CN114257144B - Motor controller - Google Patents
Motor controller Download PDFInfo
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- CN114257144B CN114257144B CN202011002034.6A CN202011002034A CN114257144B CN 114257144 B CN114257144 B CN 114257144B CN 202011002034 A CN202011002034 A CN 202011002034A CN 114257144 B CN114257144 B CN 114257144B
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- terminal
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- motor
- coupled
- motor controller
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
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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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
Abstract
A motor controller reduces motor noise by detecting a zero point of a motor current. The motor controller has a switch circuit, a pre-driver, a phase detection unit, a control unit, a comparator, a first resistor and a second resistor. The switching circuit is an H-bridge circuit. The switch circuit has a first upper switch, a second upper switch, a first lower switch and a second lower switch. When the motor controller executes the last pulse width modulation driving on the first lower switch before the phase change, the second upper switch is closed and the first lower switch is kept on so as to be beneficial to detecting the zero point of the motor current.
Description
Technical Field
The present invention relates to a motor controller, and more particularly, to a motor controller for reducing motor noise by detecting a zero point of a 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, a phase detection unit 120 and a resistor R. The switching circuit 100 is coupled to a terminal VCC and a terminal S. Resistor R is coupled to terminal S and terminal GND, where terminal S can be coupled to a sense pin. The switching circuit 100 has a transistor 101, a transistor 102, a transistor 103, and a transistor 104 for providing a motor current IL to the motor coil L. The transistors 101 and 103 are each a P-type mos transistor, and the transistors 102 and 104 are each an N-type mos transistor. 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 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 transistor 101, the transistor 102, the transistor 103 and the transistor 104, respectively. However, the motor is affected by the back electromotive force during rotation, so that a residual motor current IL remains during phase switching, and mechanical noise is generated during rotation of the motor. The prior art can reduce mechanical noise by detecting the zero point of the motor current IL to control the motor current IL at the subsequent phase switching.
When the motor controller 10 drives the motor using the pwm technique, the driving mode may be an N-type pwm mode or a P-type pwm mode. Fig. 2 is a timing diagram corresponding to the relevant signals of fig. 1 in the P-type pwm mode. Please refer to fig. 1 and fig. 2 at the same time. When the P-type pwm mode is selected to drive the motor, the first control signal C1 and the third control signal C3 are respectively a pwm signal for alternately controlling the switching of the transistors 101 and 103, so as to achieve the purpose of adjusting the motor speed. However, the disadvantage of this P-type pwm mode is that the driving method is less easy to design. The advantage is that when the zero point of the motor current IL is detected at the time point T1, the zero point of the motor current IL can be determined by comparing the voltage at the end point S, and the detection method is simpler. FIG. 3 is a timing diagram corresponding to the related signals of FIG. 1 in the N-type PWM mode. Please refer to fig. 1 and fig. 3 at the same time. When the N-type pwm mode is selected to drive the motor, the second control signal C2 and the fourth control signal C4 are respectively a pwm signal for alternately controlling the switching conditions of the transistor 102 and the transistor 104, so as to achieve the purpose of adjusting the motor rotation speed. The advantage of this N-type PWM mode is that the driving method is easier to design. However, when detecting the zero point of the motor current IL at the time point T2, the zero point of the motor current IL needs to be determined by comparing the voltage at the end point VCC, and the detection method is complex. Therefore, how to use the advantages of the two driving modes is an important issue to be solved.
Disclosure of Invention
In view of the foregoing, it is an object of the present invention to provide a motor controller capable of reducing motor noise by detecting a zero point of a 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 pre-driver, a phase detection unit, a control unit, a comparator, a first resistor and a second resistor. The switching circuit is coupled to a terminal VCC and a terminal S. The first resistor is coupled to the terminal S and a terminal GND, wherein the terminal S is coupled to a sense pin. The switching circuit has a first transistor, a second transistor, a third transistor and a fourth transistor for providing a motor current to the motor coil. In addition, the switch circuit is an H-bridge circuit. The first transistor and the third transistor are respectively an upper switch and the second transistor and the fourth transistor are respectively a lower switch. The first transistor may be a first upper switch. The second transistor may be a first lower side switch. The third transistor may be a second upper side switch. The fourth transistor may be a second lower side switch. The phase detection unit generates a phase signal to the control unit for informing the control unit to switch the phase. The control unit receives the phase signal and a detection signal for generating a control signal to the pre-driver. The pre-driver is used for generating a plurality of driving signals to control the switch circuit according to the control signal.
The motor controller turns off an upper switch and maintains on a lower switch to detect a zero point of the motor current when performing the last pulse width modulation driving for the lower switch before commutation. The comparator can be used for generating the detection signal to the control unit to detect the zero point of the motor current by comparing the voltage of the first terminal with the voltage of the terminal S. The comparator can also be used for generating the detection signal to the control unit to detect the zero point of the motor current by comparing the voltage of the second terminal with the voltage of the terminal S.
Drawings
Fig. 1 is a schematic diagram of a conventional motor controller.
FIG. 2 is a timing diagram corresponding to the related signals of FIG. 1 in a P-type PWM mode.
FIG. 3 is a timing diagram corresponding to the related signals of FIG. 1 in an N-type PWM mode.
Fig. 4 is a schematic diagram of a motor controller according to an embodiment of the invention.
FIG. 5 is a timing diagram of an embodiment of the present invention.
Reference numerals illustrate: 10-a motor controller; a 100-switch circuit; 101,102,103, 104-transistors; c1-a first control signal; c2-a second control signal; c3_third control signal; c4-fourth control signal; 110-a control unit; 120-a phase detection unit; 20-a motor controller; VCC-endpoint; GND-end point; 200-a switching circuit; 210-pre-driver; 220-a phase detection unit; 230-a control unit; 240-a comparator; r1-a first resistor; r2-a second resistor; vph-phase signal; vc-control signal; vd-detect signal; 201-a first transistor; 202-a second transistor; 203-a third transistor; 204-fourth transistors; d1—a first drive signal; d2—a second drive signal; d3—a third drive signal; d4—fourth drive signal; an L-motor coil; IL-motor current; s-end points; o1-a first endpoint; o2-a second endpoint; t1, T2, T3, T5-time points; t4-phase change time point.
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. 4 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 pre-driver 210, a phase detection unit 220, a control unit 230, a comparator 240, a first resistor R1 and a second resistor R2. The switching circuit 100 is coupled to a terminal VCC and a terminal S. The first resistor R1 is coupled to a terminal S and a terminal GND, wherein the terminal S can be coupled to a sensing pin. The switching circuit 200 has a first transistor 201, a second transistor 202, a third transistor 203 and a fourth transistor 204 for providing a motor current IL to the motor coil L. The first transistor 201 is coupled to the terminal VCC and the first terminal O1, and the second transistor 202 is coupled to the first terminal O1 and the terminal S. The third transistor 203 is coupled to the terminal VCC and the second terminal O2, and the fourth transistor 204 is coupled to the second terminal O2 and the terminal S. The first transistor 201 and the third transistor 203 may be a pmos transistor respectively and the second transistor 202 and the fourth transistor 204 may be an nmos transistor respectively. In addition, the switching circuit 200 is an H-bridge circuit. The first transistor 201 and the third transistor 203 are respectively an upper switch and the second transistor 202 and the fourth transistor 204 are respectively a lower switch. The first transistor 201 may be a first upper side switch. The second transistor 202 may be a first lower side switch. The third transistor 203 may be a second upper side switch. The fourth transistor 204 may be a second lower side switch. The phase detecting unit 220 generates a phase signal Vph to the control unit 230 for informing the control unit 230 to switch the phase. The control unit 230 receives the phase signal Vph and a detection signal Vd for generating a control signal Vc to the pre-driver 210. The pre-driver 210 generates a first driving signal D1, a second driving signal D2, a third driving signal D3 and a fourth driving signal D4 according to the control signal Vc for controlling the switching states of the first transistor 201, the second transistor 202, the third transistor 203 and the fourth transistor 204, respectively.
Specifically, the driving mode selection according to an embodiment of the present invention uses an N-type pwm mode to drive the motor. That is, the second driving signal D2 and the fourth driving signal D4 are respectively a pwm signal for controlling the switching of the second transistor 202 and the fourth transistor 204 in an exchange manner, so as to achieve the purpose of adjusting the motor rotation speed. Fig. 5 is a timing diagram of an embodiment of the present invention, wherein T4 is a commutation time point. Please refer to fig. 4 and fig. 5 simultaneously. When the motor controller 20 performs the last pwm driving on the second transistor 202 before the commutation, the second driving signal D2 is at a high level H and the third driving signal D3 is at a low level L, so as to turn on the second transistor 202 and the third transistor 203. After a predetermined time, the third driving signal D3 is changed from the low level L to the high level H to turn off the third transistor 203, and the second transistor 202 is kept on until the commutation time point T4, so that the motor current IL flows back through the second transistor 202. When the motor current IL decreases to 0, the voltage at the second terminal O2 increases from a negative level to a positive level. Therefore, the zero point of the motor current IL can be detected at the time point T3 by comparing the voltage at the second terminal O2 with the voltage at the terminal S. Similarly, according to the same operation method, when the motor is operated in the next phase, the zero point of the motor current IL can be detected by comparing the voltage at the first terminal O1 with the voltage at the terminal S. Through the above analysis, the comparator 240 can be designed to detect the zero point of the motor current IL. The comparator 240 has a first input terminal coupled to the terminal S and a second input terminal coupled to the first terminal O1 or the second terminal O2 via a second resistor R2, so as to generate the detection signal Vd for detecting the zero point of the motor current IL, wherein the second resistor R2 is a current limiting resistor. When the second input terminal of the comparator 240 is coupled to the first terminal O1 through the second resistor R2, the comparator 240 generates the detection signal Vd to the control unit 230 by comparing the voltage at the first terminal O1 with the voltage at the terminal S. When the second input terminal of the comparator 240 is coupled to the second terminal O2 through the second resistor R2, the comparator 240 generates the detection signal Vd to the control unit 230 by comparing the voltage of the second terminal O2 with the voltage of the terminal S.
When the motor controller 20 switches the phase at the commutation time point T4, the second transistor 202 is turned off and the fourth transistor 204 is turned on to start the operation of the next phase. After the first transistor 201 is turned on at the time point T5, the fourth driving signal D4 is used to control the switching condition of the fourth transistor 204, so as to achieve the purpose of adjusting the motor rotation speed.
The motor controller 20 of one embodiment of the present invention may be applied to a single-phase brushless DC motor. An embodiment of the invention uses an N-type PWM mode to drive the motor, and turns off an upper switch and maintains conduction of a lower switch to facilitate detection of the zero point of the motor current IL when the last PWM drive is performed on the lower switch before commutation. The motor controller 20 may detect the zero point of the motor current IL by comparing the voltage at the first terminal O1 with the voltage at the terminal S. The motor controller 20 may also detect the zero point of the motor current IL by comparing the voltage at the second terminal O2 with the voltage at the terminal S. Thus, the motor controller 20 captures the advantages of the N PWM mode and the P PWM mode. In addition, after detecting the zero point of the motor current IL, the motor current IL during the subsequent phase switching can be controlled to reduce noise and improve efficiency.
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 (6)
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, wherein the switch circuit has a first upper switch, a second upper switch, a first lower switch and a second lower switch; a pre-driver for generating a plurality of driving signals to control the switch circuit; and a control unit for generating a control signal to the pre-driver, wherein when the motor controller performs the last pulse width modulation driving on the first lower switch before commutation, the second upper switch is turned off and keeps on the first lower switch, the first upper switch is coupled to a third terminal and the first terminal, the first lower switch is coupled to the first terminal and a fourth terminal, the second upper switch is coupled to the third terminal and the second terminal, the second lower switch is coupled to the second terminal and the fourth terminal, and the motor controller detects a zero point of the motor current by comparing the voltage of the first terminal and the voltage of the fourth terminal.
2. 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, wherein the switch circuit has a first upper switch, a second upper switch, a first lower switch and a second lower switch; a pre-driver for generating a plurality of driving signals to control the switch circuit; and a control unit for generating a control signal to the pre-driver, wherein when the motor controller performs the last pulse width modulation driving on the first lower switch before commutation, the second upper switch is turned off and keeps on the first lower switch, the first upper switch is coupled to a third terminal and the first terminal, the first lower switch is coupled to the first terminal and a fourth terminal, the second upper switch is coupled to the third terminal and the second terminal, the second lower switch is coupled to the second terminal and the fourth terminal, and the motor controller detects a zero point of the motor current by comparing the voltage of the second terminal and the voltage of the fourth terminal.
3. 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, wherein the switch circuit has a first upper switch, a second upper switch, a first lower switch and a second lower switch, the first upper switch is coupled to a third terminal and the first terminal, the first lower switch is coupled to the first terminal and a fourth terminal, the second upper switch is coupled to the third terminal and the second terminal, and the second lower switch is coupled to the second terminal and the fourth terminal;
a pre-driver for generating a plurality of driving signals to control the switch circuit;
a control unit for generating a control signal to the pre-driver;
a phase detection unit for generating a phase signal to the control unit;
a first resistor coupled to the fourth terminal and a fifth terminal; and
and a comparator coupled to the first and fourth terminals for generating a detection signal to the control unit, wherein the second upper switch is turned off and the first lower switch is kept turned on when the motor controller performs the last PWM driving on the first lower switch before the commutation.
4. The motor controller of claim 3 further comprising a second resistor, the comparator coupled to the first terminal via the second resistor.
5. The motor controller of claim 3 wherein the first lower switch is maintained on until a commutation time point.
6. A motor controller according to claim 3, wherein the motor controller is applied to a single phase brushless dc motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011002034.6A CN114257144B (en) | 2020-09-22 | 2020-09-22 | Motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011002034.6A CN114257144B (en) | 2020-09-22 | 2020-09-22 | Motor controller |
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| Publication Number | Publication Date |
|---|---|
| CN114257144A CN114257144A (en) | 2022-03-29 |
| CN114257144B true CN114257144B (en) | 2023-08-11 |
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| CN202011002034.6A Active CN114257144B (en) | 2020-09-22 | 2020-09-22 | Motor controller |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6384553B1 (en) * | 2000-12-27 | 2002-05-07 | Universal Scientific Industrial Co., Ltd. | Current control method and device for a motor that is operable in a generator mode |
| 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 |
| CN102931894A (en) * | 2011-08-12 | 2013-02-13 | 立锜科技股份有限公司 | Method and device for dynamically adjusting dead time of brushless DC motor during phase change |
| CN103825508A (en) * | 2014-03-20 | 2014-05-28 | 绍兴光大芯业微电子有限公司 | Circuit structure and method for realizing low-noise and high-efficiency motor driven soft commutation control |
| CN107493046A (en) * | 2017-08-30 | 2017-12-19 | 广东工业大学 | A kind of three ring moulds fuzzy control methods and system for driving washing machine brshless DC motor |
| CN109428535A (en) * | 2017-08-30 | 2019-03-05 | 精工爱普生株式会社 | Motor-drive circuit, semiconductor device and electronic equipment |
-
2020
- 2020-09-22 CN CN202011002034.6A patent/CN114257144B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6384553B1 (en) * | 2000-12-27 | 2002-05-07 | Universal Scientific Industrial Co., Ltd. | Current control method and device for a motor that is operable in a generator mode |
| 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 |
| CN102931894A (en) * | 2011-08-12 | 2013-02-13 | 立锜科技股份有限公司 | Method and device for dynamically adjusting dead time of brushless DC motor during phase change |
| CN103825508A (en) * | 2014-03-20 | 2014-05-28 | 绍兴光大芯业微电子有限公司 | Circuit structure and method for realizing low-noise and high-efficiency motor driven soft commutation control |
| CN107493046A (en) * | 2017-08-30 | 2017-12-19 | 广东工业大学 | A kind of three ring moulds fuzzy control methods and system for driving washing machine brshless DC motor |
| CN109428535A (en) * | 2017-08-30 | 2019-03-05 | 精工爱普生株式会社 | Motor-drive circuit, semiconductor device and electronic equipment |
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| Publication number | Publication date |
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| CN114257144A (en) | 2022-03-29 |
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