CN106330021B - Motor driving device and driving method thereof - Google Patents
Motor driving device and driving method thereof Download PDFInfo
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- CN106330021B CN106330021B CN201610864237.3A CN201610864237A CN106330021B CN 106330021 B CN106330021 B CN 106330021B CN 201610864237 A CN201610864237 A CN 201610864237A CN 106330021 B CN106330021 B CN 106330021B
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Abstract
The application discloses a motor driving apparatus and a driving method thereof. The motor drive device includes: a third switch and a first switch connected in series between the power supply terminal and ground, with a first node between the first switch and the third switch; and a fourth switch and a second switch connected in series between the power supply terminal and the ground, with a second node between the second switch and the fourth switch, wherein the first node and the second node are used for providing an output terminal to connect the motor, the first switch to the fourth switch respectively comprise a plurality of sub-switches connected in parallel with each other and are respectively switched on and off under the control of the first group control signal to the fourth group control signal, the motor driving device controls the effective states of the first group control signal to the fourth group control signal according to the polarity of the driving signal, thereby changing the direction of the driving current and reducing the reverse electromotive force generated when the polarity of the driving signal is changed.
Description
Technical Field
The present invention relates to a motor control technology, and more particularly, to a motor driving apparatus and a driving method thereof.
Background
The dc motor is a rotating electromagnetic machine that operates under the drive of dc voltage, and is used to realize the conversion between electrical energy and mechanical energy. The direct current motor adopts direct current as a power supply, has a simple control circuit and a simple and smooth speed regulation mode, and is widely applied to the fields of household appliances and industrial control. In household appliances, direct current motors are used, for example, in radio cassette tape drive motors, cooling fans in computers, and the like. In the field of industrial control, direct current motors are used, for example, as servo motors.
The rotational speed of the dc motor is related to the average value of the driving voltage and the rotational direction is related to the polarity of the driving signal. If the motor is driven by the direct current voltage, the rotating speed of the motor can be controlled by changing the absolute value of the direct current voltage, and the rotating direction of the motor can be controlled by changing the polarity of the direct current voltage. If the motor is driven by a PWM square wave voltage, the rotation speed and direction of the motor can be controlled by changing the duty ratio of the PWM. In both the dc voltage driving and the PWM square wave voltage driving, the polarity of the driving voltage is switched during the operation. When the polarity of the driving voltage changes, the dc motor will generate a reverse electromotive force u (t) since it is inductive. If the back electromotive force is too large, destructive action is exerted on the drive circuit.
Therefore, it is desirable to reduce the reverse electromotive pad at the time of polarity inversion of the driving voltage of the direct current motor to protect the driving circuit.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a motor driving apparatus and a driving method thereof, which reduce a current change rate to reduce a back electromotive force when a polarity of a driving voltage is inverted, thereby protecting a driving circuit.
According to an aspect of the present invention, there is provided a motor driving device including: a third switch and a first switch connected in series between the power supply terminal and ground, with a first node between the first switch and the third switch; and a fourth switch and a second switch connected in series between the power supply terminal and the ground, with a second node between the second switch and the fourth switch, wherein the first node and the second node are used for providing an output terminal to connect the motor, the first switch to the fourth switch respectively comprise a plurality of sub-switches connected in parallel with each other and are respectively switched on and off under the control of the first group control signal to the fourth group control signal, the motor driving device controls the effective states of the first group control signal to the fourth group control signal according to the polarity of the driving signal, thereby changing the direction of the driving current and reducing the reverse electromotive force generated when the polarity of the driving signal is changed.
Preferably, the motor drive device operates in a first state in which the third switch and the second switch are on and the fourth switch and the first switch are off to a third state; in a second state, the fourth switch and the first switch are on, and the third switch and the second switch are off; in the third state, the first to fourth switches are all off.
Preferably, the first to fourth sets of control signals include a plurality of control signals, respectively, and in an active state of the first to fourth sets of control signals, at least one control signal of the corresponding set of control signals is active, and in an inactive state of the first to fourth sets of control signals, all control signals of the corresponding set of control signals are inactive.
Preferably, the motor drive device transitions from the first state to the third state and then to the second state when the drive signal is switched from the positive polarity to the negative polarity, and transitions from the second state to the third state and then to the first state when the drive signal is switched from the negative polarity to the positive polarity.
Preferably, the third switch and the plurality of sub-switches in the second switch are sequentially turned off during a transition of the motor driving device from the first state to the third state, the fourth switch and the plurality of sub-switches in the first switch are sequentially turned on during a transition of the motor driving device from the third state to the second state, the fourth switch and the plurality of sub-switches in the first switch are sequentially turned off during a transition of the motor driving device from the second state to the third state, and the third switch and the plurality of sub-switches in the second switch are sequentially turned on during a transition of the motor driving device from the third state to the first state.
Preferably, a plurality of sub-switches of the first to fourth switches are one selected from a bipolar transistor and a field effect transistor.
Preferably, the plurality of sub-switches of the first switch and the second switch are NPN-type bipolar transistors, and the plurality of sub-switches of the third switch and the fourth switch are PNP-type bipolar transistors.
Preferably, the plurality of sub-switches of the first switch and the second switch are N-type field effect transistors, and the plurality of sub-switches of the third switch and the fourth switch are P-type field effect transistors.
According to another aspect of the present invention, there is provided a motor driving method including: controlling the effective states of the first group of control signals to the fourth group of control signals according to the polarity of the driving signals; and controlling the first to fourth switches, respectively, using the first to fourth sets of control signals, the first to fourth switches including a plurality of sub-switches connected in parallel with each other, respectively, wherein, when a polarity of the driving signal is changed, a direction of the driving current is changed by controlling on and off of the first to fourth switches, and a reverse electromotive force generated when the polarity of the driving signal is changed is reduced.
Preferably, in the first state, the third switch and the second switch are on and the fourth switch and the first switch are off, in the second state, the fourth switch and the first switch are on and the third switch and the second switch are off, and in the third state, the first switch to the fourth switch are off.
Preferably, the third group control signal and the second group control signal are active and the fourth group control signal and the first group control signal are inactive when the polarity of the driving signal is a positive polarity, the fourth group control signal and the first group control signal are active and the third group control signal and the second group control signal are inactive when the polarity of the driving signal is a negative polarity.
Preferably, the first to fourth sets of control signals include a plurality of control signals, respectively, and in an active state of the first to fourth sets of control signals, at least one control signal of the corresponding set of control signals is active, and in an inactive state of the first to fourth sets of control signals, all control signals of the corresponding set of control signals are inactive.
Preferably, the motor drive device transitions from the first state to the third state and then to the second state when the drive signal is switched from the positive polarity to the negative polarity, and transitions from the second state to the third state and then to the first state when the drive signal is switched from the negative polarity to the positive polarity.
Preferably, the third switch and the plurality of sub-switches in the second switch are sequentially turned off during a transition of the motor driving device from the first state to the third state, the fourth switch and the plurality of sub-switches in the first switch are sequentially turned on during a transition of the motor driving device from the third state to the second state, the fourth switch and the plurality of sub-switches in the first switch are sequentially turned off during a transition of the motor driving device from the second state to the third state, and the third switch and the plurality of sub-switches in the second switch are sequentially turned on during a transition of the motor driving device from the third state to the first state.
Preferably, a plurality of sub-switches of the first to fourth switches are one selected from a bipolar transistor and a field effect transistor.
Preferably, the plurality of sub-switches of the first switch and the second switch are NPN-type bipolar transistors, the plurality of sub-switches of the third switch and the fourth switch are PNP-type bipolar transistors, a plurality of control signals of the first group of control signals and the second group of control signals are active at a high level and inactive at a low level, and a plurality of control signals of the third group of control signals and the fourth group of control signals are active at a low level and inactive at a high level.
Preferably, the plurality of sub-switches of the first switch and the second switch are N-type field effect transistors, the plurality of sub-switches of the third switch and the fourth switch are P-type field effect transistors, a plurality of control signals of the first group of control signals and the second group of control signals are active at a high level and inactive at a low level, and a plurality of control signals of the third group of control signals and the fourth group of control signals are active at a low level and inactive at a high level.
According to the motor driving device and the motor driving method, the control ends of the sub-switches of each switch are switched on and off under the control of different control signals, and the control signals have certain time delay in time sequence. Therefore, when the polarity of the driving signal changes, the currently-turned-on switches are turned off one by one, and then the currently-turned-off switches are turned on one by one. Thus, the change rate of the current is reduced, and the counter electromotive force is reduced, so that the motor and the driving device thereof can be protected.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings.
Fig. 1 is a schematic circuit diagram of a motor drive apparatus according to the related art.
Fig. 2 is an operation waveform diagram of a motor driving apparatus according to the related art.
Fig. 3 is an operational state of the motor driving apparatus according to the prior art.
Fig. 4 is another operation state of the motor driving apparatus according to the prior art.
Fig. 5 is a schematic circuit diagram when a motor driving device according to the related art is implemented using bipolar transistors.
Fig. 6 is a schematic circuit diagram when a motor driving device according to the related art is implemented using a field effect transistor.
Fig. 7 is a schematic circuit diagram of a motor drive apparatus according to an embodiment of the present invention.
Fig. 8 is an operation waveform diagram of the motor driving apparatus according to the embodiment of the present invention.
Fig. 9 is an operation state of the motor drive apparatus according to the embodiment of the present invention.
Fig. 10 is another operation state of the motor drive apparatus according to the embodiment of the present invention.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by like reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale. In addition, certain well known components may not be shown.
In the following description, numerous specific details of the invention, such as structure, materials, dimensions, processing techniques and techniques of the devices are described in order to provide a more thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.
The present invention may be embodied in various forms, some examples of which are described below.
Fig. 1 is a schematic circuit diagram of a motor drive apparatus according to the related art. The motor driving apparatus includes first to fourth switches SW1 to SW4 connected in an H-bridge. The third switch SW3 and the first switch SW1 are sequentially connected in series between the power supply terminal VDD and the ground GND, and the first node between the third switch SW3 and the ground GND is DP. The fourth switch SW4 and the second switch SW2 are sequentially connected in series between the power supply terminal VDD and the ground GND, and the middle node of both is the second node DN. The dc motor M is connected between the first node DP and the second node DN. The first to fourth switches SW1 to SW4 are turned on and off by corresponding ones of the first to fourth control signals C1 to C4, respectively.
Fig. 2 is an operation waveform diagram of a motor driving apparatus according to the related art. The first control signal C1 and the fourth control signal C4 are synchronous control signals such that the first switch SW1 and the fourth switch SW4 are turned on and off simultaneously. The second control signal C2 is a control signal synchronized with the third control signal C3 such that the second switch SW2 and the third switch SW3 are simultaneously turned on and off. During the active output of the motor drive, the first control signal C1 and the second control signal C2 are complementary signals, i.e., when one control signal is active, the other control signal is inactive.
When the driving signal is of the first polarity, the third control signal C3 and the second control signal C2 are asserted, and the fourth control signal C4 and the first control signal C1 are de-asserted, as shown in fig. 3. At this time, the motor driving apparatus operates in the first state, and the driving current i flows from the power supply terminal VDD to the ground GND through the third switch SW3, the motor M and the second switch SW2 in sequence, i.e., flows through the motor M in the forward direction.
When the driving signal is of the second polarity, the fourth control signal C4 and the first control signal C1 are asserted, and the third control signal C3 and the second control signal C2 are de-asserted, as shown in fig. 4. At this time, the motor driving apparatus operates in the second state, and the driving current i flows from the power supply terminal VDD to the ground GND via the fourth switch SW4, the motor M and the first switch SW1 in sequence, i.e., flows in the reverse direction through the motor M.
The motor driving apparatus described above changes the level states of the first to fourth control signals C1 to C4 according to the polarity of the driving signal, thereby achieving switching of the rotation direction of the motor M.
Referring to fig. 2, before the levels of the first to fourth control signals C1 to C4 are inverted during the polarity switching of the driving signals, a "dead time" is also included. The dead time is a period of time in which the first to fourth control signals C1 to C4 are all in an inactive state, i.e., a non-overlapping time of polarity switching. Therefore, during the switching of the motor drive apparatus from the first state to the second state, the third state is also included. And vice versa. During the third state, the first to fourth switches SW1 to SW4 are all in the off state.
During the polarity switching process, the first to fourth switches SW1 to SW4 may be simultaneously turned on due to the first to fourth control signals C1 to C4 being occasionally in a simultaneously active state. The dead time tnon is introduced at the time of the polarity switching, and a state in which the first switch SW1 to the fourth switch SW4 are simultaneously turned on can be prevented from occurring, thereby protecting the motor and the driving device thereof.
Fig. 5 is a schematic circuit diagram when a motor driving device according to the related art is implemented using bipolar transistors. In this example, the first switch SW1 and the second switch SW2 are each composed of a corresponding one of NPN-type bipolar transistors M1 and M2, and the third switch SW3 and the fourth switch SW4 are each composed of a corresponding one of PNP-type bipolar transistors M3 and M4.
As shown in fig. 5, in the motor drive apparatus, bipolar transistors M3 and M1 are connected in series between a power supply terminal VDD and ground GND, and the intermediate node between them is a first node. The bipolar transistors M4 and M2 are serially connected in turn between the supply terminal VDD and ground GND, the middle node of which is the second node. The motor M is connected between the first node and the second node. Specifically, the emitter and the collector of the bipolar transistor M3 are respectively connected to the power supply terminal VDD and the first node, the base receives the control signal C3B, the emitter and the collector of the bipolar transistor M4 are respectively connected to the power supply terminal VDD and the second node, the base receives the control signal C4B, the emitter and the collector of the bipolar transistor M1 are respectively connected to the ground GND and the first node, the base receives the control signal C1, the emitter and the collector of the bipolar transistor M2 are respectively connected to the ground GND and the second node, and the base receives the control signal C2.
The NPN bipolar transistor is turned on when the base-emitter voltage VBE is high, and therefore the respective control signals C1 and C2 are active at high level and inactive at low level. The PNP bipolar transistor is turned on when the base-emitter voltage VBE is low, and thus the corresponding control signals C3B and C4B are active at low and inactive at high.
Whether during the active output of the motor drive or during the dead time of the motor drive, the control signals C1 and C4B are inverted signals of each other, and the control signals C2 and C3B are inverted signals of each other, so that it is ensured that the bipolar transistors M1 and M4 are always turned on and off synchronously, and the bipolar transistors M2 and M3 are always turned on and off synchronously.
Fig. 6 is a schematic circuit diagram when a motor driving device according to the related art is implemented using a field effect transistor. In this example, the first switch SW1 and the second switch SW2 are each composed of a corresponding one of N-type field effect transistors M1 and M2, and the third switch SW3 and the fourth switch SW4 are each composed of a corresponding one of P-type field effect transistors M3 and M4. Whether a P-type field effect transistor or an N-type field effect transistor, there are parasitic diodes between the source and drain terminals of the transistor, i.e., diodes D1, D2, D3 and D4 as shown in fig. 6.
As shown in fig. 6, in the motor driving device, field effect transistors M3 and M1 are connected in series between a power supply terminal VDD and ground GND, and the intermediate node between them is a first node. The field effect transistors M4 and M2 are serially connected in turn between the supply terminal VDD and ground GND, the middle node of which is the second node. The motor M is connected between the first node and the second node. Specifically, the source and the drain of the field effect transistor M3 are connected to the power supply terminal VDD and the first node, respectively, the gate receives the control signal C3B, the source and the drain of the field effect transistor M4 are connected to the power supply terminal VDD and the second node, respectively, the gate receives the control signal C4B, the source and the drain of the field effect transistor M1 are connected to the ground GND and the first node, respectively, the gate receives the control signal C1, the source and the drain of the field effect transistor M2 are connected to the ground GND and the second node, respectively, and the gate receives the control signal C2.
The NFET is turned on when the gate signal is high, so the corresponding control signals C1 and C2 are active at high and inactive at low. The PFET is turned on when the gate signal is low, so the corresponding control signals C3B and C4B are active low and inactive high.
Whether during the active output of the motor drive or during the dead time of the motor drive, the control signals C1 and C4B are opposite signals to each other, and the control signals C2 and C3B are opposite signals to each other, so that it is ensured that the field effect transistors M1 and M4 are always turned on and off synchronously, and the field effect transistors M2 and M3 are always turned on and off synchronously.
In the above-described motor driving device according to the related art, at the time of switching the polarity of the driving signal, the motor driving device switches from the first state (supplying the driving current flowing in the forward direction) to the third state (dead time) first, and then switches to the second state (supplying the driving current flowing in the reverse direction), or vice versa. The direction of rotation of the motor M is changed accordingly. The motor M is an inductive load of the motor driving device, and generates a reverse electromotive force when a driving current changes.
The magnitude of the back emf is proportional to the magnitude of the inductor and the rate of change of the current across the inductor, i.e. the back emf,
wherein L is inductance value and di/dt is current change rate.
During the polarity switching, the drive current momentarily decreases from a normal value to zero and momentarily increases from zero to a normal value. As a result, the reverse electromotive force generated by the motor M will be excessive. This back electromotive force may cause breakdown of transistors in the motor drive device. If the switches of the motor drive are composed of field effect transistors, parasitic diodes may also burn out.
Fig. 7 is a schematic circuit diagram of a motor drive apparatus according to an embodiment of the present invention. The motor driving apparatus includes first to fourth switches SW1 to SW4 connected in an H-bridge. The third switch SW3 and the first switch SW1 are sequentially connected in series between the power supply terminal VDD and the ground GND, and the first node between the third switch SW3 and the ground GND is DP. The fourth switch SW4 and the second switch SW2 are sequentially connected in series between the power supply terminal VDD and the ground GND, and the middle node of both is the second node DN. The dc motor M is connected between the first node DP and the second node DN.
Unlike the conventional motor driving apparatus shown in fig. 1, in the motor driving apparatus according to the embodiment of the present invention, the first to fourth switches SW1 to SW4 respectively include a plurality of sub-switches connected in parallel, respectively receiving different sets of control signals. For example, the first switch SW1 includes N (N >1) sub-switches SW1_1, SW1_2, … …, SW1_ N connected in parallel to each other, and the corresponding first group of control signals includes control signals C1_1, C1_2, … …, C1_ N.
Fig. 8 is an operation waveform diagram of the motor driving apparatus according to the embodiment of the present invention. The first and fourth sets of control signals are synchronized control signals such that the first switch SW1 and the fourth switch SW4 are simultaneously turned on and off. The second and third sets of control signals are control signals synchronized such that the second switch SW2 and the third switch SW3 are simultaneously turned on and off. The first set of control signals and the second set of control signals are complementary signals during active output of the motor drive, i.e. one set of control signals is active while the other set of control signals is inactive.
In this embodiment, an active state of a group control signal means that at least one control signal of the group control signal is active, and an inactive state of a group control signal means that all control signals of the group control signal are inactive. Correspondingly, an on-state of a switch means that at least one sub-switch of the switch is in an on-state, and an off-state of a switch means that all sub-switches of the switch are in an off-state.
When the driving signal has the first polarity, the third set of control signals and the second set of control signals are active, and the fourth set of control signals and the first set of control signals are inactive, as shown in fig. 9. At this time, the motor driving apparatus operates in the first state, and the driving current i flows from the power supply terminal VDD to the ground GND through the third switch SW3, the motor M and the second switch SW2 in sequence, i.e., flows through the motor M in the forward direction.
When the driving signal has the second polarity, the fourth set of control signals and the first set of control signals are active, and the third set of control signals and the second set of control signals are inactive, as shown in fig. 10. At this time, the motor driving apparatus operates in the second state, and the driving current i flows from the power supply terminal VDD to the ground GND via the fourth switch SW4, the motor M and the first switch SW1 in sequence, i.e., flows in the reverse direction through the motor M.
The motor driving device changes the level states of the first group of control signals to the fourth group of control signals according to the polarity of the driving signals, thereby realizing the switching of the rotating direction of the motor M.
Referring to fig. 8, before the levels of the first to fourth sets of control signals are inverted during the polarity switching of the driving signals, a "dead time" is also included. The dead time is a period of time in which the first to fourth sets of control signals are all in an inactive state, i.e., a non-overlapping time of polarity switching. Therefore, during the switching of the motor drive apparatus from the first state to the second state, the third state is also included. And vice versa. During the third state, the first to fourth switches SW1 to SW4 are all in the off state.
During the polarity switching process, the first switch SW1 through the fourth switch SW4 may be turned on at the same time due to the first through fourth sets of control signals being in the simultaneously active state by accident. The dead time tnon is introduced at the time of the polarity switching, and a state in which the first switch SW1 to the fourth switch SW4 are simultaneously turned on can be prevented from occurring, thereby protecting the motor and the driving device thereof.
Further, the motor drive apparatus according to the embodiment divides each switch into a plurality of sub-switches. The control ends of the sub-switches are connected with different control signals. When the polarities of the driving signals are switched, the sub-switch control signals in the switches are sequentially turned on or off with a certain time delay td1 in timing.
For example, if the motor drive apparatus is switched from the first state to the second state during the polarity switching of the drive signal, the switches turned on in the first state are first turned off one by one during the switching, and then the off states of all the switches are maintained for the dead time tnon, and then the switches turned off in the first state are turned on one by one. If the motor drive is switched from the second state to the first state, the other way round. This reduces the rate of change of current and reduces back emf.
The waveform of the switching control signal is shown in fig. 9. Where td1 represents the delay of the respective sub-switch control signal and tnon represents the dead time during the polarity switching.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (15)
1. A motor drive apparatus comprising:
a third switch and a first switch connected in series between the power supply terminal and ground, with a first node between the first switch and the third switch; and
a fourth switch and a second switch connected in series between the power supply terminal and ground, with a second node between the second switch and the fourth switch,
wherein the first node and the second node are used for providing output ends to be connected with the motor,
the first to fourth switches respectively include a plurality of sub-switches connected in parallel with each other, and when the polarity of the driving signal is changed, the sub-switches of the first switch are sequentially turned on or off under the control of the first group of control signals, the sub-switches of the second switch are sequentially turned on or off under the control of the second group of control signals, the sub-switches of the third switch are sequentially turned on or off under the control of the third group of control signals, and the sub-switches of the third switch are sequentially turned on and off under the control of the fourth group of control signals,
a plurality of sub-switches of the first to fourth switches are one selected from a bipolar transistor and a field effect transistor; the motor driving apparatus controls the effective states of the first to fourth sets of control signals according to the polarity of the driving signal, thereby changing the direction of the driving current and reducing the reverse electromotive force generated when the polarity of the driving signal is changed.
2. The motor drive according to claim 1, wherein the motor drive operates in first to third states,
in a first state, the third switch and the second switch are on, and the fourth switch and the first switch are off;
in a second state, the fourth switch and the first switch are on, and the third switch and the second switch are off;
in the third state, the first to fourth switches are all off.
3. The motor drive of claim 1, wherein the first through fourth sets of control signals each include a plurality of control signals, at least one of the respective sets of control signals being active in an active state of the first through fourth sets of control signals, and all of the respective sets of control signals being inactive in an inactive state of the first through fourth sets of control signals.
4. The motor drive device according to claim 3, wherein the motor drive device transitions from the first state to the third state and then to the second state when the drive signal is switched from the positive polarity to the negative polarity,
when the drive signal is switched from the negative polarity to the positive polarity, the motor drive apparatus transits from the second state to the third state and then to the first state.
5. The motor drive according to claim 4, wherein the third switch and the plurality of sub-switches in the second switch are sequentially turned off in a process of the motor drive transitioning from the first state to the third state,
in the process of the motor driving device changing from the third state to the second state, the fourth switch and the plurality of sub-switches in the first switch are sequentially turned on,
the fourth switch and the plurality of sub-switches in the first switch are sequentially turned off during a transition of the motor drive apparatus from the second state to the third state,
the third switch and the plurality of sub-switches in the second switch are sequentially turned on in a process in which the motor drive apparatus is shifted from the third state to the first state.
6. The motor drive apparatus according to claim 1, wherein a plurality of sub-switches of the first switch and the second switch are NPN-type bipolar transistors, and a plurality of sub-switches of the third switch and the fourth switch are PNP-type bipolar transistors.
7. The motor drive of claim 1, wherein a plurality of sub-switches of the first and second switches are N-type field effect transistors and a plurality of sub-switches of the third and fourth switches are P-type field effect transistors.
8. A motor driving method for the motor driving device according to claim 1, comprising:
controlling the effective states of the first group of control signals to the fourth group of control signals according to the polarity of the driving signals; and
adopting a first group of control signals to a fourth group of control signals to respectively control a first switch to a fourth switch, wherein the first switch to the fourth switch respectively comprise a plurality of sub-switches which are connected in parallel with each other, the sub-switches of the first switch are sequentially switched on or off under the control of the first group of control signals, the sub-switches of the second switch are sequentially switched on or off under the control of the second group of control signals, the sub-switches of the third switch are sequentially switched on or off under the control of the third group of control signals, and the sub-switches of the third switch are sequentially switched on and off under the control of the fourth group of control signals, and the plurality of sub-switches in the first switch to the fourth switch are selected from one of a bipolar transistor and a field effect transistor;
wherein, when the polarity of the driving signal is changed, the direction of the driving current is changed by controlling the turning on and off of the first to fourth switches, and the reverse electromotive force generated when the polarity of the driving signal is changed is reduced.
9. The method of claim 8, wherein in a first state, the third switch and the second switch are on and the fourth switch and the first switch are off,
in the second state, the fourth switch and the first switch are on, and the third switch and the second switch are off,
in the third state, the first to fourth switches are all off.
10. The method of claim 9, wherein the third and second sets of control signals are active and the fourth and first sets of control signals are inactive when the polarity of the drive signal is positive,
when the polarity of the driving signal is negative polarity, the fourth group control signal and the first group control signal are effective, and the third group control signal and the second group control signal are ineffective.
11. The method of claim 10, wherein the first through fourth sets of control signals each include a plurality of control signals, at least one control signal of the respective set of control signals being active in an active state of the first through fourth sets of control signals, and all control signals of the respective set of control signals being inactive in an inactive state of the first through fourth sets of control signals.
12. The method of claim 11, wherein the motor drive transitions from the first state to the third state and then to the second state when the drive signal switches from a positive polarity to a negative polarity,
when the drive signal is switched from the negative polarity to the positive polarity, the motor drive apparatus transits from the second state to the third state and then to the first state.
13. The method of claim 12, wherein the third switch and the plurality of sub-switches in the second switch are sequentially opened during the transition of the motor drive from the first state to the third state,
in the process of the motor driving device changing from the third state to the second state, the fourth switch and the plurality of sub-switches in the first switch are sequentially turned on,
the fourth switch and the plurality of sub-switches in the first switch are sequentially turned off during a transition of the motor drive apparatus from the second state to the third state,
the third switch and the plurality of sub-switches in the second switch are sequentially turned on in a process in which the motor drive apparatus is shifted from the third state to the first state.
14. The method of claim 8, wherein a plurality of sub-switches of the first switch and the second switch are NPN-type bipolar transistors, a plurality of sub-switches of the third switch and the fourth switch are PNP-type bipolar transistors,
a plurality of control signals of the first set of control signals and the second set of control signals are active at a high level and inactive at a low level,
a plurality of control signals of the third set of control signals and the fourth set of control signals are active at a low level and inactive at a high level.
15. The method of claim 8, wherein a plurality of sub-switches of the first switch and the second switch are NFETs, a plurality of sub-switches of the third switch and the fourth switch are PFETs,
a plurality of control signals of the first set of control signals and the second set of control signals are active at a high level and inactive at a low level,
a plurality of control signals of the third set of control signals and the fourth set of control signals are active at a low level and inactive at a high level.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864237.3A CN106330021B (en) | 2016-09-29 | 2016-09-29 | Motor driving device and driving method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864237.3A CN106330021B (en) | 2016-09-29 | 2016-09-29 | Motor driving device and driving method thereof |
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| CN106330021A CN106330021A (en) | 2017-01-11 |
| CN106330021B true CN106330021B (en) | 2020-01-10 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4270076A (en) * | 1978-09-13 | 1981-05-26 | Danfoss A/S | Circuit for a brushless D.C. motor |
| CN101082822A (en) * | 2007-06-01 | 2007-12-05 | 张建华 | Control method of vehicle DC electric machine |
| CN103872956A (en) * | 2012-12-12 | 2014-06-18 | 罗伯特·博世有限公司 | Parallel connection of a number of half-bridges in h-bridges circuit modules |
-
2016
- 2016-09-29 CN CN201610864237.3A patent/CN106330021B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4270076A (en) * | 1978-09-13 | 1981-05-26 | Danfoss A/S | Circuit for a brushless D.C. motor |
| CN101082822A (en) * | 2007-06-01 | 2007-12-05 | 张建华 | Control method of vehicle DC electric machine |
| CN103872956A (en) * | 2012-12-12 | 2014-06-18 | 罗伯特·博世有限公司 | Parallel connection of a number of half-bridges in h-bridges circuit modules |
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| Publication number | Publication date |
|---|---|
| CN106330021A (en) | 2017-01-11 |
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