CN100426651C - Control apparatus and method of motor - Google Patents

Control apparatus and method of motor Download PDF

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Publication number
CN100426651C
CN100426651C CNB200510127104XA CN200510127104A CN100426651C CN 100426651 C CN100426651 C CN 100426651C CN B200510127104X A CNB200510127104X A CN B200510127104XA CN 200510127104 A CN200510127104 A CN 200510127104A CN 100426651 C CN100426651 C CN 100426651C
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sensing
motor
phase
produce
signal
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CN1972112A (en
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邱进发
邱俊隆
蔡明熹
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Delta Electronics Inc
Delta Optoelectronics Inc
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Delta Optoelectronics Inc
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Abstract

This invention relates to one control device for motor, which comprises one sensor parts, one correction parts and one drive parts, wherein, the sensor part is to generate one sensor signals; the correction element is to receive the sensor signals and to generate one phase adjust signals; the drive part is to receive the phase adjust signal and to generate one drive current and motor according to the phase adjust signal.

Description

The control device of motor and method
Technical field
The relevant a kind of control device of the present invention and method, the particularly control device and the method for relevant a kind of motor.
Background technology
The position when but Hall element induction motor magnetic pole rotates, so in the control device of motor, can be by suitably furnishing Hall element with the monitoring motor running.
As Fig. 1 and shown in Figure 2, a Hall element 11 is the variations of furnishing magnetic pole when a position P1 rotates with sensing one direct current brushless motor 12, and a controller 13 is drive currents 121 of adjusting this DC Brushless Motor 12 according to the sensing result of this Hall element 11.
Yet, when these DC Brushless Motor 12 rotating speeds improve, if this Hall element 11 is still furnished in this position P1, then this drive current 121 is easy to generate surging (as shown in Figure 2) near reversal point the time, and the phase place of this drive current 121 also lags behind the driving voltage of this DC Brushless Motor 12, thereby is easy to generate noise when causing motor running and with relatively poor efficient running.So, prior art is can furnish this Hall element 11 in a position P2, this DC Brushless Motor 12 is when running up thus, phase difference between this drive current 121 and the driving voltage, and this drive current 121 is easy to generate surging near reversal point time the situation will be improved, thereby the noise of this DC Brushless Motor 12 reduced, and running efficiency is improved, but the efficient of this DC Brushless Motor 12 when low-speed running reduces and noise improves.Therefore, when this DC Brushless Motor 12 under the situation of different rotating speeds, this Hall element 11 is furnished in the corresponding down the best ornaments position of suitable this position P1, this position P2 or other rotating speeds, will influence the usefulness that this controller 13 is controlled these DC Brushless Motor 12.
Therefore, the present invention provides a kind of control device and method of motor, needn't consider the influence of sensor ornaments position in the hope of can work as the motor rotary speed conversion time, and can react rotating speed really to produce suitable motor drive current, and then the operating efficiency and the useful life of lifting motor, the noise that produces when reducing motor running.
Summary of the invention
Because above-mentioned problem, purpose of the present invention is for providing a kind of control device and method of motor that sensor is furnished the influence of position of needn't considering can work as the motor rotary speed conversion time.
For reaching above-mentioned purpose, according to a kind of control device of the present invention, be used to control a motor, this control device comprises: a sensing component, the position of magnetic pole of its this motor of sensing is to produce a sensing signal; One current sensing component, an operating current of its this motor of sensing is to produce a current sensing signal; One rotating speed sensing component, a rotating speed of its this motor of sensing is to produce a rotating speed sensing signal; One the skew assembly, it receives this sensing signal, and according to this sensing signal, this current sensing signal or this rotating speed sensing signal to produce a phase pushing figure; One revises assembly, and it receives this phase pushing figure, and produces a phase adjustment signal according to this phase pushing figure; And a driven unit, it receives this phase adjustment signal, and produces a drive current to drive this motor according to this phase adjustment signal.
For reaching above-mentioned purpose, the invention provides a kind of control method to control a motor, this control method comprises the following step: this motor of sensing is to produce a sensing signal; Then produce a phase adjustment signal according to this sensing signal; And produce a drive current to drive this motor according to this phase adjustment signal.
For reaching above-mentioned purpose, the invention provides another kind of control device to control a motor, this control device comprises a sensing component, a skew assembly, is revised an assembly and a driven unit.One position of magnetic pole of this this motor of sensing component sensing is to produce a sensing signal; This skew assembly produces a phase pushing figure; This correction assembly receives this sensing signal and this phase pushing figure, and produces a phase adjustment signal according to this sensing signal and this phase pushing figure; This driven unit receives this phase adjustment signal, and produces a drive current to drive this motor according to this phase adjustment signal.
For reaching above-mentioned purpose, the invention provides another kind of control method to control a motor, this control method comprises the following step: a position of magnetic pole of this motor of sensing is to produce a sensing signal; Then produce a phase pushing figure; Then produce a phase adjustment signal according to this sensing signal and this phase pushing figure; And produce a drive current to drive this motor according to this phase adjustment signal.
From the above, because of control device and method according to a kind of motor of the present invention are to produce a phase adjustment signal according to this sensing signal, and produce a drive current to drive this motor according to this phase adjustment signal, therefore when the motor rotary speed conversion, can adapt to the influence of sensor ornaments position, and can react rotating speed really to produce suitable motor drive current, and then the operating efficiency and the useful life of lifting motor, the noise that produces when reducing motor running.
Description of drawings
Fig. 1 is a schematic diagram of Hall element ornaments position in a kind of existing motor;
Fig. 2 is an a kind of schematic diagram of drive current of existing motor;
Fig. 3 is the block diagram according to the control device of a kind of motor of preferred embodiment of the present invention;
Fig. 4 is the schematic diagram according to sensing signal in the control device of a kind of motor of preferred embodiment of the present invention;
Fig. 5 is the schematic diagram according to drive current in the control device of a kind of motor of preferred embodiment of the present invention;
Fig. 6 is the block diagram according to the control device of the another kind of motor of preferred embodiment of the present invention; And
Fig. 7 is the flow chart according to the control method of a kind of motor of preferred embodiment of the present invention.
Embodiment
Hereinafter with reference to relevant drawings, control device and method according to a kind of motor of preferred embodiment of the present invention are described.
As shown in Figure 3, comprise a sensing component 31, according to the control device 3 of a kind of motor of preferred embodiment of the present invention and revise an assembly 32 and a driven unit 33.
One position of magnetic pole, an operating current and/or a rotating speed of this sensing component 31 sensings one motor 2 are to produce a sensing signal S SenseThis correction assembly 32 is to receive this sensing signal S Sense, and according to this sensing signal S SenseProduce a phase adjustment signal S PhaseThis driven unit 33 receives this phase adjustment signal S Phase, and according to this phase adjustment signal S PhaseProduce a drive current S DriveTo drive this motor 2.
As Fig. 3, Fig. 4 and shown in Figure 5, this sensing component 31 can comprise a Hall element (not shown), and this position of magnetic pole of this this motor 2 of Hall element sensing is to produce this sensing signal S SenseThis correction assembly 32 and this driven unit 33 can be integrated in a controller, and this correction assembly 32 of this controller is suitably to adjust this sensing signal S SenseBe this phase adjustment signal S Phase(as shown in Figure 4), this sensing signal S SenseWith this phase adjustment signal S PhaseThe gap size of phase place be to furnish position (for example position P1 or position P2 etc. among Fig. 1) in motor and this drive current S when the corresponding rotating speed to simulate this Hall element DriveIn near reversal point the time, there is no obvious surging and produce (as shown in Figure 5).
Therefore, this Hall element is to furnish in a fixed position, when motor 2 causes motor 2 preferable sense position to change because of transformation of speed, though this Hall element is suitably adjusted this sensing signal S in this motor 2 of this fixed position sensing originally via this correction assembly 32 SenseBe this phase adjustment signal S PhaseAfterwards, this Hall element can be simulated in this this motor 2 of preferable sense position sensing.
In addition, this sensing component 31 can comprise a current sensor or a rotating speed sensor, this current sensor or this rotating speed sensor can replace this Hall element, this current sensor or this rotating speed sensor respectively the operating current of this motor of sensing or rotating speed to produce this sensing signal.
This control device 3 also comprises a skew assembly 34, and this skew assembly 34 receives this sensing signal S Sense, and according to this sensing signal S SenseProduce a phase pushing figure Val Phase, this phase pushing figure Val PhaseBe to be sent to this correction assembly 32, this correction assembly 32 is according to this sensing signal S SenseWith this phase pushing figure Val PhaseProduce this phase adjustment signal S PhaseThis phase adjustment signal S wherein PhaseWith this sensing signal S SenseBetween phase difference be and this phase pushing figure Val PhaseThe phase difference of representative equates.Therefore this skew assembly 34 is can adjust numerical value according to the speed dynamic ground of these motor 2 reality to allow this correction assembly 32 be revised phase place to obtain preferable simulate effect.In addition, this skew assembly 34 is can revise assembly 32 with this and this driven unit 33 is integrated in the controller.
Moreover this controller can be a programmable chip, an integrated circuit, a processor, a digital signal processor or a microcontroller, and this skew assembly 34, this correction assembly 32 and this driven unit 33 are to can be firmware program code.
In the present embodiment, this skew assembly 34 is to comprise this sensing signal S SenseWith this phase pushing figure Val PhaseMapping table or corresponding relation equation, therefore when these skew assembly 34 execution, this phase pushing figure Val PhaseCan be by extrapolating this phase pushing figure Val in this mapping table or this corresponding relation equation PhaseAngle when can be the ornaments position of this sensing component 31 in this motor between the preferable sense position (for example position P1 and the folded central angle of position P2 among Fig. 1) with corresponding rotating speed.
This correction assembly 32 is to calculate this phase adjustment signal S Phase, this phase adjustment signal S PhaseWith this sensing signal S SenseBetween phase difference be this phase pushing figure Val PhaseThis driven unit 33 is according to this phase adjustment signal S PhaseNumerical values recited judge whether this motor 2 arrives a predetermined rotating speed, and adjust this drive current S according to this judged result DriveTo drive this motor 2.
As shown in Figure 6, in another embodiment, a control device 4 comprises a sensing component 41, a skew assembly 42, is revised an assembly 43 and a driven unit 44.
This sensing component 41 is that a position of magnetic pole of this motor 2 of sensing is to produce a sensing signal S Sense, this skew assembly 42 is to produce a phase pushing figure Val Phase, this is revised assembly 43 and receives this sensing signal S SenseWith this phase pushing figure Val Phase, and according to this sensing signal S SenseWith this phase pushing figure Val PhaseProduce a phase adjustment signal S Phase, this driven unit 44 receives this phase adjustment signal S Phase, and according to this phase adjustment signal S PhaseProduce a drive current S DriveTo drive this motor 2.
This correction assembly 43 and this driven unit 44 can be integrated in a controller, and this controller is directly to calculate this sensing signal S SenseThe corresponding phase value of adjusting is to produce this phase adjustment signal S Phase, this controller is can be according to this phase adjustment signal S PhaseProduce at that time required this drive current S under these motor 2 rotating speeds Drive
In addition, this control device 4 also comprises a current sensing component 45 and a rotating speed sensing component 46, and this current sensing component 45 is that an operating current of this motor 2 of sensing is to produce a current sensing signal S Cur, this rotating speed sensing component 46 is that a rotating speed of this motor 2 of sensing is to produce a rotating speed sensing signal S RevMoreover this sensing component 41 is can comprise a Hall element with this position of magnetic pole of this motor 2 of sensing and produce this sensing signal S Sense
This skew assembly 42 can receive this sensing signal S Sense, this current sensing signal S CurOr this rotating speed sensing signal S RevLearning at present the rotating speed of this motor 2 or the situation of the operating current reality of this motor 2, this skew assembly 42 and according to this sensing signal S Sense, this current sensing signal S CurOr this rotating speed sensing signal S RevProduce this phase pushing figure Val Phase, this correction assembly 43 is according to this phase pushing figure Val PhaseProduce this phase adjustment signal S Phase
In the present embodiment, this skew assembly 42, this correction assembly 43 and this driven unit 44 can be integrated in a controller, and this controller is to calculate this phase pushing figure Val in the digital operation mode Phase
In addition, this skew assembly 42 can comprise a rotating speed correspondence table to write down this motor 2 pairing this phase pushing figure Val when each rotating speed PhaseThus this skew assembly 42 be can produce according to the rotating speed of this motor 2 suitable to should phase pushing figure Val Phase, thereby this driven unit 44 can produce suitable this drive current S Drive, this drive current S DriveCan reduce surging when commutation produces.
In the present embodiment, this skew assembly 42 can be by this current sensing signal S CurOr this rotating speed sensing signal S RevVerify this phase pushing figure Val PhaseWhether can react the rotating speed of this motor instantly really, so that this correction assembly 43 is able to produce this phase adjustment signal S in correct phase place Phase
In addition, this skew assembly 42 is can be simultaneously according to this sensing signal S Sense, this current sensing signal S CurOr this rotating speed sensing signal S RevEstimate the rotating speed of this motor, and this phase pushing figure Val of selected this rotating speed correspondence in this rotating speed correspondence table certainly Phase
Moreover this controller is to can be a programmable chip, an integrated circuit, a processor, a digital signal processor or a microcontroller, and this skew assembly 42, this correction assembly 43 and this driven unit 44 are to can be firmware program code.
In the present embodiment, this skew assembly 42 is to comprise this sensing signal S Sense, this current sensing signal S Cur, this rotating speed sensing signal S RevWith this phase pushing figure Val PhaseMapping table or corresponding relation equation, therefore when these skew assembly 42 execution, this phase pushing figure Val PhaseBe can be by extrapolating this phase pushing figure Val in this mapping table or this corresponding relation equation PhaseBe the angle between the preferable sense position when can be the ornaments position of this sensing component 41 in this motor (for example position P1 and the folded central angle of position P2 among Fig. 1) with corresponding rotating speed.
As shown in Figure 7, the control method according to a kind of motor of preferred embodiment of the present invention comprises step S1 to S3.
Step S1 is a position of magnetic pole, an operating current and/or a rotating speed of this motor of sensing, to produce a sensing signal; Step S2 produces a phase adjustment signal according to this sensing signal; Step S3 produces a drive current to drive this motor according to this phase adjustment signal.
Because the control method of the motor of present embodiment may be implemented in the control device 3,4 of the motor among earlier figures 3 to Fig. 6 embodiment, relevant possible implementation method and effect were discussed in previous embodiment, so repeat no more.
In sum, because of control device and method according to a kind of motor of the present invention are to produce a phase adjustment signal according to this sensing signal, and produce a drive current to drive this motor according to this phase adjustment signal, therefore when the motor rotary speed conversion, can adapt to the influence of sensor ornaments position, and can react rotating speed really to produce suitable motor drive current, and then the operating efficiency and the useful life of lifting motor, the noise that produces when reducing motor running.
The above only is an illustrative, but not is restrictive.Any spirit of the present invention and category of not breaking away from, and to the modification or the change of its equivalence of carrying out, all should be contained in accompanying the application's claim scope.

Claims (15)

1. a control device is used to control a motor, and described control device comprises:
One sensing component, the position of magnetic pole of its this motor of sensing is to produce a sensing signal;
One current sensing component, an operating current of its this motor of sensing is to produce a current sensing signal;
One rotating speed sensing component, a rotating speed of its this motor of sensing is to produce a rotating speed sensing signal;
One the skew assembly, it receives this sensing signal, and according to this sensing signal, this current sensing signal or this rotating speed sensing signal to produce a phase pushing figure;
One revises assembly, and it receives this phase pushing figure, and produces a phase adjustment signal according to this phase pushing figure; And
One driven unit, it receives this phase adjustment signal, and produces a drive current to drive this motor according to this phase adjustment signal.
2. control device as claimed in claim 1 is characterized in that this sensing component comprises:
One Hall element, a position of magnetic pole of its this motor of sensing is to produce this sensing signal.
3. control device as claimed in claim 1 is characterized in that this sensing component is that an operating current of this motor of sensing or a rotating speed are to produce this sensing signal.
4. control device as claimed in claim 1 is characterized in that this phase adjustment signal is to equate with the phase difference of this phase pushing figure representative with phase difference between this sensing signal.
5. control device as claimed in claim 1 is characterized in that this correction assembly, this driven unit and this skew assembly are to be integrated in a controller.
6. control device as claimed in claim 5 is characterized in that this controller is a programmable chip, an integrated circuit, a processor, a digital signal processor or a microcontroller.
7. control device as claimed in claim 5 is characterized in that this skew assembly, this correction assembly and this driven unit are to can be firmware program code.
8. control device as claimed in claim 1 is characterized in that this skew assembly also comprises the mapping table or the corresponding relation equation of this sensing signal and this phase pushing figure.
9. control device as claimed in claim 1 is characterized in that this skew assembly comprises a rotating speed correspondence table, to write down this motor in pairing this phase pushing figure of each rotating speed.
10. control device as claimed in claim 1 is characterized in that this phase pushing figure is the ornaments position of this sensing component in this motor angle between the preferable sense position during with corresponding rotating speed.
11. control device as claimed in claim 1 is characterized in that this correction assembly and this driven unit are to be integrated in a controller.
12. control device as claimed in claim 11 is characterized in that this controller is a programmable chip, an integrated circuit, a processor, a digital signal processor or a microcontroller.
13. control device as claimed in claim 11 is characterized in that this correction assembly and this driven unit can be firmware program code.
14. a control method is used to control a motor, described control method comprises the following step:
The position of magnetic pole of this motor of sensing is to produce a sensing signal;
Operating current by this motor of current sensing component sensing is to produce a current sensing signal;
Rotating speed by this motor of rotating speed sensing component sensing is to produce a rotating speed sensing signal;
Receive this sensing signal and produce a phase pushing figure by a skew assembly according to this sensing signal, this current sensing signal or this rotating speed sensing signal;
Revise assembly by one and receive this phase pushing figure, and produce a phase adjustment signal according to this phase pushing figure; And
Produce a drive current to drive this motor according to this phase adjustment signal.
15. control method as claimed in claim 14 is characterized in that this phase adjustment signal is to equate with the phase difference of this phase pushing figure representative with phase difference between this sensing signal.
CNB200510127104XA 2005-11-21 2005-11-21 Control apparatus and method of motor Active CN100426651C (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101997465B (en) * 2009-08-21 2013-11-13 台达电子工业股份有限公司 Motor control device
CN101997464B (en) * 2009-08-21 2013-11-13 台达电子工业股份有限公司 Motor control device and method thereof
US8723463B2 (en) 2009-08-19 2014-05-13 Delta Electronics, Inc. Motor control apparatus and method thereof

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101325391B (en) * 2007-06-13 2010-06-16 台达电子工业股份有限公司 Motor control apparatus
TWI404324B (en) 2008-05-15 2013-08-01 Delta Electronics Inc Motor control apparatus and control method thereof
TW202119148A (en) * 2019-11-14 2021-05-16 財團法人資訊工業策進會 Robot, and micro control unit and method for correcting the angular velocity of a motor thereof

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1625042A (en) * 2003-07-24 2005-06-08 通用电气公司 Torque ripple and noise reduction by avoiding mechanical resonance for a brushless DC machine
CN1684354A (en) * 2004-04-12 2005-10-19 乐金电子(天津)电器有限公司 Hull sensor position deviation guarantee method for motor direct driving washing machine using brushless DC motor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1625042A (en) * 2003-07-24 2005-06-08 通用电气公司 Torque ripple and noise reduction by avoiding mechanical resonance for a brushless DC machine
CN1684354A (en) * 2004-04-12 2005-10-19 乐金电子(天津)电器有限公司 Hull sensor position deviation guarantee method for motor direct driving washing machine using brushless DC motor

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8723463B2 (en) 2009-08-19 2014-05-13 Delta Electronics, Inc. Motor control apparatus and method thereof
CN101997465B (en) * 2009-08-21 2013-11-13 台达电子工业股份有限公司 Motor control device
CN101997464B (en) * 2009-08-21 2013-11-13 台达电子工业股份有限公司 Motor control device and method thereof

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