Control device, drive device and control method for an electric machine

Abstract

The embodiment of the present application provides a kind of motor control device, driving device and control method.The motor control device includes: detection part, which detects the rotation state of motor;And control part, according to the rotation state of the motor detected, the motor is started with the rotation state corresponding control.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a motor control device, drive device, and control method. Background Technology

[0002] Currently, brushless direct current (BLDC) motors are widely used. BLDC motors typically use position sensors (such as Hall effect sensors) to detect the position of the rotor's magnetic poles (permanent magnets), thereby controlling the direction of the current and achieving commutation.

[0003] For BLDC motors equipped with position sensors (such as Hall effect sensors), the current common starting method is to use a rectangular wave drive to accelerate the motor when it is stationary. This starting method can ignore the phase range where the initial position cannot be detected (e.g., 0-60 degrees), thus improving the starting characteristics of the motor.

[0004] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solutions of this application and facilitating understanding by those skilled in the art. It should not be assumed that these technical solutions are known to those skilled in the art simply because they have been described in the background section of this application. Summary of the Invention

[0005] The inventors discovered that among BLDC motors, the built-in permanent magnet (IPM) motor, which has a cost advantage, there exists a spoke motor where the magnets are arranged in a spoke-like configuration. However, when starting a spoke motor using the existing rectangular wave drive method, torque fluctuations occur due to the presence of reluctance torque, leading to motor vibration and noise.

[0006] To address one or more of the problems mentioned above or similar, embodiments of this application provide a motor control device, a drive device, and a control method.

[0007] According to one aspect of the embodiments of this application, a motor control device is provided, the control device comprising:

[0008] The detection department detects the rotational state of the motor; and

[0009] The control unit performs start control on the motor according to the detected rotation state of the motor.

[0010] According to another aspect of the embodiments of this application, a motor drive device is provided, which includes a control device and a drive circuit. The control device is a motor control device as described above, and the drive circuit drives the motor according to the control signal from the control device.

[0011] According to another aspect of the embodiments of this application, a method for controlling a motor is provided, the method comprising:

[0012] Detect the rotation status of the motor; and

[0013] Based on the detected rotation state of the motor, start control is performed on the motor corresponding to the rotation state.

[0014] One of the beneficial effects of this application's embodiments is that: by using a control device to detect the rotational state of the motor, and based on the detected rotational state, starting control is applied to the motor corresponding to that rotational state. Therefore, by employing different starting controls for different rotational states of the motor, vibrations caused by reluctance torque during motor starting can be suppressed, noise can be avoided, and smooth motor starting can be achieved.

[0015] Specific embodiments of this application are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of this application can be adopted. It should be understood that the embodiments of this application are not limited in scope. Within the spirit and scope of the appended claims, embodiments of this application include many changes, modifications, and equivalents.

[0016] Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. Attached Figure Description

[0017] The elements and features described in one drawing or embodiment of this application may be combined with elements and features shown in one or more other drawings or embodiments. Furthermore, in the drawings, similar reference numerals denote corresponding parts in several drawings and can be used to indicate corresponding parts used in more than one embodiment.

[0018] Figure 1 This is a schematic diagram of the current in the rotor coil of a motor when driven by a rectangular wave in the prior art;

[0019] Figure 2 This is a schematic diagram of a motor control device according to an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the structure of a motor according to an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of the signal sequence of the position sensor corresponding to the stop state in an embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the signal sequence of the position sensor corresponding to the reversed state in an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the signal sequence of the position sensor corresponding to the forward rotation state in an embodiment of this application;

[0024] Figure 7 This is a schematic flowchart of the first start-up control according to an embodiment of this application;

[0025] Figure 8 This is a schematic diagram illustrating the correspondence between the Hall signal and the phase interval of the rotor position in an embodiment of this application;

[0026] Figure 9 This is a schematic diagram of the second start control according to an embodiment of this application;

[0027] Figure 10 This is a flowchart of a first start-up control according to an embodiment of this application;

[0028] Figure 11 This is a flowchart of a second start-up control according to an embodiment of this application;

[0029] Figure 12 This is a schematic diagram of the third start control according to an embodiment of this application;

[0030] Figure 13 This is a schematic diagram of the current in the rotor coil during motor startup, according to an embodiment of this application.

[0031] Figure 14 This is a schematic diagram of a motor drive device according to an embodiment of this application;

[0032] Figure 15 This is a schematic diagram of a motor control method according to an embodiment of this application;

[0033] Figure 16 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0034] Referring to the accompanying drawings, the foregoing and other features of this application will become apparent from the following description. Specific embodiments of this application are specifically disclosed in the description and drawings, illustrating partial implementations in which the principles of this application can be adopted. It should be understood that the embodiments of this application are not limited to the described embodiments; rather, this application includes all modifications, variations, and equivalents falling within the scope of the appended claims.

[0035] In the embodiments of this application, the terms "first," "second," etc., are used to distinguish different elements by name, but do not indicate the spatial arrangement or chronological order of these elements, and these elements should not be limited by these terms. The term "and / or" includes any one or more of the terms listed in association and all combinations thereof. The terms "comprising," "including," "having," etc., refer to the presence of the stated features, elements, components, or assemblies, but do not exclude the presence or addition of one or more other features, elements, components, or assemblies.

[0036] In the embodiments of this application, the singular forms "a," "the," etc., including the plural forms, should be broadly understood as "a kind" or "a class" rather than limited to the meaning of "an." Furthermore, the term "the" should be understood to include both the singular and plural forms, unless the context explicitly indicates otherwise. Additionally, the term "according to" should be understood as "at least partially based on…," and the term "based on" should be understood as "at least partially based on…," unless the context explicitly indicates otherwise.

[0037] In the embodiments of this application, the control device, drive device, and motor can be separate devices, for example, provided by the manufacturer of the control device, the drive device, and the motor, respectively. Alternatively, the control device and drive device can be housed in the same device, while the motor itself is a separate device.

[0038] The motor is, for example, a brushless DC motor, including U-phase, V-phase and W-phase; for example, the motor is an IPM motor, and for example, the motor is a spoke motor; in addition, the control device, drive device and corresponding method of the embodiments of this application can also be applied to other types of motors other than spoke motors;

[0039] The motor control device starts the motor, and the motor drive device drives the motor based on the control signal from the control device.

[0040] The above is a description of the control device, drive device and motor in the embodiments of this application, but the embodiments of this application are not limited thereto.

[0041] Figure 1 This is a schematic diagram of the current in the rotor coil of a motor when driven by a rectangular wave in the prior art, such as... Figure 1 As shown, in the prior art, in order to drive a motor with a sinusoidal wave, the rotation and position information of the motor are needed to determine the parameters of the sinusoidal wave signal. Therefore, when the motor starts, it is first driven by a rectangular wave to make the motor rotate, and then the rotation and position information of the motor are acquired. Then, a suitable sinusoidal wave signal is determined based on the rotation and position information to achieve sinusoidal wave drive of the motor. However, as... Figure 1As shown, applying a rectangular wave drive signal directly when the motor is stopped will cause a sharp change in the current in the motor's rotor coil, resulting in current distortion and a noticeable humming sound.

[0042] To address the aforementioned or similar problems, this application provides a motor control device, a drive device, and a control method. Specific embodiments are described below.

[0043] First aspect of the embodiments

[0044] This application provides a motor control device and a motor drive device.

[0045] Figure 2 This is a schematic diagram of a motor control device according to an embodiment of this application. Figure 2 As shown, the motor control device 200 includes a detection unit 201 and a control unit 202.

[0046] The detection unit 201 detects the rotation state of the motor; the control unit 202 performs start control on the motor according to the detected rotation state.

[0047] It is worth noting that the above Figure 2 The control device for the motor in this application has only been illustrated schematically, but the embodiments of this application are not limited thereto. For example, the connection relationship between various modules or components can be appropriately adjusted, and other modules or components can be added or removed. Those skilled in the art can make appropriate modifications based on the above description, and are not limited to the above-described embodiments. Figure 2 The records.

[0048] Therefore, according to the above embodiments, before performing start-up control on the motor, this application first detects the rotation state of the motor, and then executes the start-up control corresponding to the detected rotation state, that is, it can implement a start-up control method that matches the rotation state. Thus, this application can obtain the corresponding parameters for determining the sine wave signal under different rotation states, thereby eliminating the need to use a rectangular wave signal to rotate the motor in the initial stage of motor start-up to obtain the information required to determine the parameters of the sine wave signal. This avoids the drastic change in current in the rotor coil of the motor caused by using a rectangular wave start-up, prevents current distortion, and thus suppresses vibration caused by reluctance torque during motor start-up, avoiding noise and achieving smooth motor start-up.

[0049] In addition, starting control is performed according to the different rotation states of the motor, so that the motor can start smoothly in any rotation state, which can improve the starting efficiency of the motor.

[0050] It should be noted that in this application, "sine wave drive" can be understood as using a sine wave signal to drive the motor, and "rectangular wave drive" can be understood as using a rectangular wave signal to drive the motor.

[0051] In the embodiments of this application, the motor control device 200 may be a control circuit including a microprocessor and a memory, such as a digital processing circuit, etc., and this application does not limit it.

[0052] In some embodiments, during motor startup, the control unit 202 determines a corresponding sinusoidal signal based on the detected rotational state of the motor, and performs startup control on the motor based on the sinusoidal signal. For example, the parameters of the sinusoidal signal are determined at least using the rotational state of the motor detected by the detection unit 201.

[0053] Therefore, this application directly uses a sine wave signal to control the motor's start-up without using a rectangular wave, thereby suppressing the vibration caused by magnetic reluctance torque during motor start-up and avoiding noise.

[0054] In some embodiments, the rotational states of the motor in this application include a stopped state, a reverse rotation state, and a forward rotation state.

[0055] When the motor is in a stopped state, the control unit 202 performs a first start control on the motor; when the motor is in a reverse state, the control unit 202 performs a second start control on the motor; when the motor is in a forward state, the control unit 202 performs a third start control on the motor.

[0056] Therefore, this application implements different starting controls for different rotational states of the motor, thereby enabling the motor to start smoothly in the stopped, reverse, and forward states, and improving the starting efficiency of the motor in different rotational states.

[0057] In some embodiments, the detection unit determines the rotational state of the motor based on a signal sequence from a sensor that detects the rotor position of the motor. This sensor may be a position sensor of the motor, such as a Hall sensor.

[0058] In some embodiments, the detection unit 201 includes an acquisition unit and a determination unit. The acquisition unit is used to acquire signal sequences from sensors that detect the rotor position of the motor; the determination unit is used to determine the rotational state of the motor based on the signal sequences acquired by the acquisition unit. Thus, the rotational state of the motor can be determined quickly and accurately using the signal sequences from the position sensors.

[0059] The following example illustrates how to determine the rotational state of a motor. Figure 3 This is a structural schematic diagram of a motor according to an embodiment of this application, as shown below. Figure 3As shown, taking a fan's electromechanical motor as an example, this electromechanical motor includes a microcontroller unit (MCU), hard logic circuitry, a drive circuit, and a Hall sensor. The drive circuit includes, for example, a gate driver and transistors, such as an insulated-gate bipolar transistor (IGBT) or a metal-oxide-semiconductor field-effect transistor (MOSFET). The Hall sensor acquires Hall signals from the fan drive motor and transmits the Hall signal sequence to the hard logic circuitry, which determines the motor's rotation state. The determination unit of the detection unit 101 in this application functions, for example, through... Figure 3 The detection unit 101 is either implemented in the hard logic circuit or integrated into the hard logic circuit.

[0060] Figure 4 This is a schematic diagram of the signal sequence of the position sensor corresponding to the stop state in an embodiment of this application. For example... Figure 3 and Figure 4 As shown, HU, HV, and HW are signal sequences acquired by the Hall sensor. The hard logic circuit processes these signal sequences HU, HV, and HW to obtain signal sequences HU', HV', and HW'. By comparing HU, HV, and HW with HU', HV', and HW', at an operating frequency of 1.6 Hz, the circuit counts the number of times the motor moves forward in the forward direction (forward counter), the number of times it moves backward in the reverse direction (reverse counter), and the number of times the motor stops (stop counter). The circuit also counts the number of consecutive times the motor stops (i.e., the number of times it stops). Figure 4 When the number of UP signals in the Hall effect counter exceeds a preset threshold (e.g., 7 times), the stop detection signal changes to "high", indicating that the motor's rotation is in a stopped state.

[0061] Similarly, Figure 5 This is a schematic diagram of the signal sequence of the position sensor corresponding to the reversed state in an embodiment of this application. For example... Figure 5 As shown, the number of times the motor stops is continuously detected (i.e., Figure 5 When the number of UP signals in the Hall effect exceeds a preset threshold (e.g., 6 times), the reversal detection signal becomes "high", indicating that the motor's rotation state is in reverse.

[0062] Figure 6 This is a schematic diagram of the signal sequence of the position sensor corresponding to the reversed state in an embodiment of this application. For example... Figure 6As shown, the number of times the motor stops is continuously detected (i.e., Figure 6 When the number of UP signals in the Hall effect exceeds a preset threshold (e.g., 6 times), the forward rotation detection signal becomes "high", indicating that the motor is rotating in the forward direction.

[0063] in addition, Figure 5 and Figure 6 The signal sequence and Figure 4 The differences are minor; the rest can be found elsewhere. Figure 4 The relevant explanations will not be repeated here.

[0064] The first start control, the second start control, and the third start control of this application will be described below.

[0065] Figure 7 This is a schematic diagram of a first start-up control process in an embodiment of this application. For example... Figure 7 As shown, when the motor's rotation state is determined to be a stopped state, the first start-up control includes:

[0066] Step 701: Estimate the rotor position of the motor and determine the maximum lead phase corresponding to the rotor position; and

[0067] Step 702: Start up according to the determined maximum lead phase.

[0068] Therefore, the parameters of the sinusoidal signal used for motor start-up control can be determined based on the rotor position with the maximum leading phase, thereby further improving the noise suppression effect.

[0069] In some embodiments, in step 701, estimating the rotor position of the motor and determining the maximum lead phase corresponding to the rotor position includes:

[0070] Based on the signals from sensors detecting the rotor position of the motor, the phase interval of the rotor position is determined; and

[0071] The upper limit of the phase interval in which the determined rotor position is located is defined as the maximum lead phase corresponding to the rotor position. That is, the maximum lead phase corresponding to the rotor position is the upper limit of the phase interval in which the rotor position can be determined.

[0072] This allows for a more accurate determination of the rotor position, which in turn enables a more precise determination of the parameters of the sinusoidal signal used for motor start-up control corresponding to the rotor position, thereby further improving the noise suppression effect.

[0073] For example, using Figures 4 to 6 The signal sequence HU, HV, HW from the Hall sensor in the motor determines the phase interval of the rotor position.

[0074] Figure 8 This is a schematic diagram illustrating the correspondence between the Hall signal and the phase interval of the rotor position according to an embodiment of this application. Figure 8 The left side shows the phase ranges of the rotor position, including 0–12 degrees, 12–24 degrees, 24–36 degrees, 36–48 degrees, 48–60 degrees, and 60–72 degrees. Figure 8 The right side shows the relationship between the Hall signal sequences HU, HV, HW, the phase interval of the rotor position, and the upper limit of the phase interval. For example... Figure 8 As shown, when the signal sequences HU, HV, and HW of the Hall signal are {H, L, H} respectively, the phase range of the rotor position is determined to be 0 to 12 degrees, and the upper limit of the phase range of 0 to 12 degrees, "12 degrees", is determined as the maximum leading phase corresponding to the rotor position.

[0075] In some embodiments, in step 702, starting based on the determined maximum lead phase includes:

[0076] The motor is initially energized to rotate the rotor to near its maximum lead phase; and

[0077] The motor is driven by a first sine wave drive current to force operation.

[0078] In some embodiments, the function of initial excitation is to apply a DC signal to the motor, causing the motor rotor to move to the upper limit of the phase interval in which the rotor is currently located, or to the vicinity of it, i.e., the maximum lead phase or to the vicinity of it.

[0079] This improves the matching degree between the rotor position and the sinusoidal drive current during forced operation, further enhancing the noise suppression effect.

[0080] In some embodiments, the DC signal used for initial excitation differs depending on the phase interval of the rotor position. For example... Figure 8 The diagram also shows the direction of the DC signal during initial excitation for different phase intervals. Taking the Hall signal sequence HU, HV, and HW as {H, L, H} and the rotor position in the phase interval of 0 to 12 degrees as an example, the direction of the DC signal during initial excitation is "W is positive and V is negative". That is, DC current flowing from the W terminal to the V terminal is applied to the motor, thereby moving the rotor to the vicinity of the maximum lead phase of 12 degrees.

[0081] After the rotor is moved to the maximum lead phase or near it, the motor is driven by the first sinusoidal drive current corresponding to the maximum lead phase to force operation.

[0082] In some embodiments, the parameters of the first sinusoidal drive current are determined based on the rotor position of the motor after initial excitation. For example, after initial excitation, the motor rotor rotates. At the instant the rotor rotates, the signal sequence HU, HV, and HW of the Hall signal can be acquired, thereby determining the position of the permanent magnet after the rotor moves. Thus, based on the signal sequence of the Hall signal acquired after initial excitation, the parameters of the first sinusoidal drive current for forced operation can be calculated, enabling the rapid and accurate determination of the parameters of the first sinusoidal drive current.

[0083] In some embodiments, the parameters of the first sinusoidal drive current are determined based on signals from sensors that detect the rotor position of the motor. For example, using a signal sequence of Hall signals acquired before initial excitation, the parameters of the first sinusoidal drive current for forced operation can be calculated before initial excitation begins. Therefore, compared to calculating the parameters of the first sinusoidal drive current after initial excitation, the parameters of the first sinusoidal drive current can be determined more quickly.

[0084] Figure 9 This is a schematic diagram of a second start-up control process according to an embodiment of this application. Figure 9 As shown, when the motor's rotation state is determined to be in reverse, the second start control includes:

[0085] Step 901: For the motor, stop the motor rotation by DC excitation;

[0086] Step 902: Estimate the rotor position of the motor after it stops rotating and determine the maximum lead phase corresponding to the rotor position; and

[0087] Step 903: Start-up is performed based on the determined maximum lead phase.

[0088] Therefore, the parameters of the sinusoidal signal used for motor start-up control can be determined based on the rotor position with the maximum leading phase, thereby further improving the noise suppression effect.

[0089] In some embodiments, in step 901, stopping the motor rotation by DC excitation means applying a DC signal to the motor to stop the motor rotor from rotating.

[0090] In some embodiments, step 902 is similar to step 701 above, and step 903 is similar to step 702 above. Please refer to the relevant embodiments above, and they will not be repeated here.

[0091] In some embodiments, before estimating the rotor position of the motor and determining the maximum lead phase corresponding to the rotor position, for example before step 701 or step 901, the control unit 102 further performs the following operation: initiating capacitor charging. This improves the accuracy of the simulated sine wave through highside drive.

[0092] In some embodiments, the charging time for the capacitor differs when the motor is in a stopped state and when it is in a reverse state. The charging time for the capacitor when the motor is in a stopped state is shorter than the charging time when the motor is in a stopped state. For example, the former is 30 milliseconds (ms) and the latter is 400 ms.

[0093] Figure 10 This is a flowchart of a first start-up control according to an embodiment of this application. Figure 11 This is a flowchart of a second start-up control according to an embodiment of this application, as follows: Figure 10 As shown, the first start-up control includes capacitor charging, initial excitation, and forced operation, such as... Figure 11 As shown, the second start control includes capacitor charging (Boot charge), DC excitation, initial excitation, and forced operation. It is understandable that the second start control in the reverse rotation state requires first implementing DC excitation to stop the motor, and then performing initial excitation and forced operation. In contrast, the first start control in the stopped state only requires initial excitation and forced operation. Therefore, the capacitor charging time is longer in the reverse rotation state.

[0094] In some embodiments, such as Figure 10 and Figure 11 As shown, after the forced operation control ends, the control unit... Figure 10 and Figure 11 After forced operation, the process also includes: driving the motor for normal operation using a second sinusoidal drive current, wherein the amplitude of the second sinusoidal drive current during normal operation is smaller than the amplitude of the first sinusoidal drive current during forced operation. This reduces the power consumption of the motor during normal operation.

[0095] The specific method for determining the parameters of the second sinusoidal driving current can be found in relevant technologies, and will not be elaborated here.

[0096] Figure 12 This is a schematic diagram of a third start-up control according to an embodiment of this application. Figure 12 As shown, when the motor's rotation state is determined to be forward rotation, the third starting control includes:

[0097] Step 1201: Acquire the signal from the sensor that detects the rotor position of the motor;

[0098] Step 1202: Generate a third sinusoidal drive current synchronized with the signal from the sensor; and

[0099] Step 1203: Use the generated third sine wave drive current to drive the motor to rotate.

[0100] This improves the starting efficiency of the motor during forward rotation.

[0101] In some embodiments, in step 1201, the sensor for detecting the rotor position of the motor is, for example, a Hall sensor, and in step 1202, the signal acquired is, for example, a Hall signal.

[0102] In some embodiments, in step 1202, similar to the method for determining the parameters of the first sinusoidal drive current when the motor is in a stopped state and a reverse state, the parameters of the third sinusoidal drive current are calculated based on the signal sequence of the Hall signal acquired in step 1201.

[0103] In some embodiments, when the motor is rotating in the forward direction, the motor is directly driven to rotate using a third sine wave drive current until the motor is in normal operation.

[0104] Figure 13 This is a schematic diagram of the current in the rotor coil when the motor starts, according to an embodiment of this application. Figure 13 The diagram illustrates the change in current in the rotor coil during the first start-up control process when the motor's rotation is detected as stopped. (Combined with...) Figure 10 and Figure 13 Upon detecting that the motor is in a stopped state, the system sequentially executes the capacitor charging, initial excitation, and forced operation steps in the first start-up control. After the capacitor charging is complete, a DC signal is applied to the motor to implement initial excitation, causing the motor rotor to move to the upper limit of the phase interval of its current rotor position or its vicinity. After moving the rotor to the corresponding maximum lead phase or its vicinity, the motor is driven by a first sinusoidal drive current corresponding to that maximum lead phase for forced operation. After the first start-up control is completed, a second sinusoidal drive current is used to drive the motor for normal operation. Figure 13 As can be seen, the motor was not driven by a rectangular wave in the first starting control. Therefore, during the initial excitation stage, the current in the coil changes smoothly, which can prevent current distortion and thus suppress the vibration caused by reluctance torque during motor start-up, avoiding noise.

[0105] Figure 13Taking the stopped state as an example, the current in the rotor coil during the first start control process is shown. In addition, in the second start control process corresponding to the reverse state, compared with the first start control, a "DC excitation" process is added, and the capacitor charging time is longer. The rest of the process is similar to the first start control.

[0106] Furthermore, in the third start control process corresponding to the forward rotation state, compared to the first start control, it is not necessary to perform capacitor charging, initial excitation, or forced operation. Instead, when the motor's rotation state is detected to be forward, the third sine wave drive current is directly used to drive the motor to rotate until the motor is in normal operation.

[0107] As can be seen from the above embodiments, before controlling the motor to start, this application first detects the rotation state of the motor. Since the sinusoidal signal that can drive the motor can be determined based on the rotation state of the motor, this application can directly use the sinusoidal signal to control the motor to start. Therefore, this application does not need to use a rectangular wave signal to rotate the motor to obtain the rotation information required for the sinusoidal signal to act during the motor starting process. This avoids the rapid change in current in the rotor coil of the motor caused by using a rectangular wave to start, prevents current distortion, and thus suppresses the vibration caused by magnetic reluctance torque during the motor starting process, avoids noise, and achieves smooth motor starting.

[0108] In addition, starting control is performed according to the different rotation states of the motor, so that the motor can start smoothly in any rotation state, which can improve the starting efficiency of the motor.

[0109] Second aspect of the embodiments

[0110] This application also provides a motor drive device. Figure 14 This is a schematic diagram of a motor drive device according to an embodiment of this application, as shown below. Figure 14 As shown, the motor drive device 1400 includes:

[0111] Control device 1401, which is used to generate control signals for the motor; and

[0112] The drive circuit 1402 is used to drive the motor according to the control signal generated by the control device 1401.

[0113] In some embodiments, the control device 1401 described above is, for example, the motor control device 100 described in the first aspect of this application. For details related to the control device 100, please refer to the relevant embodiments of the first aspect, which will not be repeated here.

[0114] In some embodiments, the control device 1401 may be part of a drive device 1400, which can drive multiple motors, each corresponding to a set of motor constants. For example, before the drive device 1400 leaves the factory, the manufacturer may pre-store multiple sets of motor constants in the drive device 1400 for the various supported motors. For example, these multiple sets of motor constants may be high-precision motor constants obtained by pre-measuring the various motors supported by the drive device 1400. For details on the specific methods of obtaining these multiple sets of motor constants, please refer to relevant technologies; further explanation is not provided here.

[0115] In some embodiments, the driving circuit 1402 may be, for example, Figure 3 The driving circuit shown.

[0116] It is worth noting that the drive unit 1400 may also include Figure 14 For components not shown, please refer to relevant technologies. Furthermore, the drive unit 1400 is not necessarily required. Figure 14 All components shown. This application makes no limitation on this.

[0117] As can be seen from the above embodiments, before controlling the motor to start, this application first detects the rotation state of the motor. Since the sinusoidal signal that can drive the motor can be determined based on the rotation state of the motor, this application can directly use the sinusoidal signal to control the motor to start. Therefore, this application does not need to use a rectangular wave signal to rotate the motor to obtain the rotation information required for the sinusoidal signal to act during the motor starting process. This avoids the rapid change in current in the rotor coil of the motor caused by using a rectangular wave to start, prevents current distortion, and thus suppresses the vibration caused by magnetic reluctance torque during the motor starting process, avoids noise, and achieves smooth motor starting.

[0118] In addition, starting control is performed according to the different rotation states of the motor, so that the motor can start smoothly in any rotation state, which can improve the starting efficiency of the motor.

[0119] Second aspect of the embodiments

[0120] This application also provides a method for controlling a motor, which can be executed by a motor control device or a motor drive device. The second aspect corresponds to the motor control device or motor drive device described in the first aspect. Contents identical to those in the first aspect will not be repeated here.

[0121] Figure 15 This is a schematic diagram of a motor control method according to an embodiment of this application, as shown below. Figure 15 As shown, the motor control method 1500 includes:

[0122] Step 1501: Detect the rotation status of the motor;

[0123] Step 1502: Based on the detected rotation state of the motor, perform start control on the motor corresponding to the rotation state.

[0124] It is worth noting that the above Figure 15 The embodiments of this application have only been illustrated illustratively, and are not limited thereto. For example, the execution order of various operations can be appropriately adjusted, and other operations can be added or some operations can be removed. Those skilled in the art can make appropriate modifications based on the above description, and are not limited to the above-described embodiments. Figure 15 The records.

[0125] In some embodiments, the rotation state of the motor includes a stopped state, a reverse rotation state, and a forward rotation state; and when the rotation state of the motor is a stopped state, a first start control is performed on the motor; when the rotation state of the motor is a reverse rotation state, a second start control is performed on the motor; and when the rotation state of the motor is a forward rotation state, a third start control is performed on the motor.

[0126] In some embodiments, the step of performing a first start control on the motor includes:

[0127] Estimate the rotor position of the motor and determine the maximum lead phase corresponding to the estimated rotor position;

[0128] Start-up is performed based on the determined maximum lead phase.

[0129] In some embodiments, the step of performing a second start control on the motor includes:

[0130] For the motor, DC excitation is used to stop the motor from rotating;

[0131] Estimate the rotor position of the motor after it stops rotating and determine the maximum lead phase corresponding to the estimated rotor position;

[0132] Start-up is performed based on the determined maximum lead phase.

[0133] In some embodiments, estimating the rotor position of the motor and determining the maximum lead phase corresponding to the estimated rotor position includes the following steps:

[0134] The phase interval of the rotor position is determined based on the signal from the sensor that detects the rotor position of the motor.

[0135] The upper limit of the determined phase interval is set as the maximum lead phase corresponding to the rotor position.

[0136] In some embodiments, starting based on the maximum lead phase includes:

[0137] The motor is initially energized so that the rotor rotates to near the maximum lead phase.

[0138] The motor is driven by a first sine wave drive current to force operation.

[0139] In some embodiments, the parameters of the first sinusoidal drive current are determined based on the rotor position of the motor after the initial excitation is completed.

[0140] In some embodiments, the parameters of the first sinusoidal drive current are determined based on signals from sensors that detect the rotor position of the motor.

[0141] In some embodiments, after the forced operation control ends, the motor is driven by a second sinusoidal drive current for normal operation, wherein the amplitude of the second sinusoidal drive current is smaller than the amplitude of the first sinusoidal drive current.

[0142] In some embodiments, the step of performing a third starting control on the motor includes:

[0143] Acquire signals from sensors that detect the rotor position of the motor;

[0144] Generate a third sinusoidal drive current synchronized with the sensor signal;

[0145] The motor is driven to rotate using the generated third sine wave drive current.

[0146] In some embodiments, the step of detecting the rotational state of the motor includes:

[0147] Acquire signal sequences from sensors that detect the rotor position of the motor;

[0148] The rotational state of the motor is determined based on the collected signal sequence.

[0149] This application also provides an electronic device. Figure 16 This is a schematic diagram of an electronic device according to an embodiment of this application, such as... Figure 16 As shown, the electronic device 1600 includes a processor 1601 and a memory 1602, the memory storing a computer program, and the processor being configured to execute the computer program to implement the motor control method described in the above embodiment.

[0150] It is worth noting that the electronic device 1600 may also include a communication module 1603 or Figure 16 For components not shown, please refer to relevant technologies. Furthermore, electronic device 1600 is not necessarily required to include... Figure 16All components shown. This application makes no limitation on this.

[0151] The above embodiments are merely illustrative examples of the embodiments of this application, but the embodiments of this application are not limited thereto, and appropriate modifications can be made based on the above embodiments. For example, the above embodiments can be used alone, or one or more of the above embodiments can be combined.

[0152] As can be seen from the above embodiments, before controlling the motor to start, this application first detects the rotation state of the motor. Since the sinusoidal signal that can drive the motor can be determined based on the rotation state of the motor, this application can directly use the sinusoidal signal to control the motor to start. Therefore, this application does not need to use a rectangular wave signal to rotate the motor to obtain the rotation information required for the sinusoidal signal to act during the motor starting process. This avoids the rapid change in current in the rotor coil of the motor caused by using a rectangular wave to start, prevents current distortion, and thus suppresses the vibration caused by magnetic reluctance torque during the motor starting process, avoids noise, and achieves smooth motor starting.

[0153] In addition, starting control is performed according to the different rotation states of the motor, so that the motor can start smoothly in any rotation state, which can improve the starting efficiency of the motor.

[0154] The apparatus and methods described above in this application can be implemented in hardware or in combination with software. This application relates to a computer-readable program that, when executed by a logic component, enables the logic component to implement the apparatus or components described above, or to implement the various methods or steps described above. This application also relates to storage media for storing the above programs, such as hard disks, magnetic disks, optical disks, DVDs, flash memory, etc.

[0155] The methods / apparatus described in conjunction with the embodiments of this application can be directly embodied in hardware, software modules executed by a processor, or a combination of both. For example, one or more and / or combinations of one or more functional block diagrams shown in the figures can correspond to various software modules in a computer program flow, or to various hardware modules. These software modules can correspond to the various steps shown in the figures, respectively. These hardware modules can be implemented, for example, using a field-programmable gate array (FPGA) to embed these software modules.

[0156] The software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. A storage medium can be coupled to the processor, enabling the processor to read information from and write information to the storage medium; or the storage medium can be an integral part of the processor. The processor and storage medium can reside in an ASIC. The software module can be stored in the memory of the device / appliance or in a memory card that can be inserted into the device / appliance. For example, if the device / appliance (such as a mobile terminal) uses a high-capacity MEGA-SIM card or a high-capacity flash memory device, the software module can be stored in the MEGA-SIM card or the high-capacity flash memory device.

[0157] One or more and / or one or more combinations of functional blocks described in the accompanying drawings can be implemented as a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or any suitable combination thereof for performing the functions described herein. One or more and / or one or more combinations of functional blocks described in the accompanying drawings can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in communication with a DSP, or any other such configuration.

[0158] The present application has been described above with reference to specific embodiments. However, those skilled in the art should understand that these descriptions are exemplary and not intended to limit the scope of protection of the present application. Those skilled in the art can make various modifications and variations to the present application based on its spirit and principles, and these modifications and variations are also within the scope of the present application.

Claims

1. A control device for an electric motor, characterized in that, The control device includes: The detection department detects the rotational state of the motor; and The control unit performs start control on the motor according to the detected rotation state of the motor, which corresponds to the rotation state.

2. The control device according to claim 1, characterized in that, The rotation states include a stopped state, a reversed state, and a forward-rotating state. When the motor is in the stopped state, the control unit performs a first start control on the motor; When the motor is in the reverse rotation state, the control unit performs a second start control on the motor; When the motor is in the forward rotation state, the control unit performs a third start control on the motor.

3. The control device according to claim 2, characterized in that, The first start control includes: Estimate the rotor position of the motor and determine the maximum lead phase corresponding to the rotor position; Start-up is performed based on the maximum lead phase.

4. The control device according to claim 2, characterized in that, The second start control includes: For the motor, the motor is stopped rotating by DC excitation; Estimate the rotor position of the motor after it stops rotating and determine the maximum lead phase corresponding to the rotor position; Start-up is performed based on the maximum lead phase.

5. The control device according to claim 3 or 4, characterized in that, Estimating the rotor position of the motor and determining the maximum lead phase corresponding to the rotor position includes: Based on the signal from the sensor that detects the rotor position of the motor, the phase interval of the rotor position is determined; The upper limit of the phase interval is determined as the maximum lead phase corresponding to the rotor position.

6. The control device according to claim 3 or 4, characterized in that, Starting based on the maximum lead phase includes: The motor is initially energized so that the rotor of the motor rotates to near the maximum lead phase; The motor is driven by a first sinusoidal drive current to force it to run.

7. The control device according to claim 6, characterized in that, The parameters of the first sinusoidal drive current are determined based on the rotor position of the motor after the initial excitation is completed.

8. The control device according to claim 6, characterized in that, The parameters of the first sinusoidal drive current are determined based on the signal from the sensor that detects the rotor position of the motor.

9. The control device according to claim 6, characterized in that, After the forced operation control ends, the control unit uses a second sine wave drive current to drive the motor for normal operation. The amplitude of the second sinusoidal driving current is smaller than the amplitude of the first sinusoidal driving current.

10. The control device according to claim 2, characterized in that, The third start-up control includes: Acquire signals from sensors that detect the rotor position of the motor; A third sinusoidal drive current is generated in sync with the signal from the sensor; The motor is driven to rotate using the third sinusoidal drive current.

11. The control device according to claim 1, characterized in that, The detection unit includes: The acquisition unit acquires signal sequences from sensors that detect the rotor position of the motor. The determining unit determines the rotational state of the motor based on the signal sequence.

12. A drive device for an electric motor, characterized in that, The driving device includes: The control device according to any one of claims 1-11; The drive circuit drives the motor according to the control signal from the control device.

13. A method for controlling an electric motor, characterized in that, The control method includes: Detect the rotational state of the motor; and Based on the detected rotation state of the motor, start control is performed on the motor corresponding to the rotation state.

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