CN101232266A - Apparatus and method for controlling direct current brushless motor - Google Patents
Apparatus and method for controlling direct current brushless motor Download PDFInfo
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- CN101232266A CN101232266A CNA2007100003743A CN200710000374A CN101232266A CN 101232266 A CN101232266 A CN 101232266A CN A2007100003743 A CNA2007100003743 A CN A2007100003743A CN 200710000374 A CN200710000374 A CN 200710000374A CN 101232266 A CN101232266 A CN 101232266A
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- 230000008014 freezing Effects 0.000 claims description 4
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Abstract
The invention discloses a controlling means of a DC brushless motor. A Hall component is used for detecting a magnetic pole position of a motor rotor and generates a Hall signal correspondingly; a driving unit is used for generating a PWM signal according to an external control signal; a switching circuit is controlled according to the PWM signal and the Hall signal, and the current phase which is switched and output to a motor stator coil drives a rotor to rotate; when the Hall signal is detected to act level transformation, the level of the external control signal is steadily increased or steadily decreased corresponding to the level change of the Hall signal, so as to correspondingly control the working period of the PWM signal to steadily increase from zero to a preset working period, or steadily decrease from the preset working period to zero; in this way, the current sudden surge and the noise which are generated when the motor switches are eliminated.
Description
Technical field
The present invention relates to a kind of control method of DC Brushless Motor, particularly relate to a kind of control method and device with DC Brushless Motor of pulse wave width modulation (PWM) control.
Background technology
Because DC Brushless Motor replaces the commutation brush of traditional d.c. motor with hall sensor, also be fit to be applied in the miniature radiating fan system than traditional d.c. motor, and be widely used in such as low-voltage product scopes such as computer fan, photocopier, laser printers.
The single-phase DC brushless motor that computer fan is used always comprises one and is arranged with the static stator 11 of coil windings 10, and drive four utmost point rotors 12 that fan blade is rotated as shown in Figure 1.
Referring to Fig. 2 and Fig. 3 and contrast shown in Figure 1ly, be known a kind of control device 2 that drives brushless single phase d.c. motor 1, it utilizes the position of magnetic pole of a Hall sensor (Hall sensor) 21 sensing motor rotors 12, and the corresponding Hall signal S that produces
HA(be a simulation differential signal V
HPAnd V
HN), this Hall signal S
HABe transfused to a comparator 22 and convert a digitized Hall signal S to
HDAfter, deliver to a driver 23.One PWM generator 24 is according to an external control signal S
C(voltage signal) produces a PWM signal and delivers to driver 23, and driver 23 is according to Hall signal S
HDAnd the PWM signal, respective rotor 12 position of magnetic poles are an output PWM signal S as shown in Figure 3 in turn
PWM1And the 2nd PWM signal S
PWM2, alternately switch the output current I that exports motor stator coil 10 to a switching circuit 25 of control rear end
Out(as shown in Figure 3) phase place is rotated and order about motor rotor 12.
Yet, because a PWM signal S
PWM1And the 2nd PWM signal S
PWM2Between the accurate position instantaneous variation that produced when switching can make output current I
OutProduce surging I in this moment
P, and produce mechanical resonance and noise when easily making revolution.
Summary of the invention
The object of the present invention is to provide a kind of control method and device of eliminating the DC Brushless Motor of output current surging.
So, for achieving the above object, the control method of DC Brushless Motor of the present invention, wherein this motor has the stator and of a winding coil around the stator rotor rotated, the position of magnetic pole that this control method uses a Hall element to detect this rotor produces a Hall signal with correspondence, use a driver element to produce a PWM signal according to an external control signal, and control a switching circuit according to this PWM signal and this Hall signal, make to switch to export the current phase of stator coil to, and order about rotor rotation; Particularly, this control method also comprises: (A) when this Hall signal of detecting is about to the conversion of accurate position, the accurate position that makes this external control signal is to changing and increasing or decreasing by the Hall signal reference position; (B) when the accurate position of this external control signal increases progressively, the work period that makes the PWM signal that this driver element produces is by zero increase to the predetermined work cycle; And (C) when successively decrease in the accurate position of this external control signal, the PWM signal that makes this driver element produce is decremented to zero by this predetermined work cycle.Whereby, eliminate the output current surging of switching circuit.
Wherein, this Hall element is a Hall sensor, and this Hall signal is a differential analog signal, and it imports this driver element after changing into a digital signal via a comparator, and this external control signal is to be produced by a PWM work period controller.
As described above, in step (A), when the differential voltage of detecting this Hall signal when this PWM work period controller is reduced to less than a reference value, even this external control signal in this differential voltage be reduced to by this reference value zero during be decremented to low level by high levle, and in this differential voltage by above freezing rise to this reference value during, make this external control signal be incremented to high levle by low level.
Wherein, this Hall element is a Hall integrated circuit, and this Hall signal is a digital signal, and this external control signal is to be produced by a PWM work period controller.
As described above, in step (A), this PWM work period controller is according to the count value of the last waveform of Hall signal, set a reference value near this count value, and in the present waveform of counting Hall signal during to this reference value, make this external control signal in count up to the accurate position conversion of present waveform by this predetermined value before during, be decremented to low level by high levle, and after the conversion of Hall signal reference position, make this external control signal be incremented to high levle by low level.
Moreover, the present invention realizes the control device of the DC Brushless Motor of said method, wherein this motor have a winding coil stator and around the stator rotor rotated, this control device comprises a Hall element, a PWM work period controller, a driver element and a switching circuit.This Hall element is detected the position of magnetic pole and the corresponding Hall signal that produces of this rotor.This PWM work period controller is accepted this a Hall signal and an external control signal, and when this Hall signal of detecting was about to the conversion of accurate position, the accurate position that makes this external control signal was to changing and increasing or decreasing by the Hall signal reference position.This driver element produces a PWM signal according to this external control signal, and when the accurate position of this external control signal increases progressively, the work period of PWM signal that makes output is by zero increase to the predetermined work cycle, and when successively decrease in the accurate position of this external control signal, make the PWM signal of output be decremented to zero, produce a driving signal according to this PWM signal and this Hall signal simultaneously by this predetermined work cycle.This switching circuit is controlled by this driving signal, switches the current phase that exports this stator coil to, rotates to order about motor rotor.Whereby, eliminate the output current surging of switching circuit.
Wherein, this DC Brushless Motor is single-phase or during the two-phase DC Brushless Motor, this driver element comprises a PWM generator and a driver, this PWM generator produces this PWM signal according to this external control signal, and when the accurate position of this external control signal increases progressively, the work period of PWM signal that makes output is by zero increase to the predetermined work cycle, and when successively decrease in the accurate position of this external control signal, makes the PWM signal of output be decremented to zero by this predetermined work cycle; This driver produces this driving signal according to this PWM signal and this Hall signal.
When wherein this DC Brushless Motor was the three-phase direct-current brushless motor, this driver element was a PWM generator.
As described above, control device also comprises a comparator, and this Hall element is a Hall sensor, and this Hall signal is a differential analog signal, and it changes into this driver element of input behind the digital signal via this comparator.
As described above, when the differential voltage of detecting this Hall signal when this PWM work period controller is reduced to less than a reference value, even this external control signal in this differential voltage be reduced to by this reference value zero during, be decremented to low level by high levle, and make this external control signal in this differential voltage by above freezing rise to this reference value during, be incremented to high levle by low level.
Wherein, this Hall element is a Hall integrated circuit, this Hall signal is a digital signal, and this PWM work period controller is according to the count value of the last waveform of Hall signal, set a reference value near this count value, and in the present waveform of counting Hall signal during to this reference value, make this external control signal in count up to the accurate position conversion of present waveform by this predetermined value before during, be decremented to low level by high levle, and after the conversion of Hall signal reference position, make this external control signal be incremented to high levle by low level.
The present invention is by the accurate position transition period of detecting Hall signal, the corresponding voltage quasi position of adjusting the external control signal, make the relative increasing or decreasing of pulse bandwidth of corresponding modulation PWM signal, allow output current that driver produces according to PWM signal control switch circuit not reason driver moment switch the PWM signal and produce surging, and then reduce mechanical resonance and noise that motor produces because of the electric current surging.
Description of drawings
Below in conjunction with drawings and Examples the control method of DC Brushless Motor of the present invention and a preferred embodiment of device are elaborated:
Fig. 1 is the organigram of DC Brushless Motor in the past.
Fig. 2 is a kind of circuit block diagram of control device of DC Brushless Motor in the past.
Fig. 3 is the output signal waveform schematic diagram of the control device of Fig. 2.
Fig. 4 is the circuit block diagram of first preferred embodiment of the control device of DC Brushless Motor of the present invention, and the control mode of single-phase DC brushless motor is described.
Fig. 5 is the output signal waveform schematic diagram of the control device of Fig. 4.
Fig. 6 is the partial enlarged drawing of the PWM signal of Fig. 5.
Fig. 7 is the circuit block diagram of second preferred embodiment of the control device of DC Brushless Motor of the present invention, and the another kind of control mode of single-phase DC brushless motor is described.
Fig. 8 is the circuit block diagram of the 3rd preferred embodiment of the control device of DC Brushless Motor of the present invention, and the control mode of two-phase DC Brushless Motor is described.
Fig. 9 is the circuit block diagram of the 4th preferred embodiment of the control device of DC Brushless Motor of the present invention, and the control mode of three-phase direct-current brushless motor is described.
Figure 10 is the output signal waveform schematic diagram of the control device of the 4th embodiment.
Embodiment
About aforementioned and other technology contents, characteristics and effect of the present invention, in the following detailed description that cooperates with reference to four graphic preferred embodiments, can clearly present.
Consult Fig. 1, Fig. 4 and shown in Figure 5, it is first preferred embodiment of the control device of DC Brushless Motor of the present invention, this DC Brushless Motor is a single-phase DC brushless motor, its structure comprises that one is arranged with the stator 11 and four utmost point rotors 12 around the stator rotation of coil windings 10 as shown in Figure 1.
The control device 3 of present embodiment comprises a Hall sensor 31, a PWM work period controller 32, a driver element 30 and a switching circuit 35.Wherein, driver element 30 also comprises a PWM generator 33 and a driver 34, and switching circuit 35 is H-bridge (H type bridge-type) circuit of being made up of four transistors.
PWM work period controller 32, reception one external control signal S as shown in Figure 5
CAnd Hall signal S
HA, external control signal S
CIt is a direct current voltage signal, it is in order to control PWM generator 33, and by the pulse bandwidth (being the work period) of the PWM signal that changes 33 outputs of its voltage quasi position modulation PWM generator, for example during voltage quasi position 5V, the work period of PWM signal is 50%, during voltage quasi position 2.5V, the work period of PWM signal is 25%.
And in the present embodiment, in order to eliminate the output current I of switching circuit 35
OutSurging, PWM work period controller 32 is set a reference value (being reference voltage) Vref, and detecting Hall signal S
HDDifferential voltage V
DWhether (absolute value) is reduced to less than reference value Vref, if, even external control signal S
CIn this differential voltage V
DBy reference value Vref be reduced to zero (zero crossover point) during T
1, be decremented to low level (for example 0V) by high levle (for example 5V), and in this differential voltage V
D(absolute value) by zero (zero crossover point) rise to reference value Vref during T
2, make external control signal S
CBe incremented to high levle (5V) by low level (0V), and an output external control signal S through the edge adjustment as shown in Figure 5
C' to PWM generator 33.
Therefore, receive external control signal S when PWM generator 33
C', it is according to external control signal S
C' the pulse bandwidth (work period) of PWM signal of voltage quasi position modulation output, and produce as shown in Figure 5 PWM signal S
PWM' and enter drive 34 in.PWM signal S
PWM' corresponding external control signal S
C' the pulse bandwidth (for example 50%) of high levle waveform generation unanimity, but corresponding external control signal S
C' increase progressively edge and tapered edge part, then according to the voltage increasing or decreasing, adjust pulse bandwidth, it is cumulative that the pulse bandwidth correspondence is decrescence reached.
Therefore, switching circuit 35 is subjected to a PWM signal S
PWM1' and the 2nd PWM signal S
PWM2' alternately control and output current I
OutThe time, because a PWM signal S
PWM1' and the 2nd PWM signal S
PWM2' when switching between the PWM, be not to switch moment, but as shown in Figure 6, make a PWM signal S
PWM1' pulse bandwidth be decremented to zero gradually by the predetermined work cycle (50%) after, the 2nd PWM signal S
PWM2' pulse bandwidth be incremented to the predetermined work cycle (50%) more gradually, therefore, make the switching circuit 35 can be because PWM signal moment switches at output current L
OutLast generation moment surging, thereby eliminated the output current surging.
Again referring to shown in Figure 7, it is second preferred embodiment of the control device of DC Brushless Motor of the present invention, its with first embodiment only different be in, present embodiment is the Hall sensor 31 that replaces first embodiment with a Hall integrated circuit (being Hall IC) 31 ', and because the direct output of the rotor magnetic pole position that Hall IC 31 ' can corresponding sense a digital signal S as shown in Figure 5
HDTherefore, present embodiment does not need the comparator 36 of first embodiment.
But, because Hall IC 31 ' is output as digital signal S
HDBut not analog signal, therefore, in the present embodiment, in order to learn Hall signal S
HDAccurate position transfer point adjust the accurate position of external control signal with correspondence, and eliminate output current I
OutSurging, in the present embodiment, PWM period controller 32 uses a counter to count Hall signal S
HDCycle, obtaining the count value of high levle waveform (N) and low level waveform (S), and according to the count value C of last waveform
PCalculate next waveform (being present waveform), and set a reference value C
Ref, and this reference value C
RefNear but less than this count value C
P
Therefore, the count value when the present waveform of PWM period controller 32 countings arrives reference value C
RefThe time, then by this reference value C
RefCount up to before the accurate position conversion of present waveform during T
1, make external control signal S
CBe decremented to low level by high levle, and in Hall signal S
HDAfter the conversion of accurate position, make external control signal S
CBe incremented to high levle by low level, and the output external control signal S through the edge adjustment as shown in Figure 5
C' to PWM generator 33.
Therefore, as first embodiment, PWM generator 33 is promptly according to external control signal S
C' voltage quasi position modulation pulse bandwidth, and produce as shown in Figure 5 PWM signal S
PWM
Again referring to shown in Figure 8, it is the 3rd preferred embodiment of the control device of DC Brushless Motor of the present invention, present embodiment is in order to control two-phase DC Brushless Motor, and because the stator of two-phase DC Brushless Motor has two coil windings to control respectively, therefore, present embodiment mainly is that the switching circuit 35 ' of control motor stator coil 10 ' is different with second embodiment.
In addition referring to shown in Figure 9, it is the 4th preferred embodiment of the control device of DC Brushless Motor of the present invention, present embodiment is in order to control three-phase direct-current brushless motor, different with previous embodiment is, because the stator of three-phase direct-current brushless motor has three coil windings Lu, Lv, Lw will control respectively, so present embodiment need use three Hall sensing IC 31 ' to come the position of magnetic pole of sensing motor rotor respectively, and the three-phase direct-current brushless motor generally is to adopt two-phase modulation method to control, that is certain is only controlled two in the stator three-phase coil in a flash and is conducted, and make another keep floating mutually, so switching circuit 35 of present embodiment " have a brachium pontis of three parallel connections; and each brachium pontis has two switch elements, i.e. upper arm element Q1; Q3; Q5 and underarm element Q2; Q4; Q6.Therefore, as shown in figure 10, three Hall sensing IC 31 ' produce sensing signal Hu, Hv, Hw respectively, and export PWM work period controller 32 ' and driver element 30 to, and the driver element 30 of present embodiment is a PWM generator.The operation principle of first embodiment as described above, PWM work period controller 32 ' is according to sensing signal Hu, Hv, Hw and external control signal S
1～S
6, produce an external control signal S through the edge adjustment
1'～S
6' give driver element (PWM generator) 30, make driver element (PWM generator) 30 according to sensing signal Hu, Hv, Hw and external control signal S
1'～S
6' produce the PWM signal S of marginal vein wave width increasing or decreasing
PWM1～S
PWM2Output, with control switch circuit 35 " each switch element Q1～Q6 action and order about motor rotor and rotate; and allow switch circuit 35 " can not switch and on output current, produce the moment surging because of PWM signal moment, thereby eliminated the output current surging that makes motor produce noise.
As shown in the above description, the present invention is by the accurate position transition period of detecting Hall signal, and correspondence is adjusted external control signal S
CVoltage quasi position, make the relative increasing or decreasing of pulse bandwidth of corresponding modulation PWM signal, the output current I that driver 34 is produced according to PWM signal control switch circuit 35
Out34 moments of reason driver do not switch the PWM signal and produce surging, and then reduce mechanical resonance and the noise that motor produces because of the electric current surging.
Claims (11)
1. the control method of a DC Brushless Motor, this motor has the stator and of a winding coil around the stator rotor rotated, the position of magnetic pole that this control method uses a Hall element to detect this rotor produces a Hall signal with correspondence, use a driver element to produce a PWM signal according to an external control signal, and control a switching circuit according to this PWM signal and this Hall signal, make to switch to export the current phase of stator coil to, and order about rotor rotation, it is characterized in that:
This control method comprises:
(A) when this Hall signal of detecting is about to the conversion of accurate position, the accurate position that makes this external control signal is to changing and increasing or decreasing by the Hall signal reference position;
(B) when the accurate position of this external control signal increases progressively, the work period that makes the PWM signal that this driver element produces is by zero increase to the predetermined work cycle; And
(C) when successively decrease in the accurate position of this external control signal, the PWM signal that makes this driver element produce is decremented to zero by this predetermined work cycle.
2. the control method of DC Brushless Motor according to claim 1, it is characterized in that: this Hall element is a Hall sensor, this Hall signal is a differential analog signal, it imports this driver element after changing into a digital signal via a comparator, and this external control signal is to be produced by a PWM work period controller.
3. as the control method of DC Brushless Motor as described in the claim 2, it is characterized in that: in step (A), when the differential voltage of detecting this Hall signal when this PWM work period controller is reduced to less than a reference value, even this external control signal in this differential voltage be reduced to by this reference value zero during be decremented to low level by high levle, and in this differential voltage by above freezing rise to this reference value during, make this external control signal be incremented to high levle by low level.
4. the control method of DC Brushless Motor according to claim 1, it is characterized in that: this Hall element is a Hall integrated circuit, this Hall signal is a digital signal, and this external control signal is to be produced by a PWM work period controller.
5. as the control method of DC Brushless Motor as described in the claim 4, it is characterized in that: in step (A), this PWM work period controller is according to the count value of the last waveform of Hall signal, set a reference value near this count value, and in the present waveform of counting Hall signal during to this reference value, make this external control signal in count up to the accurate position conversion of present waveform by this predetermined value before during, be decremented to low level by high levle, and after the conversion of Hall signal reference position, make this external control signal be incremented to high levle by low level.
6. the control device of a DC Brushless Motor, this motor has the stator and of a winding coil around the stator rotor rotated, it is characterized in that:
This control device comprises:
One Hall element, position of magnetic pole and the correspondence of detecting this rotor produce a Hall signal;
One PWM work period controller is accepted this a Hall signal and an external control signal, and when this Hall signal of detecting was about to the conversion of accurate position, the accurate position that makes this external control signal was to changing and increasing or decreasing by the Hall signal reference position;
One driver element, produce a PWM signal according to this external control signal, and when the accurate position of this external control signal increases progressively, the work period of PWM signal that makes output is by zero increase to the predetermined work cycle, and when successively decrease in the accurate position of this external control signal, make the PWM signal of output be decremented to zero, produce a driving signal according to this PWM signal and this Hall signal simultaneously by this predetermined work cycle; And
One switching circuit is controlled by this driving signal, switches the current phase that exports this stator coil to, rotates to order about motor rotor.
7. as the control device of DC Brushless Motor as described in the claim 6, it is characterized in that: this DC Brushless Motor is single-phase or the two-phase DC Brushless Motor, and this driver element comprises a PWM generator and a driver, this PWM generator produces this PWM signal according to this external control signal, and when the accurate position of this external control signal increases progressively, the work period of PWM signal that makes output is by zero increase to the predetermined work cycle, and when successively decrease in the accurate position of this external control signal, make the PWM signal of output be decremented to zero by this predetermined work cycle; This driver produces this driving signal according to this PWM signal and this Hall signal.
8. as the control device of DC Brushless Motor as described in the claim 6, it is characterized in that: this DC Brushless Motor is the three-phase direct-current brushless motor, and this driver element is a PWM generator.
9. as the control device of DC Brushless Motor as described in claim 7 or 8, it is characterized in that: this control device also comprises a comparator, and this Hall element is a Hall sensor, this Hall signal is a differential analog signal, and it imports this driver element after changing into a digital signal via this comparator.
10. as the control device of DC Brushless Motor as described in the claim 9, it is characterized in that: when the differential voltage of detecting this Hall signal when this PWM work period controller is reduced to less than a reference value, even this external control signal in this differential voltage be reduced to by this reference value zero during, be decremented to low level by high levle, and make this external control signal in this differential voltage by above freezing rise to this reference value during, be incremented to high levle by low level.
11. control device as DC Brushless Motor as described in claim 7 or 8, it is characterized in that: this Hall element is a Hall integrated circuit, this Hall signal is a digital signal, and this PWM work period controller is according to the count value of the last waveform of Hall signal, set a reference value near this count value, and in the present waveform of counting Hall signal during to this reference value, make this external control signal in count up to the accurate position conversion of present waveform by this predetermined value before during, be decremented to low level by high levle, and after the conversion of Hall signal reference position, make this external control signal be incremented to high levle by low level.
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| CNA2007100003743A CN101232266A (en) | 2007-01-22 | 2007-01-22 | Apparatus and method for controlling direct current brushless motor |
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| CNA2007100003743A CN101232266A (en) | 2007-01-22 | 2007-01-22 | Apparatus and method for controlling direct current brushless motor |
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| CN102013861A (en) * | 2010-09-14 | 2011-04-13 | 成都芯源系统有限公司 | Direct-current brushless motor system and driving method thereof |
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| CN101667262B (en) * | 2009-09-19 | 2012-08-22 | 宁波双林汽车部件股份有限公司 | Error-free counting method for rotator revolutions of orthogonally distributed dual sensor |
| CN103107751A (en) * | 2013-02-05 | 2013-05-15 | 睿能机电有限公司 | Electromagnetic torque pulsation suppressing device of brushless direct current motor |
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| CN106341060A (en) * | 2010-12-30 | 2017-01-18 | 达尔科技股份有限公司 | Generating A Coil Switching Signal For A Brushless Dc Motor |
| CN103107751A (en) * | 2013-02-05 | 2013-05-15 | 睿能机电有限公司 | Electromagnetic torque pulsation suppressing device of brushless direct current motor |
| CN103107751B (en) * | 2013-02-05 | 2014-01-08 | 睿能机电有限公司 | Electromagnetic torque pulsation suppressing device of brushless direct current motor |
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