CN114865818A - High-efficiency full-phase drive brushless motor and driver circuit - Google Patents

Abstract

The invention provides a high-efficiency full-phase drive brushless motor and a driver circuit, wherein the drive circuit is used for simultaneously electrifying and driving all windings during each drive, so that the power of the motor is improved, and the defect that the efficiency is reduced due to electric energy loss caused by that a certain number of armature teeth in the traditional brushless motor are subjected to the fact that a south pole is generated by one phase of winding and a north pole is generated by the other phase of winding at the same time is avoided. The winding mode of the stator coil is that the coil of the same phase winding is wound between two adjacent tooth slots of a single armature tooth. Because all the phase windings are driven simultaneously, the utilization rate of the winding coils is maximized, and the power density of the motor is increased. All north and south poles of the magnetic rotor containing the permanent magnets are driven at every driving so that the torque and power of the rotor are increased, and high electric energy driving efficiency and high power density are realized. The method has wide application prospect in places such as new energy vehicles and unmanned aerial vehicles, which are interested in energy efficiency and power.

Description

High-efficiency full-phase drive brushless motor and driver circuit

The invention discloses a high-efficiency full-phase drive 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 driver circuit, and is a typical electromechanical integration 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 density of the brushless motor is also an important requirement. In a traditional brushless motor, a large number of winding modes 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 output power and the utilization rate of the winding coils, a star connection method and a 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 due to different physical positions of the two-phase coils, when two groups of coils are energized and driven simultaneously, magnetism generated by each armature tooth is distributed according to a magnetic pole of south-south without north-south without south-south without, and the 'none' actually generates south poles at the armature teeth at the moment when one group of coils are energized and driven simultaneously, and meanwhile, the other group of coils generate north poles at the armature teeth to offset each other, so that the electric energy is actually wasted, the performance of the electric motor is reduced, and the electric loss is called as electric loss; the magnetic loss due to the leakage of magnetic force between the armature teeth is also considered to be significant.

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, reduce the electrical loss and the magnetic loss, thereby improving 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 high-efficiency full-phase driving brushless motor, the stator coils of the windings of the brushless motor are wound between two adjacent tooth slots of a single armature tooth, all phases are driven simultaneously, each south pole and each north pole of the rotor are also driven simultaneously, the torque is increased, all the windings of all the phases are driven at each driving moment, the driving power is increased, the winding coil utilization rate is improved, and therefore the high-efficiency full-phase driving brushless motor and the driver circuit are named.

The rotor of the high-efficiency full-phase drive brushless motor winding is a cylindrical magnetic material cylinder which is radially filled with permanent magnetism in an outer stator wound with a coil when in an inner rotor structure, the cylinder can also be formed by embedding a permanent magnet 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 high-efficiency full-phase driving brushless motor of the invention drives the rotor containing the permanent magnet in a way that all windings of the stator coil are electrified, for the three-phase high-efficiency full-phase driving brushless motor, the three-phase coil is electrified in each driving state, the rotor is driven to rotate by one tooth position, the three-phase coil is electrified in the next driving state (but the electrifying direction is different from that of the previous time), the rotor is driven to rotate by one tooth position, the steps are repeated, thus the rotation of the rotor is formed, and all south poles and north poles on the rotor are driven in each driving.

The driver circuit of the high-efficiency full-phase driving brushless motor consists of a PWM pulse width modulator capable of adjusting and controlling the rotating speed, a duty ratio regulator, an OR gate circuit for carrying out multi-phase driving and an H bridge type power driver (generally a high-power MOS (metal oxide semiconductor) tube or an IGBT (insulated gate bipolar transistor) composite full-control type voltage driving type power semiconductor device module) for driving winding coils of all phases.

Drawings

Fig. 1 is a schematic diagram of a stator structure of a high-efficiency full-phase driving brushless motor (taking inner rotor three-phase 4-pole and 12-slot winding as an example), M1 is a stator armature, 1 to 12 are armature teeth of the stator, H1, H2 and H3 are magnetic position sensors with latched hall elements, and other methods can also be adopted, T1+ and T1-are respectively the starting end and the terminating end of an L1 phase winding, T2+ and T2-are respectively the starting end and the terminating end of an L2 phase winding, T3+ and T3-are respectively the starting end and the terminating end of an L3 phase winding, and arrows on the lines of the inner windings of the stator indicate the winding directions of the windings on the armature teeth.

Fig. 2 to 7 show the operation intentions of the high-efficiency full-phase brushless motor according to the present invention in various driving states (three-phase 4-pole inner rotor, 12-slot outer stator, and six-phase driving state), M2 is a permanent-magnet inner rotor, S1, S2 are south poles of the permanent-magnet inner rotor, and N1, N2 are north poles of the permanent-magnet inner rotor. M1 is the outer stator armature around which the coil is wound, the arrow on the stator winding wire indicates the direction of current flow at that time for the winding, and S and N outside the armature teeth indicate the north and south poles generated at that tooth in the drive state; h1, H2, H3 are magnetic position sensors constituted by hall elements, which output a low level when a south pole is close and have a latch function, and which output a high level when a north pole is close.

Fig. 8 and 9 are schematic diagrams of a driver circuit of the present invention constituted by conventional elements (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. 9 is a push-back driving circuit, specifically, a driving circuit in which a winding to be currently driven is added with a winding in the immediately past driving state and a winding in the next driving state are driven together, and when the current driving state is L1, the driving circuit is added with a winding L3 and a winding L2; fig. 8 shows a push-forward driving circuit, specifically, the current driving state is the driving state in which the winding to be driven is added with the next two windings to be driven, and if the current driving state is the driving state of L1, the driving state is the driving state in which the winding L1 is added with the winding L2 and the winding L3; 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 reference to fig. 8 push-forward driving circuit.

Fig. 10 is a schematic diagram of an H-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. 11 is a control circuit diagram which can control two phases to six phases using an STM32F103VET6 microcontroller MCU.

Fig. 12 is a schematic diagram of winding between two adjacent slots of a single armature tooth according to the present invention (inner rotor three-phase 4 pole, outer stator 12 slot is taken as an example), 1 to 12 are armature teeth of the stator, H1, H2, H3 are magnetic position sensors, T1+ and T1-are respectively the start end and the end of the winding of T1 phase, T2+ and T2-are respectively the start end and the end of the winding of T2 phase, T3+ and T3-are respectively the start end and the end of the winding of T3 phase, and the arrows on the lines of the windings in the stator indicate the winding directions of the windings in the armature teeth.

Fig. 13 is a schematic diagram of winding between two adjacent slots of a single armature tooth when two-phase four-pole eight slots are used, 1 to 8 are armature teeth of a stator, H1, H2, H3, H4 are magnetic position sensors, T1+ and T1-are respectively the starting end and the terminating end of the winding of the T1 phase, T2+ and T2-are respectively the starting end and the terminating end of the winding of the T2 phase, and arrows on the winding line in the stator indicate the winding direction of each winding on the armature tooth.

Fig. 14 is a circuit diagram of an H-bridge type power driving part of a two-phase high-efficiency all-phase driving brushless motor driving circuit.

Fig. 15 to 18 are four driving state diagrams of a two-phase high-efficiency all-phase driving brushless motor.

Fig. 19 is a stator structure diagram in the case where two phases are connected in parallel to form one-phase winding after winding in the double-slot state where the integer K is equal to 2, where the number of slots of the stator armature of the high-efficiency full-phase driving brushless motor is equal to 2 times the number of the south and north magnetic poles of the permanent magnet rotor multiplied by the number of phases, and the two-phase two-magnetic pole case where two phases are connected in parallel to form one-phase winding after winding, where an arrow on a line in the diagram indicates the winding direction.

Fig. 20 is a structural diagram of a stator in a double slot state, when the integer K is equal to 2, two adjacent armature teeth are connected in series by the same phase winding and wound in the same direction (taking two phases and two poles as an example), and an arrow on the line in the figure indicates the winding direction.

Fig. 21 is a schematic diagram of the present invention in which windings are wound between two adjacent slots of a single armature tooth when eight slots are formed with four phases and two poles, 1 to 8 are armature teeth of a stator, and H1 to H8 are magnetic position sensors.

Fig. 22 is a circuit diagram of an H-bridge type power driving portion of a four-phase high-efficiency all-phase driving brushless motor driving circuit.

Fig. 23 to 30 are eight driving state diagrams of a four-phase high-efficiency all-phase driving brushless motor.

Fig. 31 is a schematic diagram of the present invention winding between two adjacent slots of a single armature tooth when ten slots are formed with five-phase two-poles, 1 to 10 are armature teeth of a stator, and H1 to H10 are magnetic position sensors.

Fig. 32 is a circuit diagram of an H-bridge type power driving portion of a five-phase high-efficiency full-phase driving brushless motor driving circuit.

Fig. 33 to 35 are schematic views of the present invention winding between two adjacent slots of a single armature tooth in a six-phase two-pole twelve-slot configuration, with 1 to 12 being the armature teeth of the stator and H1 to H12 being magnetic position sensors.

Fig. 36 and 37 are circuit diagrams of an H-bridge power driving portion of a six-phase high-efficiency all-phase driving brushless motor driving circuit.

In the above structure, Tx + and Tx-represent the start and end ends of the Lx phase winding, respectively, and the arrows on the winding wire represent the winding directions of the respective windings at the armature teeth.

Fig. 38 is a structural schematic diagram of an outer rotor high-efficiency full-phase driving brushless motor (taking three-phase 4-pole and 12-slot as an example, a winding method of winding with a single armature tooth), where M2 is a permanent magnet outer rotor, M1 is an inner stator armature of a winding coil, 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 the armature tooth on a stator when an L1-phase winding is energized at a certain time, VS and VN are south and north poles generated by the armature tooth on the stator when an L2-phase winding is energized at another time, WS and WN are south and north poles generated by the armature tooth on the stator when an L3-phase winding is energized at different times, and H1, H2, and H3 are magnetic 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.

Detailed Description

The number of the stator slots of the efficient full-phase driving brushless motor is multiple of the number of the north and south magnetic poles of the permanent magnet rotor multiplied by the number of phases. When the multiple K is 1. Taking a three-phase winding, two pairs of 4 magnetic poles are taken as an example, the number of the slots is equal to 3 multiplied by 4 magnetic poles, and 12 slots are taken as the number of the slots; if six pairs of 12 poles are used, 36 slots are used; when the multiple K is 2. Taking a three-phase winding, two pairs of 4 poles are taken as an example, the number of the slots is equal to 3 multiplied by 4 poles, 12 slots multiplied by 2 is equal to 24 slots; if six pairs of 12 poles are used, 72 slots are used.

In the conventional brushless motor, a large number of winding coils are wound across armature teeth, for example, most of the brushless motors with three-phase windings are wound across two armature teeth, in order to improve the output power and the winding coil utilization rate, the star connection method and the delta connection method of the three-phase alternating current motor are almost adopted, the magnetic field generated at each armature tooth during the energization driving of two groups of coils is distributed according to the magnetic poles of south-south without north-south without south-south without north-south due to the difference of the physical positions of the two-phase coils, and the 'none' in the two-phase coils is actually that one group of windings generates south poles at the armature teeth, and the other group of windings generates north poles at the armature teeth to offset each other, so that the waste of electric energy, namely the electric energy loss is generated. In order to avoid the defect, the stator coil of the high-efficiency full-phase drive brushless motor winding 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 the two side slots of the single armature tooth, so that the winding has the advantage of reducing magnetic energy loss caused by magnetic leakage, namely the magnetic loss (only copper loss and iron loss are always existed in the traditional motor theory, and actually, the electric loss and the magnetic loss also exist). Taking a three-phase winding as an example, a winding of one phase (L1 phase) is wound around the armature tooth 1 in one slot (slot 1) and an adjacent slot (slot 2), after the required number of turns is reached, a winding of the next phase (L2 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 next phase (L3 phase) is wound around the armature tooth 3 in the slot (slot 3) and the next slot (slot 4), after the required number of turns is reached, the next group of coils of the next phase (L3 phase) is wound, and then the next group of coils of the respective phase windings L1, L2 and L3 (for the three-phase case) are wound in opposite directions, so that the winding directions of the adjacent two coils of the same phase winding are kept opposite until the winding is completed, and the same winding manner is also used for motors with more N phases. Two ends of each phase winding are respectively connected to respective H bridge type power driving devices on the high-efficiency full-phase driving brushless motor driver.

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.

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.

In the brushless motor, for the rotor with permanent magnet, the magnetic pole position on the rotor is usually detected by hall element, or the rotor shaft is equipped with a disk with holes and matched with photoelectric element for detection, or the rotor shaft is equipped with rotary transformer for detection, which are the detection techniques commonly used for the magnetic pole position on the rotor of permanent magnet in the brushless motor. Namely, the hall element is also classified into three modes of latch with and without latch and linear characteristics.

For the sake of understanding, the operation principle and specific implementation of the full-phase driving will be described below with reference to fig. 1 to fig. 10, first, with reference to a conventional hall element with latch, and with reference to a push-forward driving circuit composed of conventional elements in fig. 8 (the implementation formed by a microcontroller MCU will be described later):

when the SW1 rotation/stop switch is in the off (rotation) state, one of the input terminals of each of U13 to U18 is in the high state.

Arrows on the stator outer terminal above fig. 2 to 7 indicate the directions in which the currents flow in the respective driving states, respectively.

In the present invention, signals H1, H2, and H3 are generated for the magnetic position sensor of the high-efficiency full-phase driving brushless motor with three phases in fig. 8, and are inputted to the 3-wire 8-wire decoder IC2 through the inverter IC1, respectively, and the signals X1 to X6 are given with a level, and when the given level is high H, the following Y1 to Y6 are correspondingly driven.

Drive circuit referring to fig. 8 and 10, the following is described in connection with fig. 2 to 7 for the respective drive states:

driving state 1: when one of the south poles S1 of the permanent magnet rotor is near the armature teeth 3 and the hall element H1 as in fig. 2, the outputs of H1, H2, H3 are L, H; the outputs from the output terminal X1 of the decoder IC2 to X6 are H, L make Y1, Y2, Y3 high level, the high level output from Y1 is divided into two branches, one branch is connected to the triode Q1 to make it conductive, so that the photocoupler IC5 is connected through SH1 to drive the IGBT of T1 to be conductive, the other branch is connected to the PWM signal phase of variable duty ratio output from U13 and IC3 of high level signal and then outputs the PWM drive signal SL1 to the fet driver of IC8 to drive the IGBT of T4 to be conductive, the power supply + V flows through T1+ winding to T1 through T1-then flows to ground through T4, the current direction is T1 to T4, and south pole S is generated on armature teeth 1 and 7 in fig. 2; driving south poles S1 and S2 on the rotor, respectively, producing north poles N on the armature teeth 4 and 10; driving north poles N1 and N2 on the rotor, respectively; the high level output by the Y2 is divided into two paths, one path is connected to the triode Q2 to conduct the triode, so that the photoelectric coupler IC9 is conducted through SH2 to drive the IGBT of the T5 to conduct, the other path of high level signal is connected with the PWM signal phase with variable duty ratio output by the IC3 at U14, and the PWM signal phase with variable duty ratio output by the IC3 is connected with the field effect transistor driver of the rear output PWM drive signal SL2 to the IC12 to drive the IGBT of the T8 to conduct, a power supply + V flows through a T2+ winding through T5 to a T2-and then flows to the ground through T8, the current direction is from T5 to T8, and a south pole S is generated on the armature teeth 2 and 8 in the picture 2; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 5 and 11; also driving north poles N1, and N2 on the rotor, respectively; the high level output by the third Y3 is divided into two paths, one path is conducted to a triode Q3, so that a photoelectric coupler IC13 is conducted through SH3 to drive the IGBT of the T9 to be conducted, the other path of high level signal is conducted between the PWM signal phase with the variable duty ratio output by U15 and IC3 and the field effect transistor driver of the later output PWM drive signal SL3 to IC16 to drive the IGBT of the T12 to be conducted, a power supply + V flows through a T3+ winding to T3 through T9 and then flows to the ground through T12, the current direction is from T9 to T12, and a south pole S is generated on the armature teeth 3 and 9 in the picture 2; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on the armature teeth 6 and 12; also driving north poles N1, and N2 on the rotor, respectively. The south S generated by the stator drives the south pole on the rotor and attracts the north pole on the rotor to rotate forwards; the generated north N drives the north pole on the rotor together 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. 3 rotates to the vicinity of the armature tooth 4, the outputs of H1, H2 and H3 are L, L and H; the outputs from the output terminal X1 to X6 of the decoder IC2 are L H, L, so that Y2, Y3, and Y4 are high level, the high level output from Y2 is divided into two paths, one path of the high level signal is connected to the triode Q2 to make it conductive, so that the photocoupler IC9 is connected through SH2 to drive the IGBT of T5 to be conductive, the other path of the high level signal is connected between the PWM signal phase of variable duty ratio output from U14 and IC3 and then outputs the PWM drive signal SL2 to IC12 fet driver to drive the IGBT of T8 to be conductive, the power supply + V flows through T2+ winding through T5 to T2-then through T8 to ground, the current direction is T5 to T8, and south pole S is generated on armature teeth 2 and 8 in fig. 3; driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 5 and 11; driving north poles N1 and N2 on the rotor, respectively; the high level output by the Y3 is divided into two paths, one path is connected to the triode Q3 to conduct the triode, so that the photoelectric coupler IC13 is conducted through SH3 to drive the IGBT of the T9 to conduct, the other path of high level signal is connected with the PWM signal phase with variable duty ratio output by the IC3 at U15, and the PWM signal phase with variable duty ratio output by the IC3 is connected with the field effect transistor driver of the rear output PWM drive signal SL3 to the IC16 to drive the IGBT of the T12 to conduct, a power supply + V flows through a T3+ winding through T9 to a T3-and then flows to the ground through T12, the current direction is from T9 to T12, and a south pole S is generated on the armature teeth 3 and 9 in the picture 3; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on the armature teeth 6 and 12; also driving north poles N2, and N1 on the rotor, respectively; the high level output by the third Y4 is divided into two paths, one path is connected to the triode Q4 to conduct it, so that the photocoupler IC7 is conducted through SH4 to drive the IGBT of T3 to conduct, the other path of high level signal is connected with the PWM signal phase with variable duty ratio output by IC3 at U16, and then outputs the PWM drive signal SL4 to the fet driver of IC6 to drive the IGBT of T2 to conduct, the power supply + V flows through T1-winding through T3 to T1+ and then goes to ground through T2, the current direction is from T3 to T2, and south pole S is generated on the armature teeth 4 and 10 in fig. 3; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 7 and 1; also driving north poles N1, and N2 on the rotor, respectively. The south S generated by the stator drives the south pole on the rotor and attracts the north pole on the rotor to rotate forwards; the generated north N drives the north pole on the rotor together and attracts the south pole on the rotor to rotate forwards; and rotating the rotor by one armature tooth position to complete the second driving state.

Driving state 3: after the second driving state, when the south pole S1 of the rotor rotates to the vicinity of the armature tooth 5 in fig. 4, the outputs of H1, H2 and H3 are H, L and H; the outputs from the output terminal X1 of the decoder IC2 to X6 are L, H, L, so that Y3, Y4, and Y5 are high level, the high level output from Y3 is divided into two paths, one path is connected to the triode Q3 to turn on it, so that the photocoupler IC13 is turned on through SH3 to drive the IGBT of T9 to turn on, the other path of high level signal given by U9 is phase-anded with the PWM signal of variable duty ratio output from U15 and IC3 to output the PWM drive signal SL3 to the fet driver of IC16 to drive the IGBT of T12 to turn on, the power supply + V flows through T3+ winding through T9 to T3-then to ground through T12, the current direction is T9 to T12, and south pole S is generated on armature teeth 3 and 9 in fig. 4; driving south poles S1 and S2 on the rotor, respectively, producing north poles N on the armature teeth 6 and 12; driving north poles N2 and N1 on the rotor, respectively; the high level output by the Y4 is divided into two paths, one path is connected to the triode Q4 to make it conduct, so that the photoelectric coupler IC7 is conducted through SH4 to drive the IGBT of the T3 to conduct, the other path of high level signal is connected with the PWM signal phase with variable duty ratio output by the IC3 at U16, and the PWM signal phase with variable duty ratio output by the IC3 is connected with the field effect transistor driver of the rear output PWM drive signal SL4 to IC6 to drive the IGBT of the T2 to conduct, a power supply + V flows through a T1-winding through T3 to a T1+ and then flows to the ground through T2, the current direction is from T3 to T2, and a south pole S is generated on the armature teeth 4 and 10 in FIG. 4; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 7 and 1; also driving north poles N2 and N1 on the rotor, respectively; the high level output by the third Y5 is divided into two paths, one path is conducted to a triode Q5, so that a photoelectric coupler IC11 is conducted through SH5 to drive the IGBT of the T7 to be conducted, the other path of high level signal is conducted between the PWM signal phase with the variable duty ratio output by U17 and IC3 and the field effect transistor driver of the later output PWM drive signal SL5 to IC10 to drive the IGBT of the T6 to be conducted, a power supply + V flows through a T2-winding through T7 to a T2+ and then flows through T6 to the ground, the current direction is from T7 to T6, and a south pole S is generated on armature teeth 5 and 11 in FIG. 4; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 8 and 2; also driving north poles N1, and N2 on the rotor, respectively. The south S generated by the stator drives the south pole on the rotor and attracts the north pole on the rotor to rotate forwards; the generated north N drives the north pole on the rotor together and attracts 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, as shown in fig. 5, the south pole S1 of the rotor rotates to the vicinity of the armature tooth 6, and the outputs of H1, H2 and H3 are H, L and L; the outputs from the output terminal X1 of the decoder IC2 to X6 are L, H, L, which make Y4, Y5, Y6 high level, the high level output from Y4 is divided into two branches, one branch is connected to the triode Q4 to make it conductive, so that the photocoupler IC7 is connected through SH4 to drive the IGBT of T3 to be conductive, the other branch is connected to the PWM signal phase of variable duty ratio output from U16 and IC3 of high level signal, and then outputs the PWM driving signal SL4 to the field effect transistor driver of IC6 to drive the IGBT of T2 to be conductive, the power supply + V flows through T1-winding through T3 to T1+ and then to ground through T2, the current direction is T3 to T2, and south pole S is generated on the armature teeth 4 and 10 in fig. 5; driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 7 and 1; driving north poles N2 and N1 on the rotor, respectively; the high level output by the Y5 is divided into two paths, one path is connected to the triode Q5 to make it conductive, so that the photoelectric coupler IC11 is conducted through SH5 to drive the IGBT of the T7 to conduct, the other path of high level signal is connected between the PWM signal phase of variable duty ratio output by the U17 and the IC3 and the field effect transistor driver of the rear output PWM drive signal SL5 to the IC10 to drive the IGBT of the T6 to conduct, the power supply + V flows through the T2-winding through the T7 to the T2+ and then flows through the T6 to the ground, the current direction is from T7 to T6, and the south pole S is generated on the armature teeth 5 and 11 in fig. 5; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 8 and 2; also driving north poles N2 and N1 on the rotor, respectively; the high level output by the third Y6 is divided into two paths, one path is conducted to a triode Q6, so that a photoelectric coupler IC15 is conducted through SH6 to drive the IGBT of the T11 to be conducted, the other path of high level signal is conducted between the PWM signal phase with the variable duty ratio output by U18 and IC3 and the field effect transistor driver of the later output PWM drive signal SL6 to IC14 to drive the IGBT of the T10 to be conducted, a power supply + V flows through a T3-winding through T11 to a T3+ and then flows through T10 to the ground, the current direction is from T11 to T10, and a south pole S is generated on armature teeth 6 and 12 in the graph 5; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 9 and 3; also driving north poles N1, and N2 on the rotor, respectively. The south S generated by the stator drives the south pole on the rotor and attracts the north pole on the rotor to rotate forwards; the generated north N drives the north pole on the rotor together 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, as shown in fig. 6, the south pole S1 of the rotor rotates to the vicinity of the armature tooth 7, and the outputs of H1, H2 and H3 are H, H and L; the outputs from the output terminal X1 of the decoder IC2 to X6 are L, H, L enable Y5, Y6, Y1 to be high level, the high level output from Y5 is divided into two paths, one path is connected to the triode Q5 to enable it to be conducted, so that the photocoupler IC11 is conducted through SH5 to drive the IGBT of T7 to be conducted, the other path is connected between the PWM signal phase of variable duty ratio output from U17 and IC3 and then outputs the PWM drive signal SL5 to the field effect transistor driver of IC10 to drive the IGBT of T6 to be conducted, the power supply + V flows through T2-winding through T7 to T2+ and then to ground through T6, the current direction is T7 to T6, and south pole S is generated on the armature teeth 5 and 11 in fig. 6; driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 8 and 2; driving north poles N2 and N1 on the rotor, respectively; the high level output by the Y6 is divided into two paths, one path is connected to the triode Q6 to make it conductive, so that the photoelectric coupler IC5 is conducted through SH6 to drive the IGBT of the T11 to conduct, the other path of high level signal is connected between the PWM signal phase of variable duty ratio output by the U18 and the IC3 and the field effect transistor driver of the rear output PWM drive signal SL6 to the IC14 to drive the IGBT of the T10 to conduct, the power supply + V flows through the T3-winding through the T11 to the T3+ and then flows through the T10 to the ground, the current direction is from T11 to T10, and the south pole S is generated on the armature teeth 6 and 12 in fig. 6; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 9 and 3; also driving north poles N2 and N1 on the rotor, respectively; the high level output by the third Y1 is divided into two paths, one path is connected to the triode Q1 to conduct it, so that the photocoupler IC5 is conducted through SH1 to drive the IGBT of T1 to conduct, the other path of high level signal is connected with the PWM signal phase with variable duty ratio output by IC3 at U13, and then outputs the PWM drive signal SL1 to the fet driver of IC8 to drive the IGBT of T4 to conduct, the power supply + V flows through T1+ winding through T1 to T1-then flows through T4 to ground, the current direction is from T1 to T4, and south pole S is generated on armature teeth 7 and 1 in fig. 6; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 10 and 4; also driving north poles N1, and N2 on the rotor, respectively. The south S generated by the stator drives the south pole on the rotor and attracts the north pole on the rotor to rotate forwards; the generated north N drives the north pole on the rotor together and attracts the south pole on the rotor to rotate forwards; and rotating the rotor by one armature tooth position to complete the fifth driving state.

Driving state 6: after the fifth driving state, as the south pole S1 of the rotor rotates to the vicinity of the armature tooth 8 in fig. 7, the outputs of H1, H2 and H3 are L, H and L; the outputs from the output terminal X1 of the decoder IC2 to X6 are L, H, so that Y6, Y1, and Y2 are high level, the high level output from Y6 is divided into two branches, one branch is connected to the triode Q6 to turn on it, so that the photocoupler IC15 is turned on through SH6 to drive the IGBT of T11 to turn on, the other branch is connected to the PWM signal phase of variable duty ratio output from U18 and IC3, and then outputs the PWM drive signal SL6 to the field effect transistor driver of IC14 to drive the IGBT of T10 to turn on, the power supply + V flows through T3-winding through T11 to T3+ and then to ground through T10, the current direction is T11 to T10, and south pole S is generated on the armature teeth 6 and 12 in fig. 7; driving south poles S1, and S2 on the rotor, respectively, producing north poles N on armature teeth 9 and 3; driving north poles N2 and N1 on the rotor, respectively; the high level output by the Y1 is divided into two paths, one path is connected to the triode Q1 to conduct the triode, so that the photoelectric coupler IC5 is conducted through SH1 to drive the IGBT of the T1 to conduct, the other path of high level signal is connected with the PWM signal phase with variable duty ratio output by the IC3 at U13, and the PWM signal phase with variable duty ratio output by the IC3 is connected with the field effect transistor driver of the rear output PWM drive signal SL1 to the IC8 to drive the IGBT of the T4 to conduct, a power supply + V flows through a T1+ winding through T1 to a T1 and then flows through the T4 to the ground, the current direction is from T1 to T4, and a south pole S is generated on the armature teeth 7 and 1 in the picture 7; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 10 and 4; also driving north poles N2 and N1 on the rotor, respectively; the high level output by the third Y2 is divided into two paths, one path is conducted to a triode Q2, so that a photoelectric coupler IC9 is conducted through SH2 to drive the IGBT of the T5 to be conducted, the other path of high level signal is conducted between the PWM signal phase with the variable duty ratio output by U14 and IC3 and the field effect transistor driver phase of the later output PWM drive signal SL2 to IC12 to drive the IGBT of the T8 to be conducted, a power supply + V flows through a T2+ winding to T2 through T5 and then flows to the ground through T8, the current direction is from T5 to T8, and a south pole S is generated on the armature teeth 8 and 2 in the graph 6; also driving south poles S1 and S2 on the rotor, respectively, producing north poles N on armature teeth 11 and 5; also driving north poles N1 and N2 on the rotor, respectively. The south S generated by the stator drives the south pole on the rotor and attracts the north pole on the rotor to rotate forwards; the generated north N drives the north pole on the rotor together and attracts 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 motor is in the driving state 6, the south pole S2 on the rotor reaches the south pole position S1 on the graph 2, the process from the driving state1 to the driving state 6 is repeated backwards, the continuous operation of the motor rotor is formed, each driving state is that all stator coils are provided with armature teeth of driving current and simultaneously drive all the south poles and the north poles on the rotor, all phase windings are powered on to participate in the work, the use efficiency of the coils reaches 100%, and the power density of the motor is the maximum from the driving mode.

When the stall switch SW1 is turned on, the outputs X1 to X6 of the IC2 are all at low level, so that Q1 to Q6 are all turned off, so that SH1 to SH6 are all turned off, meanwhile, one input ends of U13 to U18 are at low level, and the outputs of SL1 to SL6 are all at low level, so that the MOS/IGBT drivers of T1 to T12 are all in off state, and the motor stalls.

In fig. 8 and 9, 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. 8 and 9 is a frequency adjuster of the pulse width modulation signal, and V2 adjusts the duty ratio of the pulse width modulation signal to adjust the rotation speed of the motor rotor.

Fig. 10 shows a circuit formed by H-bridge power drivers for a three-phase high-efficiency full-phase brushless motor according to the present invention, which comprises a left arm formed by two sets of serially connected composite full-control power semiconductor devices and an H-bridge power driver formed by a right arm formed by another two sets of serially connected composite full-control power semiconductor devices, wherein the start end and the end of each phase winding are connected to the midpoint of the left arm and the right arm of the H-bridge power driver, the upper and lower control ends of the left arm and the right arm of each set of H-bridge power drivers are controlled by 4 different signals, and the power drivers may also be high-power MOS field effect transistors.

Due to the development of society, many circuits originally composed of common electronic components CAN be realized by a microcontroller MCU, and many MCUs have a Pulse Width Modulation (PWM) function and various buses such as a USB bus, a CAN bus and the like, and CAN be applied by referring to the description file when in use, namely, a series of microcontroller MCUs such as STM32F103 and the like produced by semiconductor corporation. Fig. 11 shows a control circuit diagram which is composed of STM32F103VET6 microcontroller and can control two-phase to six-phase, wherein output signals of hall magnetic sensors H1 to H12 are input to I/O port of IC1 microcontroller MCU, output port output SL1 to SL12 of IC1 microcontroller with PWM function output pulse with PWM, and output signals SH1 to SH12 (active high) of IC1 microcontroller MCU, so that the function of circuit composed of ordinary electronic components as in fig. 8 can be realized, and various communication interfaces (not shown in the figure for clarity) are provided. In the IC4 portion of fig. 11, power supply + VH, which is about 15V higher than power supply + V, is generated from MC1555 and peripheral components for supplying to the photocoupler as in fig. 8. In fig. 11, SW1 is a forward/reverse switch, SW2 is an operation/stop switch, and V1 is a potentiometer for adjusting the rotation speed.

In the research and development process, the Hall magnetic position sensor with the latch often causes the rotor rotating paths in each driving state to be different due to different qualities, some driving state-rotating rotors rotate a little angle to enter the next driving state, and some driving state-rotating rotors rotate a larger angle to enter the next driving state. The Hall magnetic position sensor without the latch usually enables the rotating distance of the rotor to be basically the same under each driving state due to the fixed position of the Hall magnetic position sensor, and the Hall magnetic position sensor has similar effects to that a disc provided with a hole on a rotor rotating shaft is matched with a photoelectric element for detection and a rotary transformer for detection. Fig. 12 shows the winding method of a three-phase 4-pole 12-slot motor with a single armature tooth winding and the mounting configuration of six hall magnetic position sensors without latches.

Both the two ways of the hall magnetic position sensor with latch and the hall magnetic position sensor without latch (respectively, the photoelectric position sensor with latch and the photoelectric position sensor without latch can be adopted, and the resolver sensor with latch and the resolver position sensor without latch can be adopted), which can be applied to a controller made of a microcontroller MCU, only the hexadecimal values (inverses) input to the microcontroller MCU for representing the magnetic pole states are different, and the two are not fundamentally different, for example, the hexadecimal values (inverses) given by the hall magnetic position sensor with latch in fig. 8 are respectively 0x06, 0x04, 0x05, 0x01, 0x03 and 0x 02; whereas the hexadecimal (bar) correspondence given by the hall magnetic position sensor without latch in fig. 12 would be 0x3e, 0x3d, 0x3b, 0x37, 0x2f, 0x1 f. Applied in fig. 11 (the hall element not used is not connected, and the corresponding output is all grounded), only the state determination code needs to be replaced in the program, as in the first state:

the latched hall magnetic position sensor gives a hexadecimal value of 0x06

case 0x06：//state 1：

TIM1-＞CCR1＝gt_pwm.pwm_curr_arr；//PE9

TIM1-＞CCR2＝gt_pwm.pwm_curr_arr；//PE11

TIM1-＞CCR3＝gt_pwm.pwm_curr_arr；//PE13

TIM1-＞CCR4＝0；//PE14

TIM4-＞CCR1＝0；//PD12

TIM4-＞CCR2＝0；//PD13

PD8＝H；PD9＝H；PD10＝H；PA8＝L；PA9＝L；PA10＝L；//IO

break；

The corresponding hall magnetic position sensor without latch gives a hexadecimal value of 0x3e, case0x 06: // state1 as case0x3 e: // state 1. This state causes PD8, PD9, PD10 to output high level, and PE9, PE11, PE13 to output pulse with PWM, so that T1, T4 is turned on in fig. 10, and current flows through winding L1 from T1+ to T1-direction; t5, T8 is conducted, and current flows through the winding L2 from T2+ to T2-; t9, T12 is turned on and current flows through winding L3 from T3+ to T3-.

It should be noted that, because the magnetic field patterns generated by the specific rotor are different, some magnetic pole patterns of the rotor are saddle-shaped, and in order to keep the interaction force of the magnetic fields of the stator and the rotor in a good angular relationship to enable the operation to be smooth, the specific position of the hall magnetic position sensor has a certain displacement, which is determined by experiments of the specific motor.

The following description of the two-phase to six-phase efficient full-phase driving brushless motor work implementation in combination with a microcontroller MCU and a hall magnetic position sensor without a latch:

fig. 13 shows the winding method of winding single armature teeth of a high-efficiency full-phase driving brushless motor with two four-pole 8-slot phases, M1 is a stator armature, 1 to 8 are armature teeth of a stator, H1, H2, H3 and H4 are hall element magnetic position sensors without latch, T1+ and T1 are respectively the starting end and the terminating end of an L1 phase winding, T2+ and T2 are respectively the starting end and the terminating end of an L2 phase winding, and arrows on winding lines in the stator indicate the winding directions of the windings on the armature teeth. The driving mode of each driving period of the two groups of winding coils is formed by combining the following 4 driving states (arrows on the lines of fig. 15 to 18 indicate the current directions):

in the state1 (fig. 15) of driving, the hall element magnetic position sensors H1, H2, H3, H4 output L, H with hexadecimal value 0E, IC1 output PD8 ═ H and PD9 ═ H in fig. 11, so that SH1 and SH2 are at low level, and T1 and T5 in fig. 14 are turned on; in FIG. 11, the output terminals PE9 and PE11 of the IC1 output PWM waves containing pulse width modulation to SL1, SL2 turns on T4 and T8 in FIG. 14, so that the current of the power supply + V flows to T1+ to T1-, and T2+ to T2-; armature tooth 1 armature tooth 2 produces south pole S and armature tooth 3 armature tooth 4 produces north pole N, driving rotor south pole S1 (other armature teeth and rotor pole relationships are also shown in fig. 15) so that the rotor rotates one armature tooth position into drive state 2 as shown in fig. 16.

In the driving state 2 (fig. 16), the hall element magnetic position sensors H1, H2, H3, H4 output H, L, H whose hexadecimal value is 0x0D, the IC1 in fig. 11 outputs PD9 ═ H and PD10 ═ H, so that SH2 and SH3 are at low level, and T5 and T3 in fig. 14 are turned on; in FIG. 11, the output terminals PE11 and PE13 of the IC1 output PWM waves containing pulse width modulation to SL2, SL3 turns on T2 and T8 in FIG. 14, so that the current of the power supply + V flows to T2+ to T2-, and T1-to T1 +; armature teeth 2 armature teeth 3 produce south poles S and armature teeth 4 armature teeth 5 produce north poles N, driving rotor south poles S1 (the other armature teeth and rotor pole relationship is also shown in fig. 16) so that the rotor rotates one armature tooth position into the drive state 3 shown in fig. 17.

In the driving state 3 (fig. 17), the hall element magnetic position sensors H1, H2, H3, H4 output H, L, H with hexadecimal value 0x0B, IC1 in fig. 11 outputs PD10 ═ H, PA8 ═ H, SH3, SH4 are at low level, T3, T7 in fig. 14 are turned on; the output end PE13 and PE14 of the IC1 in FIG. 11 output PWM waves containing pulse width modulation to SL3, SL4 turns on T2 and T6 in FIG. 14, and the current of the power supply + V flows to T1-T1 + and T2-T2 +; armature teeth 3 armature teeth 4 produce south poles S and armature teeth 5 armature teeth 6 produce north poles N, driving rotor south poles S1 (other armature teeth and rotor pole relationships are also shown in fig. 17) so that the rotor rotates one armature tooth position into the drive state 4 shown in fig. 18.

In the state 4 (fig. 18), the hall element magnetic position sensors H1, H2, H3, H4 output H, L with hexadecimal value 0x07, IC1 in fig. 11 outputs PA8 ═ H and PD8 ═ H (set by programming), so that SH4, SH1 are at low level, and T7, T1 in fig. 14 are turned on; the output terminals PE14, PE9 (set by programming) of the IC1 in fig. 11 output PWM waves with pulse width modulation to SL4, SL1 turns on T6, T4 in fig. 14, and the current of the power supply + V flows to T2-to T2+, T1+ to T1-; armature teeth 4 armature teeth 5 produce south poles S and armature teeth 6 armature teeth 7 produce north poles N, driving rotor upper south poles S1 to rotate (other armature teeth and rotor pole relationships are also shown in fig. 18) causing the rotor to rotate one armature tooth position into drive state1 as shown in fig. 15 (S1 is replaced by S2 only), thus completing one complete drive cycle.

In order to increase the power density of the motor, people also increase the number of slots by one time to wind more wires, when the number of slots is increased by one time and the integer K is equal to 2, the number of slots of a stator armature of the efficient full-phase driving brushless motor is equal to the number of the sum of north and south magnetic poles of a permanent magnet rotor multiplied by 2 times of the number of phases, when each phase winding is wound and then two phases are connected in parallel to form one phase winding, as shown in fig. 19 (taking two phases and two magnetic poles as an example), two adjacent coils of the same phase winding of the stator are wound to opposite directions and the number of phases wound at intervals is reduced by one armature tooth number; when two adjacent armature teeth are wound in series and in the same direction as the same phase winding, as shown in fig. 20 (taking two-phase two-magnet as an example), the two armature teeth are considered to be one electric driving tooth, the coils of the two adjacent electric driving teeth of the same phase winding of the stator are wound in opposite directions and are separated by the number of electric driving teeth minus one, the same phase winding is wound between two adjacent tooth slots of a single armature tooth, then the coils of the next phase winding are wound between two adjacent tooth slots of the next adjacent armature tooth in the same manner to form one electric driving tooth number, after the number of electric driving teeth minus one, the next coil of the phase winding is wound on the two armature teeth in the opposite manner to the winding direction of the previous coil, and the method is repeated until the coils on the armature teeth of the stator are wound completely, and the arrow on the winding of fig. 19 and 20 represents the winding direction. The multi-phase high-efficiency full-phase driving brushless motor is also wound according to one of the two modes, and the relationship between the number of magnetic poles of the permanent magnet rotor 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 sum of north and south magnetic poles of the permanent magnet rotor multiplied by the number of phases multiplied by an integer K, the number of phases is more than or equal to 2, and the integer K is more than or equal to 1. For example, when K is 2, the three-phase 8-phase highly efficient full-phase driving brushless motor has a stator armature slot number equal to 8X3X 2-48 slots.

In the above, we describe the winding and driving of the high-efficiency full-phase driving brushless motor with the number of phases of two and three, and in the following, we describe the four-, five-, and six-phase high-efficiency full-phase driving brushless motor.

Fig. 21 shows the winding and latch-free magnetic position sensor for a high-efficiency all-phase brushless motor with four phases of two poles, where the arrows on the line in the figure indicate the winding direction, T1+ and T1-are the start and tail ends of the first phase winding L1, T2+ and T2-are the start and tail ends of the second phase winding L2, T3+ and T3-are the start and tail ends of the third phase winding L3, and T4+ and T4-are the start and tail ends of the fourth phase winding L4.

The following is described in conjunction with fig. 11 and 22:

when the state1 is driven (fig. 23), H1, H2, H3, H4, H5, H6, H7, and H8 in fig. 11 output L, H, and the PD8, PD9, PD10, and PA8 of IC1 output H at high level, SH1, SH2, SH3, and SH3 output L at low level, T3, and T3 in fig. 22 are turned on, PE 3 of IC3 output PWM wave, T3, and L3, L3 are turned on, the current flow direction is T3+ to T3-, T3+ to T3+ to drive the rotor to rotate by one hour.

When the state 2 is driven (fig. 24), H output in fig. 11 is H, L, H, and PD, PA output in IC is H high, SH are L low, T in fig. 22 are turned on, PE, PD output PWM wave in IC is T, T in fig. 22 is turned on, winding L, L is energized, and current flows in T + to T-, T + to T-, T-to T +, and drives rotor to rotate counterclockwise to the next position 25.

When the state 3 is driven (fig. 25), H output in fig. 11 is H, L, H, and PD, PA output in IC is H high, SH are L low, T in fig. 22 are turned on, PE, PD output PWM wave, T in fig. 22 are turned on, winding L, L is energized, and the current flow is T + to T-, T-to T +, and the rotor is driven to rotate counterclockwise to the next position 26.

When the state 4 is driven (fig. 26), H output in fig. 11 is H, L, H, and PA, PC of IC output H high level, SH low level L, T in fig. 22 are turned on, PE, PD of IC output PWM wave, T in fig. 22 are turned on, winding L, L is energized with current flow T + to T-, T-to T + driving rotor to rotate counterclockwise to the next position map 27.

In the driving state 5 (FIG. 27), the output H, H, H, H, H, H, H, H in FIG. 11 is H, H, H, H, and PA, PA, PC, PC of the IC is high level H, SH, SH, SH are low level L, T, T in FIG. 22 is turned on, PD, PD, PD of the IC is turned on, PWM wave is output, T, T, T in FIG. 22 is turned on, windings L, L, L are energized, and the current flow direction is T-to T +, and the rotor is driven to rotate counterclockwise to the next position 28.

When the state 6 is driven (FIG. 28), the output of H, H, H, H, H, H, H, H in FIG. 11 is H, H, H, H, H, L, H, H, H, and PA, PC, PC, PD of IC is high level H, SH, SH, SH are low level L, T, T in FIG. 22 is turned on, PD, PD, PE of IC is turned on, T, T, T in FIG. 22 is turned on, the windings L, L, L are energized, and the current flow direction is T-to T +, T + to T-, and T + to T-, to drive the rotor to rotate counterclockwise to the next position 29.

In the state 7 (FIG. 29), the output of H, H, H, H, H, H, H, H in FIG. 11 is H, H, H, H, H, H, L, H, and PC, PD, PD of IC is high level H, SH, SH, SH are low level L, T, T in FIG. 22 is turned on, PD, PE, PE of IC is turned on, T, T, T in FIG. 22 is turned on, the windings L, L, L are energized, and the current flows from T-to T +, T + to T-, and T + to T-, driving the rotor to rotate counterclockwise to the next position 30.

In the driving state 8 (fig. 30), H output in fig. 11 is H, L, and PC, PD of IC is high level H, SH are low level L, T in fig. 22 is turned on, PD, PE of IC outputs PWM wave, T in fig. 22 is turned on, winding L, L is energized, and the current flow is T-to T +, T + to T-, drives rotor to rotate counterclockwise to the next position 23.

Through the above driving state1 to the driving state 8, a total of 8 driving states, the rotor completes one rotation.

Describing the four-phase structure of the high-efficiency full-phase driving brushless motor and the driver circuit in detail, for a five-phase high-efficiency full-phase driving brushless motor with five phases, there is a similar structure in that only one phase winding is added, fig. 31 shows the way of winding and magnetic position sensor without latch for a high-efficiency full-phase driving brushless motor with five phases of two poles, the arrows on the graph lines are to indicate the direction of winding, T1+ and T1 are respectively the starting end and the ending end of the first phase winding L1, T2+ and T2 are respectively the starting end and the ending end of the second phase winding L2, T3+ and T3 are respectively the starting end and the ending end of the third phase winding L3, T4+ and T4 are respectively the starting end and the ending end of the fourth phase winding L4, and T5+ and T5 are respectively the starting end and the ending end of the fifth phase winding L5. The driving mode of the high-efficiency full-phase driving brushless motor with five phases in each driving period is combined by the following 10 driving states and is described below with reference to fig. 11 and 32:

when the state1 is driven, H, H, H, H, H output is L, H, H, H, H, H, H, H, H and H output of PD, PD, PD, PA and PA of IC is high level H, SH, SH, SH and SH are low level L, T, T, T, T and T are conducted in FIG. 32, PE, PE and PD of IC outputs PWM wave, T, T, T, T, T and T are conducted in FIG. 32, winding L, L, L, L, L and L are electrified, and current flows from T + to T-, T + to T-, and T + to T-, to T + to T-, and drives the rotor to rotate anticlockwise to the next position.

In the state 2, H output is H, L, H in fig. 11, while PD, PA output of IC is H at high level, SH is L at low level, T of fig. 32 is turned on, PE, PD of IC outputs PWM wave, T of fig. 32 is turned on, winding L, L is energized, and current flows in T + to T-, T-to T +, and drives rotor to rotate counterclockwise to the next position.

In the state 3, the outputs of H, H, H, H, H, H, H, H, H, H and H in FIG. 11 are H, H, L, H, H, H, H, H and the outputs of PD, PA, PA, PA and PC in IC are high level H, SH, SH, SH and SH are low level L, T, T, T, T and T in FIG. 32 are conducted, PE, PD, PD and PD in IC output PWM waves, T, T, T, T and T in FIG. 32 are conducted, windings L, L, L, L, L and L are electrified, and the current flows from T + to T, T + to T-, T-to T +, and T-to T +, driving the rotor to rotate counterclockwise to the next position.

In driving state 4, H output H, H of fig. 11, PA, PC output H of IC is high level H, SH is low level L, T of fig. 32 is on, PE, PD of IC outputs PWM wave, T of fig. 32 is on, winding L, L is on, current flow is T + to T-, T-to T +, drives rotor to rotate counterclockwise to the next position.

In the state 5, the outputs of H, H, H, H, H, H are H, H, H, H, L, H, H, H, H in FIG. 11, and the outputs of PA, PA, PC, PC of IC are high level H, SH, SH, SH, SH are low level L, T, T, T, T, T and T in FIG. 32 are conducted, PD, PD, PC of IC outputs PWM wave, T, T, T, T, T and T in FIG. 32 are conducted, winding L, L, L, L, L, L and L are electrified, and the current flows from T + to T-, T-to T +, and drives the rotor to rotate counterclockwise to the next position.

In driving state 6, H, H, H, H, H output in FIG. 11 is H, H, H, H, H, L, H, H, H, and PA, PC, PC, PD output in IC is high level H, SH, SH, SH, SH are low level L, T, T, T are on in FIG. 32, PD, PD, PC, PC of IC output PWM wave, T, T, T are on in FIG. 32, winding L, L, L, L are energized, and current flow direction is T-to T +, and drives rotor to rotate counterclockwise to the next position.

In the state 7, the outputs of H, H, H, H, H, H, H, H, H, H are H, H, H, H, H, H, H, H in FIG. 11, and the outputs of PC, PC, PC, PD, PD of IC are high level H, SH, SH, SH are low level L, T, T, T, T, T and T in FIG. 32 are conducted, PD, PD, PC, PC, PE of IC output PWM wave, T, T, T and T in FIG. 32 are conducted, winding L, L, L, L, L, L and L are electrified, and the current flows are T-to T +, T + to T-, and T + to T-, to drive the rotor to rotate counterclockwise to the next position.

In the driving state 8, H, H, H, H, H, H, H, H, H output is H, H, H, H, H, and PC, PC, PD, PD, PD output is H of high level, SH, SH, SH are L of low level, T, T, T are conducted in FIG. 32, PD, PC, PE of IC output PWM wave, T, T, T, T are conducted in FIG. 32, winding L, L, L, L are electrified, and the current flow direction is T-to T +, T + to T-, and drives rotor to rotate counterclockwise to the next position.

In the driving state 9, H output in fig. 11 is H, and PC, PD output in high level H, SH is low level L, T, and T in fig. 32 are turned on, PC, PE of IC output PWM wave, T in fig. 32 are turned on, winding L, L are energized, and the current flow direction is T-to T +, T + to T-, drives rotor to rotate counterclockwise to the next position.

In the state 10, the outputs of H, H, H, H, H, H are H, H, H, H, H, H, H, H, L in FIG. 11, and the outputs of PD, PD, PD, PD, PA of IC are high level H, SH, SH, SH, SH are low level L, T, T, T in FIG. 32 are conducted, PC, PE, PE of IC outputs PWM wave, T, T, T and T in FIG. 32 are conducted, the windings L, L, L, L are electrified, the current flow direction is T-to T +, T + to T-, and T + to T-, driving the rotor to rotate counterclockwise to the next position.

Through the above driving state1 to the driving state 10, 10 driving states are total, and the rotor completes one rotation.

For a six-phase high-efficiency full-phase-drive brushless motor, which has a similar structure with only one phase winding more than five phases, fig. 33 shows the winding and the manner of the magnetic position sensor without latch of a two-pole six-phase high-efficiency full-phase-drive brushless motor, arrows on the line in the figure indicate the winding direction, T1+ and T1-are the starting end and the ending end of the first phase winding L1, T2+ and T2-are the starting end and the ending end of the second phase winding L2, T3+ and T3-are the starting end and the ending end of the third phase winding L3, T4+ and T4-are the starting end and the ending end of the fourth phase winding L4, T5+ and T5-are the starting end and the ending end of the fifth phase winding L5, and T6+ and T6-are the starting end and the ending end of the sixth phase winding L6, respectively. In order to clearly show the winding of the two-pole six-phase high-efficiency full-phase driving brushless motor, winding diagrams of windings L1, L3, L5 and windings L2, L4 and L6 are respectively shown in a partially-illustrated manner in fig. 34 and fig. 35. The driving method of the six-phase high-efficiency full-phase driving brushless motor for each driving cycle is combined by the following 12 driving states, and is described in conjunction with fig. 11 and fig. 36, fig. 37:

when the state1 is driven, H, H, H, H, H, H, H, H, H, H output is L, H, H, H, H, H, H, H, H, H, H, and PD, PD, PA, PA, PA output is high level H, SH, SH, SH, SH, SH are low level L, T, T, T are conducted in FIG. 36, PE, PE, PE, PD, PD output PWM wave, T, T, T, T are conducted in FIG. 36, T + to T-, and rotor rotates reversely to the next position.

In the state 2, the outputs of H, H, H, H, H, H, H, H, H, H in FIG. 11 are H, L, H, H, H, H, H, H, H, and the outputs of PD, PD, PA, PA, PA, PC of IC are high level H, SH, SH, SH, SH, SH are low level L, T, T, T are conducted in FIG. 36, PE, PE, PD, PD, PD output PWM waves, T, T, T, T, T are conducted in FIG. 37, windings L, L, L, L are powered on, the current flows from T + to T-, T + to T +, and T + drive the rotor to rotate backwards to the next position.

In the state 3, the output of H, H, H, H, H, H, H, H in FIG. 11 is H, H, L, H, H, H, H, H, H, H, and the output of PD, PA, PA, PA, PC, PC of IC is high level H, SH, SH, SH are low level L, T, T, T are conducted in FIG. 36, PE, PD, PD, PD output PWM wave, T, T, T, T, T are conducted in FIG. 36, winding L, L, L, L, L are conducted, the current flow direction is T + to T, T + to T-, T-to T +, and T + drive the rotor to rotate counterclockwise to the next position.

In the state 4, the output of H, H, H, H, H, H, H, H, H in FIG. 11 is H, H, H, L, H, H, H, H, H, H, and PA, PA, PA, PC, PC, PC of IC are high level H, SH, SH, SH are low level L, T, T, T are conducted in FIG. 36, PE, PD, PD, PD, PC of IC output PWM wave, T, T, T are conducted in FIG. 36, winding L, L, L, L, L, L are electrified, the current flow direction is T + to T-, T-to T +, T + to T +, and T + are driven to rotate the rotor counterclockwise to the next position.

In the state 5, the output of H, H, H, H, H, H, H, H, H, H in FIG. 11 is H, H, H, H, L, H, H, H, H, H, and PA, PA, PC, PC, PC, PD of IC is high level H, SH, SH, SH are low level L, T, T, T are conducted in FIG. 36, PD, PD, PC, PC of IC output PWM wave, T, T, T, T are conducted in FIG. 37, winding L, L, L, L, L, L are electrified, the current flow direction is T + to T-, T-to T +, T + to T +, and T + are driven to rotate the rotor counterclockwise to the next position.

In the state 6, the output of H, H, H, H, H, H, H, H, H, H in FIG. 11 is H, H, H, H, H, L, H, H, H, H, and the output of PA, PC, PC, PC, PD, PD of IC is high level H, SH, SH, SH, SH, SH are low level L, T, T, T are conducted in FIG. 36, and PD, PD, PC, PC of IC outputs PWM wave, and T, T, T, T, T, T are conducted in FIG. 36, and the windings L, L, L, L, L are electrified, and the current flow direction is T + to T-, T-to T +, T + to T +, and T + drives the rotor to rotate counterclockwise to the next position.

In the state 7, the output of H, H, H, H, H, H, H, H, H in FIG. 11 is H, H, H, H, H, H, H, L, H, H, H, and the output of PC, PC, PD, PD of IC is high level H, SH, SH, SH, SH, SH are low level L, T, T, T are conducted in FIG. 36 and FIG. 37, and the output of PD, PC, PC, PC, PC outputs PWM wave, and the output of T, T, T, T, T, T are conducted in FIG. 36 and the windings L, L, L, L, L are electrified, and the current flow direction is T-to T +, T + drives the rotor to rotate counterclockwise to the next position.

In driving state 8, H, H, H, H, H, H, H, H, H, H output in FIG. 11 is H, H, H, H, H, H, H, H, H, and PC, PD, PD, PD, PD output in high level H, SH, SH, SH, SH, SH are low level L, T, T, T are on in FIG. 36, and PD, PC, PC, PC, PE of IC output PWM wave, and T, T, T, T are on, windings L, L, L, L, L, L are on in FIG. 36, and the current flow direction is T-to T +, T + to T-, and T-, drive rotor to rotate counterclockwise to the next position.

In the state 9, the output of H, H, H, H, H, H, H, H, H in FIG. 11 is H, H, H, H, H, H, H, H, and the output of PC, PD, PD, PD, PD of IC is high level H, SH, SH, SH, SH, SH is low level L, T, T, T1.T5 in FIG. 36 is conducted, PC, PC, PC, PE of IC outputs PWM wave, T, T, T, T in FIG. 36 is conducted, winding L, L, L, L in FIG. 37 is electrified, the current flow direction is T-to T +, T + to T-, and drives the rotor to rotate counterclockwise to the next position.

In the state 10, the output of H, H, H, H, H, H, H, H, H in FIG. 11 is H, H, H, H, H, H, H, H, H, and the output of PD, PD, PD, PD, PD of IC is high level H, SH, SH, SH, SH, SH is low level L, T, T, T, T, T1.T5, T in FIG. 36 is conducted, PC, PC, PE, PE of IC outputs PWM wave, T, T, T, T, T in FIG. 36 is conducted, winding L, L, L, L, L, L is electrified, the current flow direction is T-to T +, T-, T + to T-, drives rotor to rotate counterclockwise to the next position.

In the driving state 11, H output in fig. 11 is H, and PD, PA output is H high, SH are L low, T5, T are on in fig. 36, PC, PE output PWM waves, T, drive the rotor to rotate counterclockwise to the next position in fig. 11.

In the state 12, in fig. 11, H1, H2, H3, H4 output is H, L and PD 4, PA 4 output is high level H, SH4 is low level L, T4, PC 4 of IC4, PE 4 output, PD 4 output, T4, SH4, SH4, SH4, SH4, SH wave winding with PWM current, the current flow direction is T6-to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, the rotor is driven to rotate anticlockwise to the next position, namely to the driving state1, and a driving cycle is completed.

The efficient full-phase driving brushless motor of two-phase, three-phase, four-phase, five-phase and six-phase is fully described above, and the efficient full-phase driving brushless motor of more phases can be popularized as well. The principle of the high-efficiency full-phase driving brushless motor with the inner rotor and the outer rotor is completely the same, the motor winding structure of the high-efficiency full-phase driving brushless motor is shown in fig. 38, (an outer rotor three-phase 4-pole and 12-slot is taken as an example), M2 is a permanent magnet outer rotor, M1 is an inner stator armature with coils wound, N and S are 4 north and south poles of the permanent magnet outer rotor, US and UN are a south pole and a north pole generated by an armature tooth on a stator when an L1 phase winding is electrified at a certain moment, VS and VN are a south pole and a north pole generated by the armature tooth on the stator when an L2 phase winding is electrified at another moment, WS and WN are a south pole and a north pole generated by the armature tooth on the stator when an L3 phase winding is electrified at different moments, and H1, H2 and H3 are magnetic 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 is opposite to that of the two adjacent tooth slots of the same phase winding, and the winding direction is omitted for clarity.

The invention provides an efficient full-phase driving brushless motor which is wound according to a single armature tooth and drives each phase winding simultaneously, and is suitable for an inner rotor and an outer rotor.

It will be evident to those skilled in the art that the invention includes, but 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 (13)

1. High-efficient full phase drive brushless motor and driver circuit, including motor and driver circuit, characterized by: the winding mode of the stator coil of the high-efficiency full-phase drive brushless motor is to wind between two adjacent tooth slots of a single armature tooth, the winding directions of two adjacent coils of the same phase winding are opposite under the condition that the number of the armature slots of a stator is equal to the number of the sum of north and south magnetic poles of a permanent magnet rotor multiplied by the number of phases, and a driver circuit of the brushless motor drives current to flow through the windings by using an H-bridge type power driver, and each phase winding is completely electrified during each driving, so that the rotor containing the permanent magnet rotates through the position of the single armature tooth one by one, and the rotor containing the permanent magnet is driven to rotate in a tooth-by-tooth rotating mode.

2. A high efficiency, all phase drive brushless motor and driver circuit as claimed in claim 1, wherein: the relation between the number of magnetic poles of the permanent magnet rotor of the high-efficiency full-phase drive brushless motor and the number of phases and the number of stator armature slots is as follows: the number of the stator armature slots is equal to the sum of north and south magnetic poles of the permanent magnet rotor multiplied by the number of phases multiplied by an integer K, the number of phases is more than or equal to 2, and the integer K is more than or equal to 1.

3. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 2, wherein: when the integer K is equal to 1, the efficient full-phase driving brushless motor is characterized in that under the condition that the number of armature slots of a stator is equal to the number of the north and south magnetic poles of a permanent magnet rotor multiplied by the number of phases, two adjacent coils of the same-phase winding of the stator are wound in opposite directions, the number of armature teeth is reduced by one, the winding is wound between two adjacent tooth slots of a single armature tooth, the next-phase winding is wound on the next adjacent armature tooth in the same mode and the same direction until the required number of phases is reached, then each-phase winding is wound on the next coil of each-phase winding in the same mode but in the opposite direction to the winding direction of the previous-phase winding, the method is repeated until the coils on each armature tooth of the stator are completely wound, the starting end and the terminating end of each-phase winding are respectively connected to the H-bridge power drivers, the number of the phases is more than or equal to 2, and the winding modes of each-phase winding are the same.

4. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 2, wherein: when the integer K is equal to 2, the number of stator armature slots of the efficient full-phase driving brushless motor is equal to the number of the sum of north and south magnetic poles of the permanent magnet rotor multiplied by twice the number of phases, and under the condition that each phase of winding is wound and then two phases of windings are connected in parallel to form one phase of winding, the adjacent two coils of the same phase of winding of the stator are opposite in winding direction and the number of the phases of winding at intervals is reduced by one armature tooth number; when two adjacent armature teeth are wound in the same direction and are connected in series by the same phase winding, the two armature teeth are considered as one electric driving tooth, two adjacent electric driving tooth coils of the same phase winding of the stator are wound in opposite directions and are separated by the electric driving tooth number with the phase number minus one, the same phase winding is wound between two adjacent tooth sockets of a single armature tooth, then the adjacent two tooth spaces of the next adjacent armature tooth are wound according to the same mode to form an electric driving tooth number, after the number of the electric driving teeth minus one phase number is separated, the next coil of the phase winding is wound on the two armature teeth in a mode of being opposite to the winding direction of the previous group of coils, the method is repeated until the coils on the armature teeth of the stator are completely wound, the starting end and the terminating end of each phase winding are respectively connected to the H bridge type power drivers, the number of the phases is more than or equal to 2, and the winding modes of the phase windings are the same.

5. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 2 or claim 3 or claim 4, wherein: the inner rotor high-efficiency all-phase driving brushless motor rotor is a cylindrical permanent magnet rotor in an outer stator wound with coils, and the outer rotor high-efficiency all-phase driving brushless motor rotor is an annular permanent magnet rotor outside the inner stator wound with coils.

6. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 2, wherein: the device of each phase winding power driver consists of an H 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 H bridge type power driver respectively, the upper control end and the lower control end of the left arm and the right arm of each group of H bridge type power driver are controlled by 4 different signals respectively, and the device of the power driver can adopt a high-power MOS field effect transistor when being applied with low power.

7. A high efficiency, all phase drive brushless motor and driver circuit as claimed in claim 1, wherein: the motor rotor rotation speed is regulated by a pulse width modulation signal.

8. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 7 or claim 8, wherein: when the high-efficiency full-phase drive brushless motor rotates, the driver circuit drives the upper arms of the H-bridge type power driving devices with the same phase number and the lower arms of the other H-bridge type power driving devices with the same phase number after passing through the winding coils to conduct and work at each moment, and the driving state is 2 times of the phase number.

9. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 10, wherein: for a high-efficiency full-phase driving brushless motor with two phases, the driving mode of each driving period of two groups of winding coils is formed by combining the following 4 driving states: when the state1 is driven, the current flows from T1+ to T1-, and from T2+ to T2-; when the state 2 is driven, the current flows from T2+ to T2-, and from T1-to T1 +; when the state 3 is driven, the current flows from T1-to T1+, and from T2-to T2 +; when State 4 is driven, the current flows from T2-to T2+, and from T1+ to T1-. T1+ and T1-are the beginning and ending ends, respectively, of the first phase winding L1, and T2+ and T2-are the beginning and ending ends, respectively, of the second phase winding L2.

10. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 10, wherein: for a high-efficiency full-phase driving brushless motor with three phases, the driving mode of each driving period of three groups of winding coils is formed by combining the following 6 driving states: when the state1 is driven, the current flows from T1+ to T1-, from T2+ to T2-, from T3+ to T3-; when the state 2 is driven, the current flows from T2+ to T2-, from T3+ to T3-, from T1-to T1 +; when the state 3 is driven, the current flows from T3+ to T3, from T1-to T1+, and from T2-to T2 +; when state 4 is driven, the current flows from T1-to T1+, T2-to T2+, T3-to T3 +; when the state 5 is driven, the current flows from T2-to T2+, T3-to T3+, T1+ to T1-; when the state 6 is driven, the current flows from T3-to T3+, T1+ to T1-, and T2+ to T2-. T1+ and T1-are the beginning and ending ends, respectively, of the first phase winding L1, T2+ and T2-are the beginning and ending ends, respectively, of the second phase winding L2, and T3+ and T3-are the beginning and ending ends, respectively, of the third phase winding L3.

11. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 10, wherein: for a high-efficiency full-phase driving brushless motor with four phases, the driving mode of each driving period of four groups of winding coils is formed by combining the following 8 driving states: when the state1 is driven, the current flows from T1+ to T1-, from T2+ to T2-, from T3+ to T3-, from T4+ to T4-; when the state 2 is driven, the current flows from T2+ to T2-, from T3+ to T3-, from T4+ to T4-, from T1-to T1 +; when state 3 is driven, the current flows from T3+ to T3-, T4+ to T4-, T1-to T1+, T2-to T2 +; when state 4 is driven, the current flows from T4+ to T4-, T1-to T1+, T2-to T2+, T3-to T3 +; when state 5 is driven, the current flows from T1-to T1+, T2-to T2+, T3-to T3+, T4-to T4 +; when state 6 is driven, the current flows from T2-to T2+, T3-to T3+, T4-to T4+, T1+ to T1-; when state 7 is driven, the current flows from T3-to T3+, T4-to T4+, T1+ to T1-, and T2+ to T2-; when state 8 is driven, its current flows are T4-to T4+, T1+ to T1-, T2+ to T2-, T3+ to T3-. T1+ and T1-are the beginning and ending ends, respectively, of the first phase winding L1, T2+ and T2-are the beginning and ending ends, respectively, of the second phase winding L2, T3+ and T3-are the beginning and ending ends, respectively, of the third phase winding L3, and T4+ and T4-are the beginning and ending ends, respectively, of the fourth phase winding L4.

12. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 10, wherein: for a high-efficiency full-phase driving brushless motor with five phases, the driving mode of each driving period of five groups of winding coils is formed by combining the following 10 driving states: when the state1 is driven, the current flows from T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-; when state 2 is driven, the current flows from T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, T1-to T1 +; when state 3 is driven, the current flows from T3+ to T3, T4+ to T4-, T5+ to T5-, T1-to T1+, and T2-to T2 +; when state 4 is driven, the current flows are T4+ to T4-, T5+ to T5-, T1-to T1+, T2-to T2+, and T3-to T3 +; when state 5 is driven, the current flows from T5+ to T5-, T1-to T1+, T2-to T2+, T3-to T3+, and T4-to T4 +; when state 6 is driven, the current flows from T1-to T1+, T2-to T2+, T3-to T3+, T4-to T4+, and T5-to T5 +; when state 7 is driven, the current flows from T2-to T2+, T3-to T3+, T4-to T4+, T5-to T5+, and T1+ to T1-; when state 8 is driven, the current flows from T3-to T3+, T4-to T4+, T5-to T5+, T1+ to T1-, and T2+ to T2-; when state 9 is driven, the current flows from T4-to T4+, T5-to T5+, T1+ to T1-, T2+ to T2-, and T3+ to T3-; when state 10 is driven, its current flows are T5-to T5+, T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-. T1+ and T1-are the starting and ending terminals, respectively, of the first phase winding L1, T2+ and T2-are the starting and ending terminals, respectively, of the second phase winding L2, T3+ and T3-are the starting and ending terminals, respectively, of the third phase winding L3, T4+ and T4-are the starting and ending terminals, respectively, of the fourth phase winding L4, and T5+ and T5-are the starting and ending terminals, respectively, of the fifth phase winding L5.

13. A high efficiency all phase drive brushless motor and driver circuit as claimed in claim 1 or claim 10, wherein: for a high-efficiency full-phase driving brushless motor with six phases, the driving mode of each driving period of the six groups of winding coils is formed by combining the following 12 driving states: when the state1 is driven, the current flows from T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, T6+ to T6-; when state 2 is driven, the current flows from T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-, T6+ to T6-, T1-to T1 +; when state 3 is driven, the current flows from T3+ to T3, T4+ to T4-, T5+ to T5-, T6+ to T6-, T1-to T1+, T2-to T2 +; when state 4 is driven, the current flows from T4+ to T4+, T5+ to T5-, T6+ to T6-, T1-to T1+, T2-to T2+, T3-to T3 +; when state 5 is driven, the current flows from T5+ to T5-, T6+ to T6-, T1-to T1+, T2-to T2+, T3-to T3+, T4-to T4 +; when the state 6 is driven, the current flows from T6+ to T6-, T1-to T1+, T2-to T2+, T3-to T3+, T4-to T4+, T5-to T5 +; when state 7 is driven, the current flows from T1-to T1+, T2-to T2+, T3-to T3+, T4-to T4+, T5-to T5+, T6-to T6 +; when state 8 is driven, the current flows from T2-to T2+, T3-to T3+, T4-to T4+, T5-to T5+, T6-to T6+, T1+ to T1-; when the state 9 is driven, the current flows from T3-to T3+, T4-to T4+, T5-to T5+, T6-to T6+, T1+ to T1-, T2+ to T2-; when the state 10 is driven, the current flows from T4-to T4+, T5-to T5+, T6-to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3-; when the state 11 is driven, the current flows from T5-to T5+, T6-to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-; when state 12 is driven, its current flow is T6-to T6+, T1+ to T1-, T2+ to T2-, T3+ to T3-, T4+ to T4-, T5+ to T5-. T1+ and T1-are respectively the beginning and ending of the first phase winding L1, T2+ and T2-are respectively the beginning and ending of the second phase winding L2, T3+ and T3-are respectively the beginning and ending of the third phase winding L3, T4+ and T4-are respectively the beginning and ending of the fourth phase winding L4, T5+ and T5-are respectively the beginning and ending of the fifth phase winding L5, and T6+ and T6-are respectively the beginning and ending of the sixth phase winding L6.

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