CN101361260B - 电机驱动电路、驱动方法、电机装置及使用了它的电子设备 - Google Patents
电机驱动电路、驱动方法、电机装置及使用了它的电子设备 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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Abstract
一种电机驱动电路,包括:H桥电路,与电机的线圈相连接;比较器,将表示上述电机的转子位置的霍尔信号变换成矩形信号;脉冲宽度调制器,生成规定上述电机的线圈的通电时间的脉冲信号,其中,上述脉冲宽度调制器被构成为可切换第1模式、第2模式、及第3模式,由此能够缩短电机的起动时间,所述第1模式是在上述电机的起动开始后,将上述脉冲信号的占空比设定成100%,之后将占空比切换成与上述电机的转速相应的预定值的模式,所述第2模式是持续将上述脉冲信号的占空比设定成100%的模式,所述第3模式是基于从外部输入的控制信号,设定上述脉冲信号的频率和占空比的模式。
Description
技术领域
本发明涉及电机驱动技术。
背景技术
在便携式电话终端、BP机(寻呼机)等电子设备中,为通知用户收到来电或来信而安装有振动电机。该振动电机在旋转轴上连接有偏心的重锤,通过使转子旋转来使电子设备振动。在这样的振动电机中,由于作为负载连接的重锤偏心,所以使用振动电机专用的驱动电路(以下简称振动电机驱动电路)。专利文献1、2中记载有相关技术。
专利文献1:特开2004-64802号公报
专利文献2:特开平7-227061号公报
发明内容
〔发明所要解决的课题〕
振动电机包括有刷电机和无刷电机,在驱动无刷电机时,由霍尔元件检测电机的转子位置,用H桥电路控制电机的线圈的通电状态。无刷电机与有刷电机相比具有小型、长寿命的优点,但由于偏心的重锤,使得转子变重,因而存在起动较花费时间的问题。
在想要加快起动时,考虑有提高电机的驱动电压即电源电压,或者切换电机的阻抗以使驱动电流增加的方法,但用这些方法的话,消耗功率会增加,这在电池驱动型的电子设备中是不希望出现的。
本发明是鉴于这样的课题而设计的,其目的之一在于提供一种能在短时间内起动振动电机的电机驱动技术。
〔用于解决课题的手段〕
1.为解决上述课题,本发明的一个方案的电机驱动电路包括:H桥电路,与作为驱动对象的电机的线圈相连接;比较器,接收表示电机的转子的位置信息的霍尔信号,并将之变换成矩形信号;脉冲调制器,生成规定电机的线圈的通电时间的、被脉冲调制了的脉冲信号;预驱动器,基于脉冲信号和矩形信号驱动H桥电路。脉冲调制器被构成为可切换第1模式、第2模式、及第3模式,所述第1模式是在电机的起动开始后,将脉冲信号的占空比设定成100%,之后将占空比切换成与电机的转速相应的预定值的模式,所述第2模式是持续将脉冲信号的占空比设定成100%的模式,所述第3模式是基于从外部输入的脉冲状的控制信号,设定脉冲信号的频率和占空比的模式。
根据该方案,通过利用第1模式能够缩短电机的起动时间,通过利用第2模式能够实现与提供给H桥电路的电源电压相应的旋转控制。另外,通过利用第3模式,能够从外部自由地设定脉冲信号的占空比和频率,所以能进行参数的最优化,并进一步缩短起动时间。
可以是从外部输入的控制信号被输入到脉冲调制器,根据控制信号的电压电平来切换动作模式。此时,在控制信号为第1电平时,被设定为第1模式,在控制信号为不同于第1电平的第2电平时,被设定为第2模式,在控制信号脉冲状地输入时,被设定为第3模式。
可以是在输入到脉冲调制器的控制信号被脉冲状地输入时,以预定的频率和占空比交替反复上述第1、第2电平中的任一者和第3电平,其中所述第3电平是不同于第1电平和第2电平的电平。
通过利用不同的三个电平,能够用一个信号切换三个模式,并且在第3模式下生成与控制信号相应的脉冲信号。
可以是在输入到脉冲调制器的控制信号被脉冲状地输入时,交替反复第3电平和上述第2电平。脉冲调制器设定脉冲信号的逻辑值,使得在控制信号为第2电平时对电机的线圈通电,在控制信号为第3电平时电机再生。
此时,控制信号的第2电平成了在第2模式和第3模式中被使用,在任一个模式下,控制信号为第2电平的期间都对应于电机的线圈的通电时间,所以能够简化电路。
第3电平可以是第1电平和第2电平的中间电平。
脉冲调制器在第1模式下,可以在从电机起动开始的预定期间将脉冲信号的占空比设定为100%。此时,能够通过调节预定的期间来使起动动作最优化。
脉冲调制器可以在第1模式下,在电机起动开始后至电机的转速达到 预定值的期间将脉冲信号的占空比设定为100%。此时,能够通过调节预定值来使起动动作最优化。
本发明的另一方案的电机驱动电路包括:开关电路,包含与作为驱动对象的电机的线圈相连接的多个晶体管,通过使这些晶体管开关动作来调节提供给线圈的功率;检测电机的转子的位置,生成与检测出的位置相应的FG(Frequency Generation:频率生成)信号的至少一个比较器;预驱动器,至少基于FG信号驱动开关电路;选择器,基于从外部输入的控制信号切换本电路的驱动模式。选择器在控制信号为DC信号时以其内部预先设定的驱动方式驱动上述电机,在控制信号为脉冲信号时,以基于控制信号的脉冲调制方式驱动电机。
驱动电路可以被一体集成在一个半导体衬底上。所谓“一体集成”,包括电路的所有结构要件都形成在半导体衬底上的情况,以及电路的主要结构要件被一体集成的情况,也可以为调节电路常数而将一部分电阻、电容器等设置在半导体衬底的外部。通过将驱动电路集成为一个LSI,能够减小电路面积。
本发明的另一方案是一种电机装置。该电机装置包括:振动电机;霍尔元件,输出表示振动电机的转子的位置信息的霍尔信号;上述的驱动电路,基于霍尔信号驱动振动电机。
通过该方案,能够缩短电机的起动时间。
本发明的再一个方案是一种电子设备。该电子设备包括:与基站通信的通信部;上述的电机装置。通信部在有来自基站的来电或来信时,对电机装置指示振动电机的旋转。
通过该方案,在有来电或来信时立即开始振动电机的旋转,所以能够缩短至用户感知电子设备的振动、识别来电或来信的时间。
本发明再一个方案是一种电机驱动方法。该方法包括:将表示驱动对象的电机的转子的位置信息的霍尔信号变换成矩形信号的步骤;基于矩形信号,选择对构成H桥电路的晶体管中的、配置于对角的两组晶体管对的任一组进行驱动的步骤,其中所述H桥电路是与电机的线圈相连接的;以从不同的三个模式中选出的模式生成脉冲信号的步骤;基于脉冲信号驱动所选出的晶体管对的步骤。生成脉冲信号的步骤中,在第1模式下是在电机的起动开始后,将脉冲信号的占空比设定成100%,之后将占空比设定成与电机 的转速相应的预定值;在第2模式下,持续将占空比设定成100%;在第3模式下,基于从外部输入的脉冲状的控制信号,设定脉冲信号的频率和占空比。
本发明的再一个方案也是一种电机驱动方法。该驱动方法包括:检测驱动对象的电机的转子的位置,生成与检测出的位置相应的FG(FrequencyGeneration:频率生成)信号的步骤;至少基于FG信号控制与作为驱动对象的电机的线圈相连接的多个晶体管的导通、截止状态,来调节提供给电机的线圈的功率的驱动步骤;基于从外部输入的控制信号切换本电路的驱动模式的选择步骤。在驱动步骤中,当控制信号是DC信号时,以预先设定的驱动方式驱动上述电机,在控制信号是脉冲信号时,以基于脉冲信号的脉冲调制方式驱动电机。
2.根据本发明的一个方案,提供一种振动电机的驱动电路。该驱动电路包括:H桥电路,与作为驱动对象的振动电机的线圈相连接;比较器,接收表示振动电机的转子的位置信息的霍尔信号,将之变换成矩形信号;脉冲调制器,生成规定振动电机的线圈的通电时间的、被脉冲调制了的脉冲信号;预驱动器,基于脉冲信号和矩形信号驱动H桥电路。脉冲调制器在振动电机的起动开始后将脉冲信号的占空比设定成100%,之后切换成与振动电机的转速相应的占空比。
根据该方案,在电机起动开始后立刻将占空比设定成100%进行全驱动,在转速上升某程度后,基于脉冲信号进行开关驱动,由此能够缩短起动时间。
脉冲调制器可以在从振动电机起动开始后的预定期间,将脉冲信号的占空比设定成100%。此时,能够通过调节预定期间来使起动动作最优化。
进而,可以使用于将脉冲信号的占空比设定成与振动电机的转速相应的预定值的振荡器、和用于测定预定期间的振荡器共用。此时能够简化电路。
脉冲调制器可以在振动电机的起动开始后至振动电机的转速达到预定值的期间,将脉冲信号的占空比设定成100%。此时,能够通过调节预定值来使起动动作最优化。
驱动电路可以被一体集成在一个半导体衬底上。所谓“一体集成”,包括电路的所有结构要件都形成在半导体衬底上的情况,以及电路的主要结构要件被一体集成的情况,也可以为调节电路常数而将一部分电阻、电容器等设置在半导体衬底的外部。通过将驱动电路集成为一个LSI,能够减小电路 面积。
本发明的再一个方案涉及一种电机装置。该电机装置包括:振动电机;霍尔元件,输出表示振动电机的转子的位置信息的霍尔信号;上述的驱动电路,基于霍尔信号驱动振动电机。
本发明的再一个方案涉及一种电子设备。该电子设备包括:与基站通信的通信部;上述的电机装置。通信部在有来自基站的来电或来信时,对电机装置指示振动电机的旋转。
根据该方案,在有来电或来信时,振动电机的转速在短时间内就达到预定值,所以能够缩短至用户感知电子设备的振动、识别来电或来信的时间。
通过本发明的再一个方案,提供一种振动电机的驱动方法。电机驱动方法包括:将表示振动电机的转子的位置信息的霍尔信号变换成矩形信号的步骤;生成规定振动电机的线圈的通电时间的、被脉冲调制了的脉冲信号的步骤;生成脉冲信号的步骤,该脉冲信号在振动电机的起动开始后其占空比为100%,之后具有与振动电机的转速相应的占空比;基于矩形信号,选择对构成H桥电路的晶体管中的、配置于对角的两组晶体管对的任一组进行驱动的步骤,其中所述H桥电路是与振动电机的线圈相连接的;基于脉冲信号驱动所选择的晶体管对的步骤。
根据该方案,在电机起动开始后立刻将占空比设定成100%进行全驱动,在转速上升某程度后,基于脉冲信号进行开关驱动,由此能够缩短起动时间。
本发明的再一个方案是电机驱动电路。该电机驱动电路是风扇电机的驱动电路,包括:H桥电路,与作为驱动对象的风扇电机的线圈相连接;比较器,接收表示风扇电机的转子的位置信息的霍尔信号,将之变换成矩形信号;脉冲调制器,生成规定风扇电机的线圈的通电时间的、被脉冲调制了的脉冲信号;预驱动器,基于脉冲信号和矩形信号驱动H桥电路。脉冲调制器在风扇电机的起动开始后将脉冲信号的占空比设定成100%,之后切换成与风扇电机的转速相应的占空比。
另外,将以上结构要件的任意组合、本发明的结构要件以及表达方式在方法、装置、系统等之间相互转换的方案,作为本发明的实施方式也是有效的。
〔发明效果〕
通过本发明的方案,能够以较短时间起动电机。
附图说明
图1是表示本发明第1实施方式的包含振动电机和用于驱动它的驱动电路的电机装置(unit)的结构的电路图。
图2是表示图1的电机驱动电路的动作状态的时序图。
图3是表示图1的电机驱动电路的转速和输出电流的时序图。
图4是表示图1的电机驱动电路的其他动作状态的时序图。
图5是表示本发明第2实施方式的包含振动电机和用于驱动它的电机驱动电路的电机装置的结构的电路图。
图6是表示图5的电机驱动电路的动作状态的时序图。
图7是表示图5的电机驱动电路的输出电流和转速的时序图。
〔标号说明〕
1…振动电机,2…电机装置,3…霍尔元件,10…H桥电路,12…比较器,14…脉冲宽度调制器,16…驱动信号生成部,18…停顿时间生成部,20…预驱动器,22…振荡器,24…占空比设定部,26…全开时间设定部,28…选择器,30…三态比较器,100…电机驱动电路,SH1…第1高侧驱动信号,SH2…第2高侧驱动信号,SL1…第1低侧驱动信号,SL2…第2低侧驱动信号,MH1…第1高侧晶体管,ML1…第1低侧晶体管,MH2…第2高侧晶体管,ML2…第2低侧晶体管。
具体实施方式
以下,基于优选的实施方式,参照附图说明本发明。对于各附图中所示的相同或等同的结构要件、部件、处理标注相同的标号,并适当省略重复的说明。另外,实施方式只是例示,并非限定本发明,实施方式中所记述的所有特征及其组合,不一定就是本发明的本质特征。
本发明的实施方式涉及安装于便携式电话终端等电子设备中的振动电机的驱动技术。这样的电子设备中安装有与基站通信的通信部,当收到来自基站的来电或来信时,通过使振动电机旋转来使用户知道有来电或来信。
(第1实施方式)
图1是表示本发明第1实施方式的包含振动电机1和用于驱动它的电机驱动电路100的电机装置2的结构的电路图。电机装置2具有振动电机1、 霍尔元件3、电机驱动电路100,构成一个组件(package)。
振动电机1是在转子轴上装有偏心的重锤的无刷电机,被形成为可以从外部向线圈的两端子P1、P2施加电压。霍尔元件3输出表示振动电机1的转子的位置信息的霍尔信号H+、H-。霍尔信号H+、H-是彼此反相的周期信号,具有与振动电机1的转速相应的频率。
电机驱动电路100基于从霍尔元件3输出的霍尔信号H+、H-决定振动电机1的驱动相,控制提供给线圈的功率、即流过线圈的电流的大小及其流向,来进行驱动。电机驱动电路100作为功能IC被一体集成在一个半导体衬底上。
电机驱动电路100具有H桥电路10、比较器12、脉冲宽度调制器14、驱动信号生成部16、停顿时间(dead time)生成部18、预驱动器20。
H桥电路10连接于作为驱动对象的振动电机1的端子P1、P2。H桥电路10是根据内部的晶体管的导通和截止来控制提供给振动电机1的线圈的功率的开关电路。H桥电路10包括第1高侧晶体管MH1、第2高侧晶体管MH2、第1低侧晶体管ML1、第2低侧晶体管ML2。该H桥电路10相当于用于驱动振动电机1的输出级。第1高侧晶体管MH1、第1低侧晶体管ML1串联连接在电源电压端子P3和接地端子GND之间。同样地,第2高侧晶体管MH2、第2低侧晶体管ML2也串联连接在电源电压端子P3和接地端子GND之间。在本实施方式中,第1高侧晶体管MH1、第2高侧晶体管MH2是P沟道MOSFET。另外,第1低侧晶体管ML1、第2低侧晶体管ML2是N沟道MOSFET。这些晶体管也可以全都是N沟道MOSFET或者双极型晶体管。
第1高侧晶体管MH1和第1低侧晶体管ML1的连接点的第1开关电压Vsw1被施加于振动电机1的第1端子P1。
第1高侧晶体管MH1、第1低侧晶体管ML1的导通和截止状态由施加于各晶体管的栅极的第1高侧驱动信号SH1、第1低侧驱动信号SL1控制。在第1高侧晶体管MH1导通时,第1开关电压Vsw1成为电源电压Vdd,当第1低侧晶体管ML1导通时,第1开关电压Vsw1成为接地电位(0V)。
同样地,第2高侧晶体管MH2和第2低侧晶体管ML2的连接点的第2开关电压Vsw2与振动电机1的第2端子P2相连接。第2高侧晶体管MH2、第2低侧晶体管ML2的导通截止状态由施加于各晶体管的栅极的第2高侧 驱动信号SH2、第2低侧驱动信号SL2控制。
在本实施方式中,将构成H桥电路10的晶体管中的低侧晶体管ML1、ML2固定为导通或截止,基于脉冲信号Spwm对高侧晶体管MH1、MH2进行开关驱动。当然,在其他的实施方式中也可以不是对高侧晶体管MH1、MH2进行开关驱动,而是基于脉冲信号Spwm对低侧晶体管ML1、ML2进行开关驱动。进而在另外的实施方式中,还可以基于脉冲信号Spwm,以同步整流方式对位于对角的两个开关晶体管进行开关驱动。
比较器12接收表示振动电机1的转子的位置信息的霍尔信号H+、H-,通过进行其电压比较,转换成作为矩形信号的FG信号S_FG。比较器12根据需要也可以在放大霍尔信号H+、H-后进行电压比较。
脉冲宽度调制器14生成规定振动电机1的线圈的通电时间的脉冲信号Spwm。作为本实施方式的电机驱动电路100的特征之一,可以举出以下这一点:脉冲宽度调制器14被构成为能在第1模式至第3模式的三个模式下工作。
在第1模式下,振动电机1起动开始后,将脉冲信号Spwm的占空比设定成100%,之后将占空比切换成与电机的转速相应的预定值。即,在第1模式下,电机驱动电路100切换全开时间(full on time)驱动和PWM驱动,所述全开时间驱动是以占空比100%的脉冲信号Spwm进行驱动的方式,所述PWM驱动是根据目标转矩(转速)设定占空比的方式。第1模式是用于高速起动振动电机1的模式,也称作高速起动模式。
在第2模式下,持续将脉冲信号Spwm的占空比设定成100%。即,在第2模式下,从起动开始至正常驱动,一直都进行全开时间驱动。将第2模式也称作全开时间驱动模式。
在第3模式下,基于从外部输入的脉冲状的控制信号设定脉冲信号Spwm的频率和占空比。即,脉冲信号Spwm的频率和占空比与控制信号Scnt的频率和占空比相等。将第3模式也称作外部脉冲驱动模式。
这里,应注意通过组合第2模式和第3模式,能够实现与第1模式同等的功能。即,通过在起动开始后一定时间内以第2模式驱动,然后再切换为第3模式,能够在起动后立刻以全开时间进行驱动,并在之后按脉冲状的控制信号的频率和占空比驱动振动电机1。
另外,作为实施方式的电机驱动电路100的另一特征,用于选择模式 的控制信号和在第3模式中用于设定脉冲信号Spwm的占空比及频率的控制信号是同一信号。
从外部输入的控制信号Scnt被输入到脉冲宽度调制器14,根据控制信号Scnt的电压电平来切换动作模式。具体来说,控制信号Scnt为高电平(第1电平)时被设定为第1模式,控制信号Scnt为不同于第1电平的低电平(第2电平)时被设定为第2模式。另外,当控制信号Scnt被脉冲状地输入时,设定为第3模式。
当控制信号Scnt被脉冲状地输入时,控制信号Scnt在第1、第2电平中的任一者和第3电平间交替反复。第3电平是不同于第1电平和第2电平的电平,在本实施方式中是中间电平。在第3模式下,通过使脉冲的振幅成为不同于第1、第2电平的中间电平,能够可靠地识别控制信号Scnt所指示的模式,并切换成该模式。
在本实施方式中,控制信号Scnt在第3模式下是交替反复中间电平与第2电平的脉冲信号。脉冲宽度调制器14设定脉冲信号Spwm的逻辑值,使得在控制信号Scnt为低电平(第2电平)时对振动电机1的线圈通电,在其为中间电平(第3电平)时电机再生。
下面说明脉冲宽度调制器14的结构。脉冲宽度调制器14包括振荡器22、占空比设定部24、全开时间设定部26、选择器28、三态比较器30。
振荡器22、占空比设定部24、全开时间设定部26是为生成第1模式中所使用的信号S1而设的。振荡器22生成预定频率的脉冲信号Sosc。占空比设定部24利用从振荡器22输出的脉冲信号Sosc,生成具有预定的占空比的脉冲信号S1。全开时间设定部26利用来自振荡器22的脉冲信号Sosc测定预定的起动时间Ts。全开时间设定部26在从起动开始起至经过起动时间Ts之前的期间内,固定脉冲信号S1的电平,将占空比设定成100%。
结果,脉冲信号S1成为在从起动开始起至经过起动时间Ts之前的期间内为高电平,之后占空比变成预定值的脉冲信号。
作为具体的信号处理的例子,全开时间设定部26输出在从起动开始起至经过起动时间Ts之前的期间内成为高电平的信号,然后输出转变成低电平的信号。另一方面,占空比设定部24继续输出占空比为预定值的脉冲信号。全开时间设定部26和占空比设定部24的逻辑和的信号成为具有上述特性的脉冲信号S1。
另外,也可以准备一个选择器,输入从占空比设定部24输出的脉冲信号和持续高电平的DC信号,全开时间设定部26以起动时间Ts的经过为触发对选择器进行切换。
另外,在本实施方式中,也可以使用于设定脉冲信号Spwm的占空比的振荡器与用于测定预定的起动期间Ts的振荡器共用。
三态比较器30被输入控制信号Scnt。三态比较器30判定控制信号Scnt的电压电平,切换脉冲宽度调制器14的动作模式。
选择器28至少被输入由占空比设定部24和全开时间设定部26生成的脉冲信号S1。在本实施方式中,还被输入高电平电压VH和低电平电压VL。
下面详细说明控制信号Scnt和动作模式的关系。
当控制信号Scnt被固定为高电平(第1电平)地输入到三态比较器30中时,将脉冲宽度调制器14设定为第1模式。此时,三态比较器30使选择器28选择脉冲信号S1。
当低电平(第2电平)的控制信号Scnt被固定地输入到三态比较器30中时,将脉冲宽度调制器14设定为第2模式。此时,三态比较器30使选择器28选择高电平电压VH。结果,选择器28的输出信号、即脉冲信号Spwm在起动后继续成为高电平的DC信号。
作为控制信号Scnt,当交替反复低电平(第2电平)和中间电平(第3电平)的脉冲状的信号输入到三态比较器30时,将脉冲宽度调制器14设定成第3模式。具体来说,在控制信号Scnt成为低电平的期间,与上述第2模式一样,使选择器28选择高电平电压VH。三态比较器30在控制信号Scnt成为中间电平的期间,使选择器28选择低电平电压VL。通过控制信号Scnt反复在低电平和中间电平间变换,选择器28的输出信号、即脉冲信号Spwm成为具有与控制信号Scnt相同的占空比和相同频率的信号。应注意,在控制信号Scnt为低电平期间,振动电机1被设定为通电期间,在其为中间电平的期间,振动电机1被设定成再生期间。
从这样构成的脉冲宽度调制器14输出分别在第1、第2、第3模式下所需要的脉冲信号Spwm。
驱动信号生成部16基于脉冲信号Spwm和FG信号S_FG,生成用于驱动H桥电路10的驱动信号SH1、SH2、SL1、SL2。驱动信号生成部16生成驱动信号的方法与一般的电机驱动电路内的生成方法是相同的,所以简单 进行说明。
用于驱动低侧晶体管ML1、ML2的驱动信号SL1、SL2是基于FG信号S_FG生成的。作为一例,SL1是S_FG,将S_FG逻辑反转来生成SL。用于驱动高侧晶体管MH1、MH2的驱动信号SH1、SH2是基于脉冲信号Spwm和FG信号S_FG生成的。作为一例,SH1是S_FG和Spwm的逻辑积,SH2是S_FG逻辑反转后与Spwm的逻辑积。
停顿时间生成部18使驱动信号延迟,以使得第1高侧晶体管MH1和第1低侧晶体管ML1不同时导通,且第2高侧晶体管MH2和第2低侧晶体管ML2不同时导通。
预驱动器20基于从停顿时间生成部18输出的驱动信号SH1、SH2、SL1、SL2驱动H桥电路10。预驱动器20的结构中包含对驱动信号SH1、SH2、SL1、SL2进行放大的缓冲电路。
将由驱动信号生成部16、停顿时间生成部18、预驱动器20构成的电路块汇总到一起总称为预驱动器。
下面说明如上那样构成的电机驱动电路100的动作。
图2是表示图1的电机驱动电路100在第1模式下的动作状态的时序图。图2中从上到下表示出电源电压Vdd,开关电压Vsw1、Vsw2,输出电流Iout1、Iout2,霍尔信号H+、H-。输出电流Iout1是从线圈的端子P1流向P2的电流,输出电流Iout2是从线圈的端子P2流向P1的电流。
在时刻t0,安装了电机驱动电路100的电子设备收到来电或来信时,电源电压Vdd上升,指示振动电机1的旋转开始。此时,控制信号Scnt被设定为低电平,作为动作模式,第1模式被选择。结果,起动开始后如上述那样脉冲信号Spwm的占空比被设定为100%。在时刻t0~t1期间,第1高侧晶体管MH1、第2低侧晶体管ML2变成导通,成为Vsw1=Vdd,Vsw2=0V。结果,振动电机1的线圈中流过从端子P1向P2方向的电流Iout1,转子旋转。
随着转子的旋转,霍尔信号H+、H-发生变化,在时刻t1大小关系反转后,通过图1的比较器12,FG信号S_FG的电平发生转变,驱动相被切换。即,在时刻t2~t3期间,第2高侧晶体管MH2和第1低侧晶体管ML1被导通,输出电流Iout2从线圈的端子P2流向P1。
之后,在时刻t3,霍尔信号H+、H-的大小关系反转后,驱动相再次 被切换。电机驱动电路100在至经过预定的起动时间Ts的时刻t4的期间内切换驱动相,同时以100%的占空比对振动电机1进行全开时间驱动。
在从起动开始的时刻t0经过起动时间Ts后的时刻t4,模式被切换,开始PWM驱动。开始PWM驱动后,按照脉冲信号Spwm的占空比对第1高侧晶体管MH1、第2高侧晶体管MH2进行开关驱动。结果,如图2所示输出电流Iout1和Iout2交替反复通电期间Ton和再生期间Toff,其平均值被稳定为由脉冲信号Spwm的占空比所设定的值。结果,振动电机1的转矩、进而其转速被调节为所期望的值。
图3是表示在第1模式下图1的电机驱动电路100的输出电流Iout和转速的时序图。在时刻t0以占空比100%开始全开时间驱动后,电机的输出电流Iout被设定得较高,以高转矩开始驱动。结果,振动电机1的转速快速上升。之后,当经过起动时间Ts后,被切换为PWM驱动,输出电流Iout被稳定为与目标转速相应的值,振动电机1的转速被稳定为所期望的值。如果不切换全开时间驱动和PWM驱动,则至振动电机1的转速稳定为预定值的时间会变长,但通过本实施方式的电机驱动电路100,能够大幅度缩短该时间。
另外,以往是使电源电压Vdd上升或者降低振动电机1的阻抗等,来缩短至振动电机1的转速稳定为预定值的时间的,所以存在输出电流Iout增加、消耗功率增大这样的问题,但通过本实施方式,能够既抑制输出电流Iout、即消耗功率的增大,又缩短至转速稳定的时间。
在第2模式下,脉冲信号Spwm被固定为高电平,所以不转移到PWM驱动,而是以图2的时刻t0~t4所示的全开时间驱动来驱动振动电机1。
图4是表示图1的电机驱动电路100的其他动作状态的时序图。图4中从上到下表示有电源电压Vdd,开关电压Vsw1、Vsw2,控制信号Scnt,脉冲信号Spwm,霍尔信号H+、H-。
在起动开始的时刻t0至时刻t1期间,控制信号Scnt作为固定的低电平信号被输入。结果,脉冲宽度调制器14以第2模式进行动作,对振动电机1进行全开时间驱动。
之后,在时刻t1以后,控制信号Scnt成为交替反复中间电平和低电平的脉冲状的信号后,转移到第3模式。控制信号Scnt为低电平时,脉冲信号Spwm成为高电平,在控制信号Scnt为中间电平时,脉冲信号Spwm成 为低电平。在第3模式下,以根据控制信号Scnt规定的脉冲信号Spwm对振动电机1进行PWM驱动。
基于本实施方式的电机驱动电路100,通过利用第3模式,能够从电机驱动电路100的外部自由地设定控制信号Scnt的占空比和频率。结果,在使之以第1模式动作时,占空比被固定为预定的值,但通过使用第3模式,能够按驱动对象的各振动电机1分别检验最佳频率和占空比。另外,也可以使检验后的结果反映到第1模式中的、振荡器22的频率及占空比设定部24所设定的占空比中。
进而,通过以图4所示的顺序(sequence)进行驱动,所谓调节从第2模式切换为第3模式的定时(timing),无非就是调节图1的起动时间Ts。因此,通过图4的顺序,能够检验起动时间Ts的最佳值,进而能够使之反映到第1模式下的起动时间Ts的设定中。
这样,通过用图4的顺序检验电路动作,能够针对各振动电机1分别优化参数,所以能够更加缩短至振动电机1的转速稳定为所期望的值的时间。
使用了第3模式的驱动顺序,也可以用于动作检验、或PWM驱动的频率、占空比、起动时间Ts等的驱动参数的最优化,还可以在安装于实际的电子设备中的状态下,由安装于电机装置2中的未图示的DSP(Digital SignalProcessor:数字信号处理器)生成图4所示那样的控制信号Scnt,来驱动振动电机1。该方案在电子设备中安装有PWM控制器等情况下特别有效。
进而,在本实施方式中,在输入到脉冲宽度调制器14的控制信号Scnt是脉冲状地被输入时,设计为反复交替第3电平(中间电平)和第2电平(低电平)。控制信号Scnt的第2电平(低电平)与在第2模式下使用的电平是共通的,在第2、第3模式的任一者下,控制信号Scnt的第2电平(低电平)都对应于振动电机1的线圈的通电时间,所以具有能够简化信号处理这样的优点。
上述实施方式是个例示,可以对其各结构要件和各处理过程的组合进行各种变形,本领域技术人员能够理解这些变形例也处于本发明的范围内。
在实施方式中说明了设定起动时间Ts,切换全开时间驱动和PWM驱动的情况,但也可以在电机驱动电路100中监视振动电机1的转速,在振动电机1起动开始后至振动电机1的转速达到预定值的期间,将脉冲信号 Spwm的占空比设定成100%。此时,通过设置监视振动电机1的转速的转速取得部,并对所取得的转速和预定值进行比较,能够实现所希望的处理。转速取得部也可以通过计测FG信号S_FG的周期来取得振动电机1的转速。
在实施方式中说明了霍尔元件3被设置在电机驱动电路100的外部的情况,但其也可以内置于电机驱动电路100的内部。
在实施方式中说明了驱动振动电机1的情况,但本发明还可以适用于超小型的风扇电机的驱动。超小型的风扇电机也同振动电机一样,在旋转开始时需要较大的转矩,所以通过实施方式的电机驱动电路100能够很好地进行驱动。除此之外,本实施方式的电机驱动电路100还能用于各种各样的电机的驱动。
在实施方式所说明的电路中,信号的高电平、低电平或者中间电平的逻辑值的设定仅是一例,可以通过反相器等使之适当反转而自由改变。另外,本领域技术人员能够容易地想到相应于此要替换“与”门和“或”门。即,使第1电平至第3电平分别对应于高电平、低电平、中间电平的任一者都可以。
另外,在实施方式中说明了驱动单相电机的情况,但也可以适用于多相电机的驱动。此时,开关电路的结构根据电机的相的数量而改变。进而,在实施方式中说明了基于霍尔元件驱动电机的情况,但也可以进行无传感器驱动。关于无传感器驱动,使用公知技术即可,例如可以设置对多相线圈的中点电压和至少一个线圈中所产生的反电动势进行比较的比较器,生成FG信号。
另外,在实施方式中说明了切换第1、第2、第3模式的情况,但也可以是仅切换第1模式和第3模式,或者仅切换第2模式和第3模式的结构。此时,当控制信号Scnt为DC信号时,以其内部预先设定的驱动模式(第1模式或第2模式)驱动电机,在控制信号Scnt为脉冲信号时,以基于控制信号Scnt的脉冲调制模式(第3模式)驱动电机。在该变形例中,通过使控制信号作为脉冲输入,能够从外部对PWM驱动的频率和占空比进行最优化。
(第2实施方式)
图5是表示本发明第2实施方式的包含振动电机1和驱动它的电机驱动电路100的电机装置2的结构的电路图。电机装置2具有振动电机1、霍 尔元件3、电机驱动电路100,构成一个组件。
振动电机1是在转子轴上装有偏心的重锤的无刷电机,被形成为可以从外部向线圈的两端子P1、P2施加电压。霍尔元件3输出表示振动电机1的转子的位置信息的霍尔信号H+、H-。霍尔信号H+、H-是彼此反相的周期信号,具有与振动电机1的转速相应的频率。
电机驱动电路100基于从霍尔元件3输出的霍尔信号H+、H-判定振动电机1的驱动相,控制流过线圈的电流的流向及其大小,来进行驱动。电机驱动电路100作为功能IC被一体集成在一个半导体衬底上。
电机驱动电路100具有H桥电路10、比较器12、脉冲宽度调制器14、驱动信号生成部16、停顿时间(dead time)生成部18、预驱动器20。
H桥电路10连接于作为驱动对象的振动电机1的端子P1、P2。H桥电路10包括第1高侧晶体管MH1、第2高侧晶体管MH2、第1低侧晶体管ML1、第2低侧晶体管ML2。该H桥电路10相当于用于驱动振动电机1的输出级。第1高侧晶体管MH1、第1低侧晶体管ML1串联连接在电源电压端子P3和接地端子GND之间。同样地,第2高侧晶体管MH2、第2低侧晶体管ML2也串联连接在电源电压端子P3和接地端子GND之间。在本实施方式中,第1高侧晶体管MH1、第2高侧晶体管MH2是P沟道MOSFET。另外,第1低侧晶体管ML1、第2低侧晶体管ML2是N沟道MOSFET。这些晶体管也可以全都是N沟道MOSFET或者双极型晶体管。
第1高侧晶体管MH1和第1低侧晶体管ML1的连接点的第1开关电压Vsw1施加于振动电机1的第1端子P1。
第1高侧晶体管MH1、第1低侧晶体管ML1的导通和截止状态由施加于各晶体管的栅极的第1高侧驱动信号SH1、第1低侧驱动信号SL1控制。在第1高侧晶体管MH1导通时,第1开关电压Vsw1成为电源电压Vdd,当第1低侧晶体管ML1导通时,第1开关电压Vsw1成为接地电位(0V)。
同样地,第2高侧晶体管MH2和第2低侧晶体管ML2的连接点的第2开关电压Vsw2与振动电机1的第2端子P2相连接。第2高侧晶体管MH2、第2低侧晶体管ML2的导通截止状态由施加于各晶体管的栅极的第2高侧驱动信号SH2、第2低侧驱动信号SL2控制。
在本实施方式中,将构成H桥电路10的晶体管中的低侧晶体管ML1、ML2固定为导通或截止,基于脉冲信号Spwm对高侧晶体管MH1、MH2 进行开关驱动。当然,在其他的实施方式中也可以不是对高侧晶体管MH1、MH2进行开关驱动,而是基于脉冲信号Spwm对低侧晶体管ML1、ML2进行开关驱动。
比较器12接收表示振动电机1的转子的位置信息的霍尔信号H+、H-,通过进行该电压比较,将之转换成作为矩形信号的FG信号S_FG。比较器12根据需要也可以在放大霍尔信号H+、H-后进行电压比较。
脉冲宽度调制器14生成规定振动电机1的线圈的通电时间的被脉冲调制了的脉冲信号Spwm。脉冲宽度调制器14在振动电机1的起动开始后将脉冲信号Spwm的占空比设定成100%,然后根据振动电机1的转速切换脉冲信号Spwm的占空比。即,电机驱动电路100切换全开时间(full on time)驱动和PWM驱动,所述全开时间驱动是以占空比100%的脉冲信号Spwm进行驱动的方式,所述PWM驱动是根据目标转矩(转速)设定占空比的方式。
在本实施方式中,脉冲宽度调制器14在振动电机1起动开始后的预定的起动期间Ts内将脉冲信号Spwm的占空比设定成100%。脉冲宽度调制器14包括振荡器22、占空比设定部24、全开时间设定部26。
振荡器22生成预定频率的脉冲信号Sosc。全开时间设定部26利用来自振荡器22的脉冲信号Sosc测定预定的起动时间Ts,并在该期间内将脉冲信号Spwm的占空比设定成100%。占空比设定部24利用从振荡器22输出的脉冲信号Sosc,将脉冲信号Spwm的占空比设定成预定值。即,在本实施方式中,使用于设定脉冲信号Spwm的占空比的振荡器与用于测定预定的起动期间Ts的振荡器共用。在一个实施例中,占空比设定部24、全开时间设定部26可以包含计数器地构成。
作为具体的信号处理的例子,全开时间设定部26输出在从起动开始起至经过起动时间Ts之前的期间内成为高电平的信号,然后输出转变成低电平的信号。另一方面,占空比设定部24继续输出占空比为预定值的脉冲信号。全开时间设定部26和占空比设定部24的逻辑和的信号成为具有上述特性的脉冲信号。
另外,也可以准备一个选择器,输入从占空比设定部24输出的脉冲信号和持续高电平的DC信号,全开时间设定部26以起动时间Ts的经过为触发对选择器进行切换。
驱动信号生成部16基于脉冲信号Spwm和FG信号S_FG生成用于驱动H桥电路10的驱动信号SH1、SH2、SL1、SL2。驱动信号生成部16生成驱动信号的方法同一般的电机驱动电路是一样的,所以简单进行说明。
用于驱动低侧晶体管ML1、ML2的驱动信号SL1、SL2是基于FG信号S_FG生成的。作为一例,SL1是S_FG,将S_FG逻辑反转来生成SL。用于驱动高侧晶体管MH1、MH2的驱动信号SH1、SH2是基于脉冲信号Spwm和FG信号S_FG生成的。作为一例,SH1是S_FG和Spwm的逻辑积,SH2是S_FG逻辑反转后与Spwm的逻辑积。
停顿时间生成部18使驱动信号延迟,以使得第1高侧晶体管MH1和第1低侧晶体管ML1不同时导通,且第2高侧晶体管MH2和第2低侧晶体管ML2不同时导通。
预驱动器20基于从停顿时间生成部18输出的驱动信号SH1、SH2、SL1、SL2驱动H桥电路10。预驱动器20的结构中包含对驱动信号SH1、SH2、SL1、SL2进行放大的缓冲电路。
下面说明如上那样构成的电机驱动电路100的动作。
图6是表示图5的电机驱动电路100的动作状态的时序图。图6中从上到下依次表示出电源电压Vdd,开关电压Vsw1、Vsw2,输出电流Iout1、Iout2,霍尔信号H+、H-。输出电流Iout1是从振动电机1的线圈的端子P1流向P2的电流,输出电流Iout2是从线圈的端子P2流向P1的电流。
在时刻t0,安装了电机驱动电路100的电子设备收到来电或来信时,电源电压Vdd上升,指示振动电机1的旋转开始。起动开始后如上述那样脉冲信号Spwm的占空比被设定为100%,成为DC信号。在时刻t0~t1期间,第1高侧晶体管MH1、第2低侧晶体管ML2变成导通,成为Vsw1=Vdd,Vsw2=0V。结果,振动电机1的线圈中流过从端子P1向P2的方向的电流Iout1,转子旋转。
随着转子的旋转,霍尔信号H+、H-发生变化,在时刻t1大小关系反转后,通过图5的比较器12,FG信号S_FG的电平发生转变,驱动相被切换。即,在时刻t2~t3期间,第2高侧晶体管MH2和第1低侧晶体管ML1被导通,输出电流Iout2从线圈的端子P2流向P1。
之后,在时刻t3,霍尔信号H+、H-的大小关系反转后,驱动相再次被切换。电机驱动电路100在经过预定的起动时间Ts的时刻t4之前的期间 内切换驱动相,同时以100%的占空比对振动电机1进行全开时间驱动。
在从起动开始的时刻t0经过起动时间Ts后的时刻t4,模式被切换,开始PWM驱动。开始PWM驱动后,按照脉冲信号Spwm的占空比对第1高侧晶体管MH1、第2高侧晶体管MH2进行开关驱动。结果,如图6所示输出电流Iout1和Iout2交替反复通电期间Ton和再生期间Toff,其平均值被稳定为由脉冲信号Spwm的占空比所设定的值。结果,振动电机1的转矩、进而其转速被调节为所期望的值。
图7是表示图5的电机驱动电路100的输出电流Iout和转速的时序图。在时刻t0以后以占空比100%对振动电机1进行全驱动后,电机的输出电流Iout被设定得较高,以高转矩开始驱动。结果,振动电机1的转速快速上升。之后,当经过起动时间Ts后,被切换为PWM驱动,输出电流Iout被稳定为与目标转速相应的值,振动电机1的转速被稳定为所期望的值。如果不切换全开时间驱动和PWM驱动,则至振动电机1的转速稳定为预定值的时间会变长,通过本实施方式的电机驱动电路100,能够大幅度缩短该时间。
另外,以往是使电源电压Vdd上升或者降低振动电机1的阻抗等,来缩短至振动电机1的转速稳定为预定值的时间的,所以存在输出电流Iout增加、消耗功率增大这样的问题,但通过本实施方式,能够既抑制输出电流Iout、即消耗功率的增大,又缩短至转速稳定的时间。
上述实施方式是个例示,可以对各结构要件和各处理过程的组合进行各种变形,本领域技术人员能够理解这些变形例也处于本发明的范围内。
在实施方式中说明了设定起动时间Ts,切换全开时间驱动和PWM驱动的情况,但也可以在电机驱动电路100中监视振动电机1的转速,在振动电机1起动开始后至振动电机1的转速达到预定值的期间内,将脉冲信号Spwm的占空比设定成100%。此时,通过设置监视振动电机1的转速的转速取得部,并对所取得的转速和预定值进行比较,能够实现所希望的处理。转速取得部也可以通过计测FG信号S_FG的周期来取得振动电机1的转速。
在实施方式中说明了霍尔元件3被设置在电机驱动电路100的外部的情况,但其也可以内置于电机驱动电路100的内部。
在实施方式中说明了驱动振动电机1的情况,但本发明还可以适用于超小型的风扇电机的驱动。超小型的风扇电机也同振动电机一样,在旋转开始时需要较大的转矩,所以通过实施方式的电机驱动电路100能够很好地进 行驱动。
在实施方式所说明的电路中,信号的高电平、低电平的逻辑值的设定仅是一例,可以通过反相器等使之适当反转而自由改变。另外,本领域技术人员能够容易地想到要相应于此地替换“与”门和“或”门。
基于实施方式用特定的语句说明了本发明,但实施方式仅是表示本发明的原理、应用,在不脱离权利要求书所规定的本发明的思想的范围内,可以对实施方式进行很多变形以及配置的变更。
〔工业可利用性〕
本发明能够用于电机的驱动技术。
Claims (13)
1.一种电机驱动电路,其特征在于,包括:
H桥电路,与作为驱动对象的电机的线圈相连接;
比较器,接收表示上述电机的转子的位置信息的霍尔信号,并将之变换成矩形信号;
脉冲调制器,生成规定上述电机的线圈的通电时间的、被脉冲调制了的脉冲信号;以及
预驱动器,基于上述脉冲信号和上述矩形信号驱动上述H桥电路;
其中,上述脉冲调制器被构成为可切换第1模式、第2模式、及第3模式,
所述第1模式是在上述电机的起动开始后,将上述脉冲信号的占空比设定成100%,之后将占空比切换成与上述电机的转速相应的预定值的模式,
所述第2模式是持续将上述脉冲信号的占空比设定成100%的模式,
所述第3模式是基于从外部输入的脉冲状的控制信号,设定上述脉冲信号的频率和占空比的模式。
2.根据权利要求1所述的电机驱动电路,其特征在于:
上述脉冲调制器被输入从外部输入的控制信号,根据控制信号的电压电平来切换动作模式,
在上述控制信号为第1电平时,被设定为上述第1模式,在上述控制信号为不同于上述第1电平的第2电平时,被设定为上述第2模式,在上述控制信号被脉冲状地输入时,被设定为上述第3模式。
3.根据权利要求2所述的电机驱动电路,其特征在于:
在输入到上述脉冲调制器的上述控制信号被脉冲状地输入时,以预定的频率和占空比交替反复上述第1、第2电平中的任一者和第3电平,其中所述第3电平是不同于上述第1电平和上述第2电平的电平。
4.根据权利要求3所述的电机驱动电路,其特征在于:
在输入到上述脉冲调制器的上述控制信号被脉冲状地输入时,交替反复上述第3电平和上述第2电平,
上述脉冲调制器设定上述脉冲信号的逻辑值,使得在上述控制信号为上述第2电平时对上述电机的线圈通电,在上述控制信号为上述第3电平时,上述电机再生。
5.根据权利要求3或4所述的电机驱动电路,其特征在于:
上述第3电平是上述第1电平和第2电平的中间电平。
6.根据权利要求1所述的电机驱动电路,其特征在于:
上述脉冲调制器在上述第1模式下,在从上述电机起动开始的预定期间,将上述脉冲信号的占空比设定为100%。
7.根据权利要求1所述的电机驱动电路,其特征在于:
上述脉冲调制器在上述第1模式下,在上述电机起动开始后至上述电机的转速达到预定值的期间,将上述脉冲信号的占空比设定为100%。
8.一种电机驱动电路,其特征在于,包括:
开关电路,包含与作为驱动对象的电机的线圈相连接的多个晶体管,通过使这些晶体管开关动作来调节提供给上述线圈的功率;
至少一个比较器,检测上述电机的转子的位置,生成与检测出的位置相应的FG(Frequency Generation)信号;
预驱动器,至少基于上述FG信号驱动上述开关电路;以及
选择器,基于从外部输入的控制信号切换本电路的驱动模式;
其中,上述选择器在上述控制信号为DC信号时以其内部预先设定的驱动方式驱动上述电机,在上述控制信号为脉冲信号时,以基于上述控制信号的脉冲调制方式驱动上述电机。
9.根据权利要求1至4、8的任一项所述的电机驱动电路,其特征在于:
被一体集成在一个半导体衬底上。
10.一种电机装置,其特征在于,包括:
振动电机;
霍尔元件,输出表示上述振动电机的转子的位置信息的霍尔信号;以及
权利要求1至4、8的任一项所述的驱动电路,基于上述霍尔信号驱动上述振动电机。
11.一种电子设备,其特征在于,包括:
与基站通信的通信部;和
权利要求10所述的电机装置;
其中,上述通信部在有来自上述基站的来电或来信时,对上述电机装置指示上述振动电机的旋转。
12.一种电机驱动方法,其特征在于,包括:
将表示驱动对象的电机的转子的位置信息的霍尔信号变换成矩形信号的步骤;
基于上述矩形信号,选择对构成H桥电路的晶体管中的、配置于对角的两组晶体管对的任一组进行驱动的步骤,其中所述H桥电路是与上述电机的线圈相连接的;
以从不同的三个模式中选出的模式生成脉冲信号的步骤;以及
基于上述脉冲信号驱动所选出的晶体管对的步骤;
其中,上述生成脉冲信号的步骤中,
在第1模式下,在上述电机的起动开始后,将上述脉冲信号的占空比设定成100%,之后将占空比切换成与上述电机的转速相应的预定值,
在第2模式下,持续将占空比设定成100%,
在第3模式下,基于从外部输入的脉冲状的控制信号,设定上述脉冲信号的频率和占空比。
13.一种电机驱动方法,其特征在于,包括:
检测驱动对象的电机的转子的位置,生成与检测出的位置相应的FG(Frequency Generation)信号的步骤;
至少基于FG信号控制与作为驱动对象的电机的线圈相连接的多个晶体管的导通、截止状态,来调节提供给上述电机的线圈的功率的驱动步骤;以及
基于从外部输入的控制信号切换本电路的驱动模式的选择步骤;
其中,在上述驱动步骤中,
当上述控制信号是DC信号时,以预先设定的驱动方式驱动上述电机,在上述控制信号是脉冲信号时,以基于上述脉冲信号的脉冲调制方式驱动上述电机。
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US20100026219A1 (en) | 2010-02-04 |
WO2008026319A1 (fr) | 2008-03-06 |
US8310188B2 (en) | 2012-11-13 |
CN101361260A (zh) | 2009-02-04 |
JPWO2008026319A1 (ja) | 2010-01-14 |
JP4834074B2 (ja) | 2011-12-07 |
KR20090045142A (ko) | 2009-05-07 |
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