d-axis stator inductance, in Henry, L q is the q-axis stator inductance in Henry, ω ε is the electrical angular velocity, is the rotor flux, i d is the d-axis stator current in amperes, i q is the q-axis stator current in amperes, and p is the differential term;

[0036] S3: Calculate based on the electrical angle and the extended back electromotive force The calculation formula of the β-axis back electromotive force and the β-axis back electromotive force is in, for Shaft back EMF, in volts, E β is the β-axis back EMF in volts, E is the extended back EMF in volts, θ ε is the electrical angle;

[0037] S4: According to the axis back EMF and the β-axis back EMF are calculated The shaft voltage and β-axis voltage are calculated as follows: in, for Shaft voltage, in volts, U β is the β-axis voltage in volts, R is the stator resistance in ohms, L d is the d-axis stator inductance, in Henry, L q is the q-axis stator inductance in Henry, for Shaft stator current in amperes, ω ε is the electrical angular velocity, i β is the β-axis stator current in amperes, for Shaft back EMF, in volts, E β is the β-axis back electromotive force in volts, and p is the differential term;

[0038] S5: Approximate elimination through differential terms According to the Shaft voltage calculation The estimated value of the shaft back electromotive force is calculated as follows: in, for The estimated shaft back EMF in volts, To estimate the electrical angular velocity, for The shaft voltage is in volts, R is the stator resistance in ohms, for Shaft stator current in amperes, i β is the β-axis stator current in amperes, L d is the d-axis stator inductance, in Henry;

[0039] S6: Obtaining an actual stator current difference, where the actual stator current difference is the difference between the actual stator current and the The actual stator current includes The actual stator current of the axis and the actual stator current of the β axis, when the actual stator current difference is 0, the output The axis back EMF estimation reliable information, at this time The shaft back EMF estimate is compared with The actual back EMF of the shafts are equal;

[0040] S7: When the output When estimating reliable information about the axis back EMF, according to the The actual electrical angular velocity is calculated from the estimated value of the axis back electromotive force. The calculation formula is: Among them, ω is the actual electrical angular velocity, kp is the proportional gain, ki is the integral gain, for The estimated value of the shaft back electromotive force, in volts, is used to calculate the actual electrical angle position according to the actual electrical angular velocity, and the calculation formula is θ=∫ωdt, where θ is the actual electrical angle position;

[0041] S8: The sensorless fan driver is controlled according to the actual electrical angular velocity and the actual electrical angle position, so as to achieve the purpose of controlling the sensorless fan driver and solve the problem of difficulty in observing the rotor position due to the loss of back electromotive force data parameters when the fan is running at a low speed. As long as the stator current changes, the actual back electromotive force of the motor can still be evaluated.

[0042] A low-speed control device for a sensorless fan driver, comprising a data acquisition module, a back electromotive force estimation module, and a sensorless fan control module;

[0043] The data acquisition module is used to obtain the operating data of the sensorless fan through observation, and the operating data of the sensorless fan includes d-axis stator inductance, q-axis stator inductance, electrical angular velocity, rotor flux, d-axis stator current, q-axis stator current, electrical angle, stator resistance, Axis stator current, β-axis stator current;

[0044] The back electromotive force estimation module is used to calculate the extended back electromotive force according to the operation data of the non-inductive fan; and calculate the back electromotive force according to the electrical angle and the extended back electromotive force. axis back electromotive force and β axis back electromotive force; according to the axis back EMF and the β-axis back EMF are calculated axis voltage and β axis voltage; by approximating the differential term according to the Shaft voltage calculation Estimated shaft back EMF;

[0045] The sensorless fan control module is used to obtain the actual stator current difference. When the actual stator current difference is 0, the output Axis back EMF estimation reliable information; when the output is When estimating reliable information about the axis back EMF, according to the The actual electrical angular velocity is calculated based on the estimated value of the shaft back electromotive force, and the actual electrical angle position is calculated based on the actual electrical angular velocity; the sensorless fan driver is controlled based on the actual electrical angular velocity and the actual electrical angle position.

[0046] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0047] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0048] The program code included on the computer readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages-such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0049] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A low speed control method for a non-inductive fan driver, characterized in that: The implementation of the low speed control method of the non-sensing fan driver comprises the following steps: The operation data of the non-inductive fan is obtained by observation, and the operation data of the non-inductive fan includes d-axis stator inductance, q-axis stator inductance, electrical angular velocity, rotor flux, d-axis stator current, q-axis stator current, electrical angle, stator resistance, Axis stator current, β-axis stator current; Calculating the extended back electromotive force according to the operating data of the non-inductive fan; Calculate based on the electrical angle and the extended back electromotive force Axis back EMF and β-axis back EMF; According to the axis back EMF and the β-axis back EMF are calculated Shaft voltage and β-axis voltage; By approximating the differential term according to the Shaft voltage calculation Estimated shaft back EMF; Obtain the actual stator current difference, and output according to the actual stator current difference Reliable information for shaft back EMF estimation; When the output is When estimating reliable information about the axis back EMF, according to the The estimated value of the axis back electromotive force calculates the actual electrical angular velocity and the actual electrical angular position; The sensorless fan driver is controlled according to the actual electrical angular velocity and the actual electrical angle position.

2. The low speed control method of the non-inductive fan driver according to claim 1, characterized in that: The calculation formula of the extended back electromotive force is: Where E is the extended back electromotive force in volts, L d is the d-axis stator inductance, in Henry, L q is the q-axis stator inductance in Henry, ω ε is the electrical angular velocity, is the rotor flux, i d is the d-axis stator current in amperes, i q is the q-axis stator current in amperes, and p is the differential term.

3. The low speed control method of the non-inductive fan driver according to claim 1, characterized in that: Said The calculation formulas of the β-axis back EMF and the β-axis back EMF are as follows: in, for Shaft back EMF, in volts, E β is the β-axis back EMF in volts, E is the extended back EMF in volts, θ ε The electrical angle.

4. The low speed control method of the non-inductive fan driver according to claim 1, characterized in that: Said The calculation formula of the shaft voltage and the β-axis voltage is in, for Shaft voltage, in volts, U β is the β-axis voltage in volts, R is the stator resistance in ohms, L d is the d-axis stator inductance, in Henry, L q is the q-axis stator inductance in Henry, for Shaft stator current in amperes, ω ε is the electrical angular velocity, i β is the β-axis stator current in amperes, for Shaft back EMF, in volts, E β is the β-axis back electromotive force in volts, and p is the differential term.

5. The low speed control method of the non-inductive fan driver according to claim 1, characterized in that: Said The calculation formula for the estimated value of shaft back EMF is in, for The estimated shaft back EMF in volts, To estimate the electrical angular velocity, for The shaft voltage is in volts, R is the stator resistance in ohms, for Shaft stator current in amperes, i β is the β-axis stator current in amperes, L d is the d-axis stator inductance in Henry.

6. The low speed control method of the non-inductive fan driver according to claim 1, characterized in that: The actual stator current difference is the difference between the actual stator current and the The actual stator current includes The actual stator current of the axis and the actual stator current of the β axis are output when the actual stator current difference is 0. The axis back EMF estimation reliable information, at this time The shaft back EMF estimate is compared with The actual back EMF of the axes is equal.

7. The low speed control method of the non-inductive fan driver according to claim 1, characterized in that: The calculation formula of the actual electrical angular velocity is: Among them, ω is the actual electrical angular velocity, kp is the proportional gain, ki is the integral gain, for The estimated value of the shaft back electromotive force is in volts. The actual electrical angle position is calculated based on the actual electrical angular velocity. The calculation formula is θ=∫ωdt, where θ is the actual electrical angle position.

8. A low-speed control device for a non-inductive fan driver, characterized in that: The device is applied to the low-speed control method of the sensorless fan driver as claimed in any one of claims 1 to 7, comprising a data acquisition module, a back electromotive force estimation module, and a sensorless fan control module; The data acquisition module is used to obtain the operating data of the sensorless fan through observation, and the operating data of the sensorless fan includes d-axis stator inductance, q-axis stator inductance, electrical angular velocity, rotor flux, d-axis stator current, q-axis stator current, electrical angle, stator resistance, Axis stator current, β-axis stator current; The back electromotive force estimation module is used to calculate the extended back electromotive force according to the operation data of the non-inductive fan; and calculate the back electromotive force according to the electrical angle and the extended back electromotive force. axis back electromotive force and β axis back electromotive force; according to the axis back EMF and the β-axis back EMF are calculated axis voltage and β axis voltage; by approximating the differential term according to the Shaft voltage calculation Estimated shaft back EMF; The sensorless fan control module is used to obtain the actual stator current difference. When the actual stator current difference is 0, the output Axis back EMF estimation reliable information; when the output is When estimating reliable information about the axis back EMF, according to the The actual electrical angular velocity is calculated based on the estimated value of the shaft back electromotive force, and the actual electrical angle position is calculated based on the actual electrical angular velocity; the sensorless fan driver is controlled based on the actual electrical angular velocity and the actual electrical angle position.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the low-speed control method for the sensorless fan driver as described in any one of claims 1-7 is implemented.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the low-speed control method for a sensorless fan drive as described in any one of claims 1 to 7 when executed by a computer processor.

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