CN114172413B - Motor controller - Google Patents
Motor controller Download PDFInfo
- Publication number
- CN114172413B CN114172413B CN202010943342.2A CN202010943342A CN114172413B CN 114172413 B CN114172413 B CN 114172413B CN 202010943342 A CN202010943342 A CN 202010943342A CN 114172413 B CN114172413 B CN 114172413B
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- motor
- signal
- phase
- motor controller
- unit
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 10
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 8
- 229910044991 metal oxide Inorganic materials 0.000 description 4
- 150000004706 metal oxides Chemical class 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- 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
- H02P6/28—Arrangements for controlling current
Abstract
A motor controller for stabilizing a motor current. The motor controller is used for driving a motor, wherein the motor is provided with a motor coil. The motor controller has a switch circuit, a control unit, a command unit, a counting unit, a comparing unit and a phase detecting unit. The switching circuit is used for providing the motor current to the motor coil. The phase detection unit generates a phase signal to the control unit for informing the control unit to switch the phase. The control unit generates a plurality of control signals to control the switch circuit. The motor controller resets the counting unit according to the phase signal, so that the plurality of control signals are synchronous with the phase signal to stabilize the motor current.
Description
Technical Field
The present invention relates to a motor controller, and more particularly, to a motor controller for stabilizing motor current.
Background
Fig. 1 is a schematic diagram of a conventional motor controller 10. The motor controller 10 is used for driving a motor, wherein the motor has a motor coil L. The motor coil L has a first end O1 and a second end O2. The motor controller 10 has a switch circuit 100, a control unit 110 and a phase detection unit 120. The switching circuit 100 is coupled to a voltage source VCC and the voltage source VCC generates a supply current IVCC to the switching circuit 100. The switching circuit 100 is used to provide a motor current to the motor coil L, wherein the motor current can be analogous to the supply current IVCC. The phase detection unit 120 generates a phase signal Vph to the control unit 110 for informing the control unit 110 to switch the phase. The control unit 110 generates a plurality of driving signals to the switching circuit 100 for controlling the voltage of the first terminal O1 and the voltage of the second terminal O2. Fig. 2 corresponds to a timing diagram of the relevant signals of fig. 1. Since the plurality of driving signals outputted by the control unit 110 are not synchronized with the phase signal Vph, the voltage signal at the first terminal O1 and the voltage signal at the second terminal O2 are not synchronized with the phase signal Vph. Therefore, the supply current IVCC does not have a fixed initial value after each phase switching. That is, the motor current is unstable under asynchronous operation.
Disclosure of Invention
In view of the foregoing, it is an object of the present invention to provide a motor controller for stabilizing motor current.
The motor controller is provided according to the present invention. The motor controller is used for driving a motor, wherein the motor is provided with a motor coil. The motor coil has a first end and a second end. The motor controller has a switch circuit, a control unit, a command unit, a counting unit, a comparing unit and a phase detecting unit. The switching circuit is coupled to a voltage source and the voltage source provides a supply current to the switching circuit. The switching circuit is used for providing a motor current to the motor coil, wherein the motor current can be simulated to the supply current. The switching circuit has a first transistor, a second transistor, a third transistor and a fourth transistor. The first transistor, the second transistor, the third transistor and the fourth transistor may be a P-type metal oxide semiconductor transistor or an N-type metal oxide semiconductor transistor.
The control unit generates a first control signal, a second control signal, a third control signal and a fourth control signal for controlling the switching conditions of the first transistor, the second transistor, the third transistor and the fourth transistor respectively. The phase detection unit generates a phase signal to the control unit for informing the control unit to switch the phase. In addition, the phase detection unit further generates the phase signal to the counting unit for resetting the counting unit. The command unit receives an external PWM signal for generating a command signal to the comparing unit. The counting unit receives the phase signal and is used for generating an output signal to the comparing unit. The comparing unit generates a pulse width modulation signal to the control unit by comparing the command signal with the output signal.
When the phase signal is changed from a low level to a high level or from the high level to the low level, the counting unit is reset, so that the output signal has a fixed initial value after phase switching. The control unit is used for outputting the first control signal, the second control signal, the third control signal and the fourth control signal which are synchronous with the phase signal according to the pulse width modulation signal and the phase signal. Therefore, the voltage signal of the first terminal and the voltage signal of the second terminal are synchronous with the phase signal, so that the supply current has stable current waveform after phase switching, and the purpose of stabilizing the motor current is achieved.
Drawings
Fig. 1 is a schematic diagram of a conventional motor controller.
Fig. 2 is a timing diagram corresponding to the relevant signals of fig. 1.
Fig. 3 is a schematic diagram of a motor controller according to an embodiment of the invention.
FIG. 4 is a timing diagram corresponding to the correlation signal of FIG. 3.
Reference numerals illustrate: 10-a motor controller; a 100-switch circuit; 110-a control unit; 120-a phase detection unit; 20-a motor controller; VCC-voltage source; IVCC-supply current; 200-a switching circuit; 210-a control unit; 220-a command unit; 230-a counting unit; 240-a comparison unit; 250-a phase detection unit; vex-external pwm signal; a Vc command signal; vo-output signal; vp pulse width modulation signal; a Vph phase signal; 201-a first transistor; 202-a second transistor; 203-a third transistor; 204-fourth transistors; c1-a first control signal; c2-a second control signal; c3_third control signal; c4-fourth control signal; an L-motor coil; o1-a first endpoint; o2-a second endpoint; GND-ground potential.
Detailed Description
The objects, features, and advantages of the present invention will become more apparent from the following description. Preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.
Fig. 3 is a schematic diagram of a motor controller 20 according to an embodiment of the invention. The motor controller 20 is used for driving a motor, wherein the motor has a motor coil L. The motor coil L has a first end O1 and a second end O2. The motor controller 20 has a switch circuit 200, a control unit 210, a command unit 220, a counting unit 230, a comparing unit 240 and a phase detecting unit 250. The switching circuit 200 is coupled to a voltage source VCC and the voltage source VCC generates a supply current IVCC to the switching circuit 200. The switching circuit 200 is used to provide a motor current to the motor coil L, wherein the motor current can be simulated to the supply current IVCC. The switching circuit 200 has a first transistor 201, a second transistor 202, a third transistor 203, and a fourth transistor 204. The first transistor 201 is coupled to the voltage source VCC and the first terminal O1, and the second transistor 202 is coupled to the first terminal O1 and a ground potential GND. The third transistor 203 is coupled to the voltage source VCC and the second terminal O2, and the fourth transistor 204 is coupled to the second terminal O2 and the ground potential GND. The first transistor 201, the second transistor 202, the third transistor 203 and the fourth transistor 204 may be a P-type metal oxide semiconductor transistor or an N-type metal oxide semiconductor transistor. In fig. 3, the first transistor 201 and the third transistor 203 are exemplified by two P-type mos transistors. The second transistor 202 and the fourth transistor 204 are two N-type mos transistors, for example.
The control unit 210 generates a first control signal C1, a second control signal C2, a third control signal C3 and a fourth control signal C4 for controlling the switching states of the first transistor 201, the second transistor 202, the third transistor 203 and the fourth transistor 204, respectively. The control unit 210 alternately provides power to the motor from a first driving mode and a second driving mode. In the first driving mode, the control unit 210 controls the first control signal C1 and the fourth control signal C4 to turn on the first transistor 201 and the fourth transistor 204. At this time, current flows from the voltage source VCC through the first transistor 201, the motor coil L, and the fourth transistor 204 in order, and in this mode, electric energy is transmitted to the motor. In the second driving mode, the control unit 210 is configured to turn on the second transistor 202 and the third transistor 203 by controlling the second control signal C2 and the third control signal C3. At this time, current flows from the voltage source VCC through the third transistor 203, the motor coil L, and the second transistor 202 in order, and in this mode, electric energy is transmitted to the motor. The motor can be operated normally by repeatedly switching between the first driving mode and the second driving mode.
The phase detecting unit 250 generates a phase signal Vph to the control unit 210 for informing the control unit 210 to switch the phase, wherein the phase detecting unit 250 may be a hall sensor or a back electromotive force detecting circuit. A hall sensor may be disposed near the motor to sense a change in the magnetic field of the motor. The motor controller 20 alternately switches between the first driving mode and the second driving mode to drive the motor according to the motor rotor position sensed by the hall sensor. The back electromotive force detection circuit is used for determining the switching phase by detecting the zero crossing point of the back electromotive force. The designer may choose to use hall sensors or back emf detection circuits to implement the phase detection unit 250 according to different motor configurations.
In addition, the phase detecting unit 250 further generates a phase signal Vph to the counting unit 230 for resetting the counting unit 230. The command unit 220 receives an external pwm signal Vex for generating a command signal Vc to the comparing unit 240. The counting unit 230 receives the phase signal Vph to generate an output signal Vo to the comparing unit 240. The comparing unit 240 generates a pwm signal Vp having a Duty Cycle (Duty Cycle) by comparing the command signal Vc with the output signal Vo to the control unit 210. The motor controller 20 of the present invention adopts a pulse width modulation technique to regulate the motor current, thereby achieving the purposes of saving electric energy and controlling the motor rotation speed. When the duty cycle approaches 1, it is indicated that the voltage source VCC delivers power to the motor in a near full load manner. When the duty cycle approaches 0, it means that the voltage source VCC only provides a small amount of power to the motor.
FIG. 4 is a timing diagram corresponding to the correlation signal of FIG. 3. Specifically, when the phase signal Vph is changed from a low level L to a high level H or from the high level H to the low level L, the counter unit 230 is reset, so that the output signal Vo has a fixed initial value after the phase is switched. Then the output signal Vo increases with time, and the command signal Vc is compared with the output signal Vo to obtain a desired duty cycle. Therefore, the pwm signal Vp also has a fixed duty cycle after switching phases. The control unit 210 outputs a first control signal C1, a second control signal C2, a third control signal C3 and a fourth control signal C4 in synchronization with the phase signal Vph according to the pulse width modulation signal Vp and the phase signal Vph. As shown in fig. 4, the voltage signal at the first terminal O1 and the voltage signal at the second terminal O2 are synchronized with the phase signal Vph, so that the supply current IVCC has a stable current waveform after phase switching, thereby achieving the purpose of stabilizing the motor current.
The comparison unit 240 of the present invention may be an analog comparator or a digital comparator. For example, when the comparing unit 240 is a digital comparator, the command signal Vc may be an N-bit digital command signal and the output signal Vo may be an N-bit digital output signal, where N≡1. The comparison unit 240 may obtain a desired duty cycle to control the motor speed by comparing the digital command signal of N bits with the digital output signal of N bits.
The motor controller 20 of the present invention may be applied to a single-phase motor or a multi-phase motor. Furthermore, the invention is applicable to an inductive actuator, such as a brushless motor, a direct current motor, a voice coil motor or an electromagnetic actuator. The motor controller 20 resets the counting unit 230 according to the phase signal Vph, so that a plurality of control signals are synchronized with the phase signal Vph to stabilize the motor current.
While the invention has been described by way of examples of preferred embodiments, it should be understood that: the invention is not limited to the embodiments disclosed herein. On the contrary, the present invention is intended to cover various modifications and similar arrangements apparent to those skilled in the art. Accordingly, the scope of protection is to be accorded the broadest interpretation so as to encompass all such modifications and similar arrangements.
The foregoing description is only of the preferred embodiments of the invention, and all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. A motor controller for driving a motor having a motor coil with a first end and a second end, the motor controller comprising:
a switch circuit for providing a motor current to the motor coil;
a control unit for generating a plurality of control signals to control the switch circuit;
a counting unit for generating an output signal;
a command unit for generating a command signal;
a comparing unit for comparing the command signal with the output signal to generate a pulse width modulation signal to the control unit, wherein the pulse width modulation signal has a duty cycle; and
the motor controller resets the counting unit according to the phase signal to achieve the purpose of stabilizing the motor current, and when the phase signal is changed from a low level to a high level or from the high level to the low level, the counting unit is reset and the output signal is caused to have a fixed initial value when the phase is switched.
2. The motor controller of claim 1 wherein a voltage signal at the first terminal and a voltage signal at the second terminal are synchronized with the phase signal.
3. The motor controller of claim 1, wherein the motor controller is applied to a single-phase motor or a multi-phase motor.
4. The motor controller of claim 1 wherein the comparison unit is a digital comparator.
5. The motor controller of claim 1 wherein the pwm signal has a fixed duty cycle after switching phases.
6. A motor controller for driving a motor having a motor coil with a first end and a second end, the motor controller comprising:
a switch circuit for providing a motor current to the motor coil;
a control unit for generating a plurality of control signals to control the switch circuit;
a counting unit for generating an output signal;
a command unit for generating a command signal;
a comparing unit for comparing the command signal with the output signal to generate a pulse width modulation signal to the control unit, wherein the pulse width modulation signal has a duty cycle; and
the motor controller resets the counting unit according to the phase signal, and the plurality of control signals are synchronous with the phase signal, when the phase signal is changed from a low level to a high level or from the high level to the low level, the counting unit is reset and the output signal has a fixed initial value when the phase is switched.
7. The motor controller of claim 6 wherein a voltage signal at the first terminal and a voltage signal at the second terminal are synchronized with the phase signal.
8. The motor controller of claim 6, wherein the motor controller is applied to a single-phase motor or a multi-phase motor.
9. The motor controller of claim 6 wherein the comparison unit is a digital comparator.
10. The motor controller of claim 6 wherein the pwm signal has a fixed duty cycle after switching phases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010943342.2A CN114172413B (en) | 2020-09-09 | 2020-09-09 | Motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010943342.2A CN114172413B (en) | 2020-09-09 | 2020-09-09 | Motor controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114172413A CN114172413A (en) | 2022-03-11 |
| CN114172413B true CN114172413B (en) | 2023-11-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010943342.2A Active CN114172413B (en) | 2020-09-09 | 2020-09-09 | Motor controller |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07308090A (en) * | 1994-05-11 | 1995-11-21 | Sony Corp | Phase correcting method for motor drive circuit |
| US5565753A (en) * | 1994-04-12 | 1996-10-15 | Allen-Bradley Company, Inc. | Method and apparatus for current rebalance in induction motor |
| JP2002165484A (en) * | 2000-11-27 | 2002-06-07 | Sharp Corp | Motor controller |
| CN101997464A (en) * | 2009-08-21 | 2011-03-30 | 台达电子工业股份有限公司 | Motor control device and method thereof |
| CN102195542A (en) * | 2010-03-09 | 2011-09-21 | 晶致半导体股份有限公司 | Direct current (DC) brushless motor driving system |
| JP2015177697A (en) * | 2014-03-17 | 2015-10-05 | 株式会社ミツバ | Driving device for brushless motor, and driving method |
| CN106712432A (en) * | 2015-11-18 | 2017-05-24 | 台达电子工业股份有限公司 | Single-phase DC brushless motor and output phase adjustment method thereof |
-
2020
- 2020-09-09 CN CN202010943342.2A patent/CN114172413B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5565753A (en) * | 1994-04-12 | 1996-10-15 | Allen-Bradley Company, Inc. | Method and apparatus for current rebalance in induction motor |
| JPH07308090A (en) * | 1994-05-11 | 1995-11-21 | Sony Corp | Phase correcting method for motor drive circuit |
| JP2002165484A (en) * | 2000-11-27 | 2002-06-07 | Sharp Corp | Motor controller |
| CN101997464A (en) * | 2009-08-21 | 2011-03-30 | 台达电子工业股份有限公司 | Motor control device and method thereof |
| CN102195542A (en) * | 2010-03-09 | 2011-09-21 | 晶致半导体股份有限公司 | Direct current (DC) brushless motor driving system |
| JP2015177697A (en) * | 2014-03-17 | 2015-10-05 | 株式会社ミツバ | Driving device for brushless motor, and driving method |
| CN106712432A (en) * | 2015-11-18 | 2017-05-24 | 台达电子工业股份有限公司 | Single-phase DC brushless motor and output phase adjustment method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 一种新型直线压电马达驱动器;张明辉,杜志江,曲东升,孙立宁;压电与声光(第04期);第286-288页 * |
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| Publication number | Publication date |
|---|---|
| CN114172413A (en) | 2022-03-11 |
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