CN112865466A - Full-magnetic-pole multi-phase driving brushless motor and driver circuit - Google Patents

Abstract

The invention provides a full-magnetic-pole multi-phase driving brushless motor and a driver circuit, which are different from the traditional brushless motor coil winding which is often wound across armature teeth. All south poles and north poles of the magnetic rotor are driven simultaneously during each driving, so that the torque and the power of the rotor are increased, different speed regulation methods are adopted, the characteristics of large-range rotating speed and large torque are achieved, and high electric energy driving efficiency and power are achieved.

Description

Full-magnetic-pole multi-phase driving brushless motor and driver circuit

The invention discloses a full-magnetic-pole multi-phase driving brushless motor and a driver circuit, comprising a brushless motor and a brushless motor driver circuit.

Technical Field

The invention relates to the technical field of brushless motors and brushless motor driver circuits.

Background art:

the brushless motor is composed of a motor main body and a driving circuit, and is a typical electromechanical integrated product.

The brushless motor is widely adopted in the new energy electric automobile, the efficiency of the brushless motor directly influences the cruising mileage of the electric automobile after single charging, and how to improve the efficiency of the brushless motor becomes a very key factor. The improvement of the power of the brushless motor is also an important factor in use, efficient energy conversion can be brought only by efficient electric energy driving, so that longer endurance mileage and energy conservation are brought, and the improvement of the power of the brushless motor is also an important requirement. In the traditional brushless motor, a great deal of winding ways of winding coils across armature teeth are adopted, for example, most of brushless motors with three-phase windings are wound across two armature teeth, in order to improve the output power and the utilization rate of the winding coils, the star connection method and the triangle connection method of a three-phase alternating current motor are almost adopted, at least two-phase coils flow through each time of energization, but because of the difference of the physical positions of the two-phase coils, the magnetism generated at each armature tooth is always pressed when two groups of coils are energized and driven simultaneously. . . South-north-south. . . "none" of these is actually the result of one set of windings creating a south pole at the tooth while the other set of windings creating a north pole at the tooth canceling out, and this portion of the power is effectively wasted, resulting in reduced performance.

From the above, it can be seen that, in order to improve the efficiency and performance of the brushless motor, it is necessary to improve the winding and driving of the winding, improve the driving efficiency to achieve the best power output, thereby improving the cruising range of the new energy electric vehicle, and improving the torque of the brushless motor and the light weight of the motor are also the key technologies and national requirements for the brushless motor.

Disclosure of Invention

In the brushless motor, the winding mode of the stator coil of the brushless motor winding is to wind between two adjacent tooth slots of a single armature tooth and drive the south pole and the north pole of the rotor simultaneously, so that the torque is increased, the driving power is increased by driving the multi-phase winding at each driving moment, the winding coil utilization rate is improved, and the brushless motor is named as an all-magnetic-pole multi-phase driving brushless motor and a driver circuit. The PWM pulse width modulation can be adjusted to enable the PWM pulse width modulation to be in a high duty ratio state all the time, the adjustment of the rotating speed is provided by the frequency of other driving pulses instead of the ordinary PWM pulse width speed regulation, and the PWM pulse width modulation pulse keeps a high duty ratio at each speed, so that the PWM pulse width modulation pulse has the characteristics of high efficiency, large rotating speed range and high torque, and the pulse width can be reduced under the condition that the speed is kept basically unchanged and the torque can be reduced to further save electric energy.

The rotor of the brushless motor winding is a cylindrical magnetic material cylinder which is radially filled with permanent magnetism in an outer stator wound with coils when in an inner rotor structure, the cylinder can also be formed by embedding permanent magnets on a cylindrical magnetizer according to a manufacturing process, and the cylindrical magnetic material can be solid or hollow; when the outer rotor structure is a circular ring-shaped magnetic material ring which is radially filled with permanent magnetism and is wound by a coil, the outer rotor structure can also be formed by fixing permanent magnets on a circular ring-shaped object according to a manufacturing process.

The brushless motor of the invention uses two magnetic position sensors for each phase winding to identify two driving states of each phase winding, and adopts a method of switching the magnetic position sensors to realize steering conversion, and the winding of the outer stator coil, the magnetic position sensors and the rotor structure are schematically shown in the attached figures 1, 2, 3 and 4.

The brushless motor rotor driving mode of the invention is to electrify the stator coil in a multi-phase sequence, for a three-phase brushless motor, electrify the two-phase coil in each driving state, drive the rotor to rotate a tooth position, electrify the two-phase coil in the next driving state, drive the rotor to rotate a tooth position again, reciprocate in this way, thus form the rotation of the rotor, and drive all south poles and north poles on the rotor every time of driving.

The drive circuit of the brushless motor consists of a pulse oscillator capable of adjusting and controlling the rotating speed, a phase sequence generator, a PWM (pulse width modulation) pulse width modulator, a duty ratio adjuster, an AND gate for comparing a sensor signal with a phase sequence signal and a bridge type power driver (generally a high-power MOS (metal oxide semiconductor) tube or an IGBT (insulated gate bipolar transistor) composite full-control voltage drive type power semiconductor device module) for driving winding coils of all phases.

Drawings

FIG. 1 is a schematic structural diagram of a specially brushed motor of the present invention (taking an inner rotor three-phase 8-pole, 24-slot as an example), M1 is a stator armature, M2 is an inner rotor, 1 to 24 are armature teeth of a stator, H1, H2, H3, H4, H5, and H6 are position sensors, U + and U-are respectively starting ends of a U-phase winding, V + and V-are respectively starting ends of a V-phase winding, W + and W-are respectively starting ends of a W-phase winding, and arrows on winding lines in the stator indicate winding directions of the windings on the armature teeth; h1, H2, H3, H4, H5, H6 are magnetic position sensors (magnetic position sensors can be added in this way for N-phase motors, taking three-phase drive as an example).

Fig. 2, fig. 3, fig. 4 are respectively a schematic structural diagram and a schematic winding position and winding direction diagram (for example, an inner rotor three-phase 8-pole, 24-slot) of a brushless motor three-phase winding of the present invention, M1 is an outer stator for winding a coil, 1 to 24 are armature teeth of the stator, and arrows on a winding wire of the stator indicate the winding direction of the winding on the armature teeth; m2 is a permanent magnet inner rotor, S1, S2, S3, S4 are south poles of the permanent magnet inner rotor, N1, N2, N3, N4 are north poles of the permanent magnet inner rotor.

Fig. 5 is a structural schematic diagram of an outer rotor brushless motor (taking three-phase 4-pole and 12-slot of the outer rotor as an example), and is a permanent magnet outer rotor, wherein firstly, the permanent magnet outer rotor is an inner stator armature for winding coils, N and S are 4 north and south poles of the permanent magnet outer rotor, US and UN are south and north poles generated by armature teeth on a stator when a U-phase winding is electrified at a certain moment, VS and VN are south and north poles generated by armature teeth on the stator when a V-phase winding is electrified at another moment, WS and WN are south and north poles generated by armature teeth on the stator when a W-phase winding is electrified at different moments, and H1, H2, H3, H4, H5 and H6 are position sensors. The winding method of the winding coil is the same as the structure of the inner rotor, the winding direction of the same phase winding between two adjacent tooth slots of a single armature tooth is opposite to the winding direction of two adjacent coils, and the winding direction is omitted for clarity.

Fig. 6 to 11 show the operation intentions of the brushless motor of the present invention in various driving states (three-phase six-driving state with an inner rotor three-phase 8-pole, outer stator 24-slot as an example), M1 is the outer stator armature of the wound coil, SU and NU are the north and south poles generated at this armature tooth by the U-phase winding in the driving state; SV and NV are north and south poles produced at the armature tooth by the V-phase winding in the drive state; SW and NW are the north and south poles produced at the armature tooth by the W-phase winding in the drive state; h1, H2, H3, H4, H5, H6 are magnetic position sensors.

Fig. 12 and 13 are schematic views of a driving circuit of the present invention (for example, three-phase driving, the number of driving phases can be increased in this manner for an N-phase motor) SW1 is a turn/stop switch, and fig. 11 is a push-back driving circuit, specifically, a driving circuit in which a winding that should be in a driving state at present and a winding in a driving state immediately before are driven together, and a driving circuit in which a winding U and a winding W are driven when the current driving state is a driving state 1; fig. 12 shows a push-forward driving circuit, which drives a winding to be driven and a winding to be driven together, and drives the winding U and the winding V when the driving state is driving state 1; they have no fundamental difference, but only to move the position where the magnetic sensor is installed, and are described in the following embodiment with a push-forward driving circuit of fig. 13.

Fig. 14 is a schematic diagram of a bridge power driver circuit according to the present invention (taking three-phase driving as an example, the number of driving phases can be increased for an N-phase motor).

Fig. 15 is a schematic diagram of a steering switching circuit of the present invention, and SW2 is a forward/reverse switch for effecting a steering change by switching different magnetic position sensors.

Detailed Description

The invention provides a full-magnetic-pole multi-phase driving brushless motor and a driving circuit thereof, wherein a position sensor is positioned in front of a driving coil in the brushless motor in an attraction rotation mode according to the principles of magnetic opposite attraction and like repulsion, the position sensor is used for energizing a phase coil behind the position sensor by a driver after giving a signal to generate magnetic force to attract a rotor to rotate to the position of the phase coil, and then the rotor is driven to rotate to the next driving position. In the repulsion force rotation mode, the position sensor is positioned behind the driving coil in the brushless motor, after the position sensor gives out a signal, the driver energizes the phase coil behind the position sensor to generate magnetic force to push the repulsion rotor to rotate away from the phase coil, and then the repulsion rotor is driven to rotate to the next driving position. The motor rotor is driven by driving at least two-phase coils to obtain larger power in each driving process, has the characteristics of small torque pulsation and large rotating speed and large torque in a large range, and can be switched by adding an electronic switch in forward and reverse rotation so as to realize forward and reverse rotation of the motor rotor.

The number of the slots of the brushless motor stator is equal to the number of south and north magnetic poles of the permanent magnet rotor multiplied by the number of phases. Taking three-phase winding, four pairs of 8 poles are taken as an example, the number of the slots is equal to 3 multiplied by 8 poles, and the number of the slots is 24; if six pairs of 12 poles are used, 36 slots are used.

In the conventional brushless motor, a large number of winding coils are wound across armature teeth, for example, a brushless motor with three-phase windings is mostly wound across two armature teeth, in order to improve output power and winding coil utilization rate, a star connection method and a delta connection method of a three-phase alternating current motor are almost adopted, at least two-phase coils flow through each energization, and due to the difference of the physical positions of the two-phase coils, magnetism generated at each armature tooth when two groups of coils are energized and driven is always pressed ". . . South-north-south. . . "none" of these is actually a waste of electrical energy due to one set of windings creating a south pole at the tooth while the other set of windings creating a north pole at the tooth canceling each other. In order to avoid the disadvantage, the stator coil of the brushless motor winding of the invention is wound between two adjacent tooth slots of a single armature tooth, and the winding directions of two adjacent coils of the same phase winding are opposite, namely, partial coils of the same phase winding are wound in two side slots of the single armature tooth, taking a three-phase winding as an example, namely, a phase winding (U phase) is wound around the armature tooth 1 in one slot (slot 1) and one adjacent slot (slot 2), after the required number of turns is reached, a next phase winding (V phase) is wound around the armature tooth 2 in the adjacent slot (slot 2) and the next adjacent slot (slot 3), after the required number of turns is reached, the slot (slot 3) and the next slot (slot 4) are wound around the armature tooth 3, and after the required number of turns is reached, the next phase winding (W phase) is wound around the armature tooth 4, the armature tooth 5, the armature teeth 6 wind the next group of coils of the windings U, V and W of each phase in the opposite direction respectively, so that the winding directions of two adjacent coils of the same phase winding are opposite until the winding is finished, and the same winding mode is provided for more N-phase motors. Two ends of each phase winding are respectively connected to respective bridge type power driving devices on a brushless motor driver outside the motor.

Another great benefit of single armature tooth winding is that magnetic force is concentrated and magnetic leakage is low, for example, a common three-phase brushless motor needs to be wound across at least 2 armature teeth, taking fig. 2 as an example, the three-phase brushless motor needs to be wound on the left side of the armature teeth 1 and the right side of the armature teeth 3, so that magnetic force lines are dispersed, magnetic resistance is formed by two side grooves of the armature teeth in the middle, and magnetic force lines generated by the armature teeth 2 form a magnetic loop through the armature teeth 1 and the armature teeth 3, so that magnetic force lines with the same polarity as that generated by the armature teeth 2 and generated by the armature teeth 1 and 3 are partially offset; likewise, the armature teeth 2 will partially cancel the magnetic lines of force of the same polarity generated by the armature teeth 1 and 3. The final magnetic force is the vector sum of the magnetic forces generated by the three armature teeth with different physical positions by winding across the armature teeth, the vector sum has a certain component to offset each other to reduce the electric energy driving efficiency, the single armature teeth winding completely avoids the defects, and the copper consumption of the single armature teeth winding is lower than that of the single armature teeth winding.

Of course, the full-pole multi-phase driving brushless motor and the driving circuit thereof provided by the present invention can also drive the motor wound across the armature teeth, but will lose part of the driving power and reduce the driving efficiency described above.

The power driving device for driving the winding to be electrified consists of an IGBT composite full-control voltage driving type power semiconductor device, and a high-power MOS tube and other high-power devices can also be adopted.

The operating principle will be described below with reference to a repulsive-force rotation system (the magnetic position sensor is located behind the phase coil winding in the rotation direction) and the push-forward drive circuit of fig. 13, in which the magnetic position sensor is located in front of the phase coil winding in the rotation direction in the attraction drive mode.

When the SW1 rotation/stop switch is in the off (rotation) state, one of the input terminals of each of U1 to U6 is in the high state.

Arrows on the outer end of the stator on the upper side of fig. 6 to 11 respectively indicate the directions in which the currents flow in the respective driving states. For the sake of clarity, the windings which do not participate in the operation in this driving state are not shown.

In the driving circuit of the brushless motor of fig. 13 of the present invention, the pulse oscillator IC1 with adjustable control speed generates oscillation pulses and outputs them to the three-phase six-state phase sequence generator formed by the IC2 decimal counter/pulse distributor CD4017, and generates the three-phase six-state high-level pulses of D0, D1, D2, D3, D4 and D5, and the magnetic position sensors (which may also use other types of magnetic position sensors for sensing magnetic signals) formed by the hall elements H1, H2, H3, H4, H5 and H6 respectively generate H1, H2, H3, H4, H5 and H6 signals and respectively input them to the and gates U1 to U6 after passing through the inverter, the magnetic position sensors respectively output low-level signals when the rotor is near the south pole, and output high-level signals after being inverted by the inverter and outputs the three-phase six-state phase sequence generator 0 formed by the IC2 decimal counter/pulse distributor CD4017, the D1, D2, D3, D4 and D5 high pulses phase-intersect at U1 to U6.

Drive circuit referring to fig. 12 and 13, the following is described in connection with fig. 6 to 11 for respective drive states:

driving state 1: fig. 6 when one of the south poles S1 of the permanent magnet rotor is at the armature tooth: 2 and near hall element H1, H1 gives low level and gives high level to an input end of U1 after inverting, when IC2 gives D0 is a high level signal, U1 outputs high level, the high level output by U1 is divided into two paths, one path is phase-inverted with the low level given by U6 through U7 or gate and outputs a high level signal, the high level signal is turned on through transistor Q1 all the way, so that photocoupler IC5 is turned on through SH1 to drive the IGBT of T1 to be turned on, the other path of high level signal given by U7 is turned on through PWM drive signal SL1 to IC8 driver after phase-inverting with variable duty ratio output by U13 and IC3 to drive the IGBT of T4 to be turned on, power supply + V flows through U + winding to U-through T1 and then to ground through T4, the current direction is T1 to T4, and field effect transistors of fig. 5, 7 and SU 19 generate SU 19 and SU 19; driving south poles S1, S2, S3, and S4 on the rotor, respectively, to produce north poles NU on the armature teeth 4, 10, 16, and 22; driving north poles N1, N2, N3, and N4 on the rotor, respectively; the other path of high level output by U1 is connected with the low level phase or post output high level signal given by U2 through U8 OR gate, the high level signal is connected with transistor Q2 to make it conductive, so that photocoupler IC9 is connected with SH2 to drive the IGBT of T5 to be conductive, the other path of high level signal given by U8 is connected with PWM signal phase with variable duty ratio output by U14 and IC3 and post output PWM drive signal SL2 to IC12 FET driver to drive the IGBT of T8 to be conductive, power supply + V flows through V + winding to V-through T5 and then to ground through T8, the current direction is T5 to T8, and the south pole SV is generated on armature teeth 2, 8, 14 and 20 in FIG. 5; also driving south poles S1, S2, S3, and S4 on the rotor, respectively, produces north poles NV on armature teeth 5, 11, 17, and 23; north poles N1, N2, N3, and N4 on the rotor are also driven, respectively. SU and SV drive the south pole of the rotor and attract the north pole of the rotor to rotate forwards; NU, NV drives the north pole on the rotor and attracts the south pole on the rotor to rotate forwards; the rotor is rotated by an armature tooth position to complete the first driving state.

Driving state 2: after the first driving state, when the south pole S1 of the rotor in fig. 7 rotates to the position near the armature tooth 3 and is close to the hall element H2, H2 gives out a low level, after phase inversion, a high level is given out to one input end of U2, when IC2 gives out a signal with D1 being a high level, U2 outputs a high level, the high level output by U2 is divided into two paths, one path is output through U8 or gate and the low level phase given out by U1 or output a high level signal, the high level signal is transmitted to the triode Q2 to be conductive, so that the photocoupler IC9 is conductive through SH2 to drive the IGBT of T5 to be conductive, the other path of high level signal given out by U8 is output a PWM signal phase with variable duty ratio between U14 and IC3 to be output a PWM drive signal SL2 to the IC12 fet driver to drive the IGBT of T8 to be conductive, the power supply + V passes through the V + winding of T2 to V-T56 and then passes through T828653, the armature tooth, the direction is T846, 8, 14 and 20, to produce a south pole SV; driving south poles S1, S2, S3, and S4 on the rotor, respectively, to produce north poles NV on armature teeth 5, 11, 17, and 23; driving north poles N1, N2, N3, and N4 on the rotor, respectively; the other path of high level output by U2 is connected with the low level phase or post output high level signal given by U3 through U9 OR gate, the high level signal is connected with transistor Q3 to make it conductive, so that photocoupler IC13 is connected with SH3 to drive the IGBT of T9 to be conductive, the other path of high level signal given by U9 is connected with the PWM signal phase with variable duty ratio output by U15 and IC3 and post output PWM drive signal SL3 to IC16 FET driver to drive the IGBT of T12 to be conductive, power supply + V flows through W + winding to W-through T9 and then to ground through T12, the current direction is T9 to T12, and a south pole SW is generated on armature teeth 3, 9, 15 and 21 in FIG. 6; also driving south poles S1, S2, S3, and S4 on the rotor, respectively, creates north poles NW on armature teeth 6, 12, 18, and 24; north poles N1, N2, N3, and N4 on the rotor are also driven, respectively. SV, SW jointly drive south pole on the rotor and attract north pole on the rotor to rotate forwards; NV, NW together drive the north pole on the rotor and attract the south pole on the rotor to rotate forward; and rotating the rotor by one armature tooth position to complete the second driving state.

Driving state 3: after the second driving state, if the south pole S1 of the rotor in fig. 8 rotates to the position near the armature tooth 4 and is close to the hall element H3, H3 gives out a low level, after phase inversion, it gives out a high level to one input end of U3, when IC2 gives out a signal with D2 being a high level, U3 outputs a high level, the high level output by U3 is divided into two paths, one path is output through U9 or gate and the low level phase given by U2 or output a high level signal, the high level signal is transmitted to transistor Q3 all the way to make it conductive, so that photocoupler IC13 is made conductive through SH3 to drive the IGBT of T9 to be conductive, the other path of high level signal given out by U9 is output a PWM signal phase with variable duty ratio between U15 and IC3 and then output a PWM signal SL3 to IC16 fet driver to drive the IGBT of T12 to be conductive, power supply + V flows through the winding T2 to W-W56 and then to T82867, the armature tooth is T863, 9, 15 and 21, to produce a south pole SW; driving south poles S1, S2, S3, and S4 on the rotor, respectively, creating north poles NW on armature teeth 6, 12, 18, and 24; driving north poles N1, N2, N3, and N4 on the rotor, respectively; the other path of high level output by U3 is connected with the low level phase or post output high level signal given by U4 through U10 OR gate, the high level signal is connected with transistor Q4 to make it conductive, so that photocoupler IC7 is connected to drive the IGBT of T3 to be conductive through SH4, the other path of high level signal given by U10 is connected with the PWM signal phase with variable duty ratio output by U16 and IC3 and then outputs PWM drive signal SL4 to IC6 FET driver to drive the IGBT of T2 to be conductive, power supply + V flows through U-winding to U + through T3 and then to ground through T2, the current direction is T3 to T2, and south pole SU is generated on armature teeth 4, 10, 16 and 22 in FIG. 7; also driving south poles S1, S2, S3, and S4 on the rotor, respectively, producing north poles NU on armature teeth 7, 13, 19, and 1; north poles N1, N2, N3, and N4 on the rotor are also driven, respectively. SW and SU drive the south pole of the rotor and attract the north pole of the rotor to rotate forwards; NW and NU drive the north pole on the rotor and attract the south pole on the rotor to rotate forwards; and rotating the rotor by one armature tooth position to complete the third driving state.

Driving state 4: after the third driving state, if the south pole S1 of the rotor in fig. 9 rotates to the position near the armature tooth 5 and is close to the hall element H4, H4 gives out a low level, after phase inversion, it gives out a high level to one input end of U4, when IC2 gives out a signal with D3 being a high level, U4 outputs a high level, the high level output by U4 is divided into two paths, one path is output through U10 or gate and the low level phase given by U3 or output a high level signal, the high level signal is transmitted to transistor Q4 all the way to make it conductive, so that photocoupler IC7 is made conductive through SH4 to drive the IGBT of T3 to be conductive, the other path of high level signal given out by U10 is output a PWM signal phase with variable duty ratio between U16 and IC3 and then output a PWM signal SL4 to IC6 fet driver to drive the IGBT of T2 to be conductive, power supply + V flows through the U-winding T2 to U + 56 and then to T82868, the armature tooth is T864, 10, 16 and 22, producing a south pole SU; driving south poles S1, S2, S3, and S4 on the rotor, respectively, to produce north poles NU on armature teeth 7, 13, 19, and 1; driving north poles N1, N2, N3, and N4 on the rotor, respectively; the other path of high level output by U4 is connected with the low level phase or post output high level signal given by U5 through U11 OR gate, the high level signal is connected with transistor Q5 to make it conductive, so that photocoupler IC11 is connected to drive the IGBT of T7 to be conductive through SH5, the other path of high level signal given by U11 is connected with the PWM signal phase with variable duty ratio output by U17 and IC3 to be post output PWM drive signal SL5 to IC10 FET driver to drive the IGBT of T6 to be conductive, power supply + V flows through V-winding to V + through T7 and then to ground through T6, the current direction is T7 to T6, and the south pole SV is generated on armature teeth 5, 11, 17 and 23 in FIG. 8; also driving south poles S1, S2, S3, and S4 on the rotor, respectively, produces north poles NV on armature teeth 8, 14, 20, and 2; north poles N1, N2, N3, and N4 on the rotor are also driven, respectively. SU and SV drive the south pole of the rotor and attract the north pole of the rotor to rotate forwards; NU, NV drives the north pole on the rotor and attracts the south pole on the rotor to rotate forwards; and rotating the rotor by one armature tooth position to complete the fourth driving state.

Driving state 5: after the fourth driving state, for example, when the south pole S1 of the rotor in fig. 10 rotates to a position near the armature tooth 6 and is close to the hall element H5, H5 gives a low level, after phase inversion, it gives a high level to one input end of U5, when IC2 gives a signal of D4 as a high level, U5 outputs a high level, the high level output by U5 is divided into two paths, one path is output through U11 or gate and the low level phase given by U4 or output a high level signal, the high level signal is transmitted to transistor Q5 all the way to make it conductive, so that photocoupler IC11 is made conductive through SH5 to drive the IGBT of T7 to be conductive, the other path of high level signal given by U11 is output a PWM signal phase of variable duty ratio between U17 and IC3 and then output a PWM signal SL5 to IC10 fet driver to drive the IGBT of T6 to be conductive, power supply + V flows through the V-winding T2 to V + 56 and then to T82869, the armature tooth is connected to T869, 11, 17 and 23, to produce a south pole SV; driving south poles S1, S2, S3, and S4 on the rotor, respectively, to produce north poles NV on armature teeth 8, 14, 20, and 2; driving north poles N1, N2, N3, and N4 on the rotor, respectively; the other path of high level output by U5 is connected with the low level phase or post output high level signal given by U6 through U12 OR gate, the high level signal is connected with transistor Q6 to make it conductive, so that photocoupler IC5 is connected with SH6 to drive the IGBT of T11 to be conductive, the other path of high level signal given by U12 is connected with the PWM signal phase with variable duty ratio output by U18 and IC3 and post output PWM drive signal SL6 to IC14 FET driver to drive the IGBT of T10 to be conductive, power supply + V flows through W-winding to W + through T11 and then to ground through T10, the current direction is T11 to T10, and south pole SW is generated on armature teeth 6, 12, 18 and 24 in FIG. 9; also driving south poles S1, S2, S3, and S4 on the rotor, respectively, creates north poles NW on armature teeth 9, 15, 21, and 3; north poles N1, N2, N3, and N4 on the rotor are also driven, respectively. SV, SW jointly drive south pole on the rotor and attract north pole on the rotor to rotate forwards; NV, NW together drive the north pole on the rotor and attract the south pole on the rotor to rotate forward; and rotating the rotor by one armature tooth position to complete the fifth driving state.

Driving state 6: after the fifth driving state, when the south pole S1 of the rotor in fig. 11 rotates to the position near the armature tooth 7 and approaches to the hall element H6, H6 gives a low level, after phase inversion, it gives a high level to one input end of U6, when IC2 gives a high level signal of D5, U6 outputs a high level, the high level output by U6 is divided into two paths, one path is output through U12 or gate and the low level phase given by U5 or output a high level signal, the high level signal is transmitted to transistor Q6 all the way to make it conductive, so that photocoupler IC5 is conducted through SH6 to drive the IGBT of T11 to be conductive, the other path of high level signal given by U12 is output a PWM signal phase of variable duty ratio between U18 and IC3 and then output a PWM signal SL6 to IC14 fet driver to drive the T10 to be conductive, power supply + V flows through the winding T2 to W + 56 and then to T828653, the current is T866, the armature tooth is T828610, 12, 18 and 24 to produce a south pole SW; driving south poles S1, S2, S3, and S4 on the rotor, respectively, creating north poles NW on armature teeth 9, 15, 21, and 3; driving north poles N1, N2, N3, and N4 on the rotor, respectively; the other path of high level output by U6 is connected with the low level phase or post output high level signal given by U1 through U7 OR gate, the high level signal is connected with transistor Q1 to make it conductive, so that photocoupler IC5 is connected with SH1 to drive the IGBT of T1 to be conductive, the other path of high level signal given by U7 is connected with PWM signal phase with variable duty ratio output by U13 and IC3 and post output PWM drive signal SL1 to IC8 FET driver to drive the IGBT of T4 to be conductive, power supply + V flows through U + winding through T1 to U-then through T4 to ground, the current direction is T1 to T4, and south pole SU is generated on armature teeth 7, 13, 19 and 1 in FIG. 10; also driving south poles S1, S2, S3, and S4 on the rotor, respectively, producing north poles NU on armature teeth 10, 16, 22, and 4; north poles N1, N2, N3, and N4 on the rotor are also driven, respectively. SW and SU drive the south pole of the rotor and attract the north pole of the rotor to rotate forwards; NW and NU drive the north pole on the rotor and attract the south pole on the rotor to rotate forwards; and rotating the rotor by one armature tooth position to complete the sixth driving state.

After the brushless motor is in the driving state 6, the south pole S4 on the rotor reaches the south pole position S1 on the figure 6, the process from the driving state 1 to the driving state 6 is repeated backwards, so that the continuous operation of the motor rotor is formed, in each driving state, the armature teeth which are provided with driving current on the stator coil simultaneously drive all the south poles and the north poles on the rotor, the armature teeth which do not participate in the driving do not have the driving current to flow, the winding coil winding mode across the armature teeth and at least two-phase coils are prevented from flowing through each time of energization, a certain number of armature teeth in the brushless motor are prevented from generating the south pole by one group of windings and simultaneously generating the north pole by the other group of windings, and the defect that the utilization efficiency of electric energy is reduced is avoided.

When the stall switch SW1 is turned on, one of the input terminals of the and gates U1 to U6 is at a low level so that all of Q1 to Q6 are turned off, while one of the input terminals of U13 to U18 is at a low level so that all of SL1 to SL6 are output at a low level, thereby all of the MOS/IGBT drivers of T1 to T12 are in an off state and the motor stalls.

In fig. 12 and 13, IC4 generates power supply + VH, which is about 15V higher than power supply + V, from MC1555 and peripheral components to supply to photocoupler.

V1 in fig. 12 and 13 is a frequency regulator of the rotation pulses associated with the phase-sequence drive pulses, which can also be generated by a voltage controlled oscillator, for the motor rotation speed regulation, V2 for the pulse width modulation signal frequency and V3 for the pulse width modulation signal duty cycle.

Fig. 15 is a magnetic position sensor switching circuit, H1 ', H2', H3 ', H4', H5 'and H6' are signals given by magnetic position sensors H1, H2, H3, H4, H5 and H6, respectively, the motor is driven to a high level at the first legs of IC13 and IC14 when the steering switch SW2 is in the off state, and the output state is from B to Y, realizing signal transmission of H1 'to H1, H2' to H2, H3 'to H3, H4' to H4, H5 'to H5, H6' to H6, and the motor is driven to rotate in one direction; when the steering switch SW2 is in the on state, the first legs of IC13 and IC14 are low level, the output state is from a to Y, signal transmission of H4 'to H1, H5' to H2, H6 'to H3, H1' to H4, H2 'to H5, H3' to H6 is achieved, and the motor is rotated to the other direction. If only unidirectional rotation is required, H1 'and H1, H2' and H2, H3 'and H3, H4' and H4, H5 'and H5, and H6' and H6 are directly connected without using the circuit shown in FIG. 8. For motors of different pole counts, the magnetic position sensor and switching sequence will be experimentally determined to give the best position.

In the driving circuit of the invention, the pulse width modulation can be in a high duty ratio state all the time, the regulation of the rotating speed is provided by the frequency of the rotating pulse, but the normal PWM pulse width speed regulation is not, the PWM pulse keeps a higher duty ratio at each speed, so that the driving circuit has the characteristics of high efficiency and large rotating speed range and high torque. Meanwhile, because the signals given by the position sensor and the rotation phase sequence signals are in phase relation, the rotor gradually achieves synchronization with the set rotating speed in the rotation process.

Because the rotating speed and the pulse width modulation duty ratio are generated respectively, after the set rotating speed is reached, the automatic control can be carried out by combining an artificial mode and the rotating speed after detection, and the pulse width modulation duty ratio can be adjusted to be reduced under the conditions of not influencing or reducing the rotating speed when the load is fixed and reduced (such as the new energy electric vehicle runs at a constant speed on a flat ground), so that the further energy saving is realized.

The winding mode of the stator of the brushless motor winding is single-slot winding and multi-phase energization, so that the utilization rate of a winding coil is improved, the output power is improved, the characteristics of low rotating speed and high torque required by a motor of a new energy electric vehicle are met, and the brushless motor winding is particularly suitable for the new energy electric vehicle due to high efficiency and energy conservation.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. Full magnetic pole multi-phase drive brushless motor and driver circuit, including motor and drive circuit, its characterized in that: the winding mode of the stator coil of the brushless motor is that the coil of the same phase winding is wound between two adjacent tooth slots of a single armature tooth, and the current flows through the two-phase winding or more when the driving circuit drives each time, so that the rotor rotates through the position of the single armature tooth one by one tooth each time, and the rotor is driven to rotate in a multi-phase electrifying tooth-by-tooth rotating mode.

2. The full pole multi-phase drive brushless motor and driver circuit of claim 1, wherein: the winding directions of two adjacent coils of the same phase winding of the stator of the brushless motor are opposite, the starting end and the terminating end of each phase winding are led out of the motor and are respectively connected to respective bridge type power drivers, and the number of phases is more than or equal to 2.

3. The full pole multi-phase drive brushless motor and driver circuit of claim 1, wherein: the relationship between the number of magnetic poles of the permanent magnet rotor of the brushless motor and the number of phases and the number of slots of the stator armature is as follows: the number of the stator armature slots is equal to the number of the magnetic poles in south and north of the permanent magnet rotor multiplied by the number of phases, and the number of the phases is more than or equal to 2.

4. The full pole multi-phase drive brushless motor and driver circuit of claim 1, wherein: the brushless motor stator uses two magnetic position sensor signals per phase winding and the magnetic position sensor signals are switched to change the direction of rotation of the brushless motor rotor.

5. A full pole multi-phase drive brushless motor and driver circuit according to claim 1 or claim 2 or claim 3 or claim 4, wherein: the brushless motor rotor may be a cylindrical permanent magnet rotor inside the coil-wound outer stator, or may be an annular permanent magnet rotor outside the coil-wound inner stator.

6. The full pole multi-phase drive brushless motor and driver circuit of claim 1 or claim 2, wherein: each phase winding power driving device consists of a bridge type power driver consisting of a left arm consisting of two groups of composite fully-controlled voltage-driven power semiconductor devices connected in series and a right arm consisting of another two groups of composite fully-controlled voltage-driven power semiconductor devices connected in series, the starting end and the terminating end of each phase winding are connected to the middle points of the left arm and the right arm of the respective bridge type power driver, the upper control end and the lower control end of the left arm and the right arm of each group of bridge type power driver are respectively controlled by 4 different signals, and the power driving device can also adopt a high-power MOS field effect transistor.

7. The full pole multi-phase drive brushless motor and driver circuit of claim 1, wherein: the magnetic position sensor signal of each phase and the phase sequence driving pulse signal phase of the same phase in the driver circuit are compared with the signal phase of the adjacent driving state or are used for driving the upper arm of the bridge type power driving device, and the characteristic can also be realized by the micro control unit and an internal program.

8. The full pole multi-phase drive brushless motor and driver circuit of claim 1, wherein: the magnetic position sensor signals of each phase in the driver circuit and the phase sequence driving pulse signal phase of the same phase are in phase with the signal phase of the next and adjacent driving state or are then subjected to phase-comparison with a direct current high level or a pulse width modulation signal with the frequency of 100 Hz to 100 kHz to drive the lower arm of the bridge type power driving device, and the characteristic can also be realized by a micro control unit and an internal program to realize the phase-comparison or the next and phase-comparison function.

9. The full pole multi-phase drive brushless motor and driver circuit of claim 1, wherein: the driver circuit adjusts the rotational speed of the motor by varying the frequency of the rotational pulses associated with the phase sequence drive pulses, and the pulse width modulation signal is used to assist in adjusting the rotational speed.

10. The full pole multi-phase drive brushless motor and driver circuit of claim 1 or claim 2, wherein: when the brushless motor rotates, the driver circuit drives the upper arms of more than or equal to two groups of bridge type power driving devices and the lower arms of more than or equal to two groups of bridge type power driving devices after passing through the winding coils at each moment to conduct and work simultaneously, and drives more than or equal to two-phase windings in the brushless motor.

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