CN1320740C - Motor controlling circuit with controllable driven current supply - Google Patents
Motor controlling circuit with controllable driven current supply Download PDFInfo
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- CN1320740C CN1320740C CNB2004100334831A CN200410033483A CN1320740C CN 1320740 C CN1320740 C CN 1320740C CN B2004100334831 A CNB2004100334831 A CN B2004100334831A CN 200410033483 A CN200410033483 A CN 200410033483A CN 1320740 C CN1320740 C CN 1320740C
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Abstract
The present invention relates to an H bridge circuit composed of a first switching unit, a second switching unit, a first linear unit and a second linear unit, which is used for applying a drive current to a motor. An error amplifier generates an error signal, and the error signal represents the difference between a drive current signal and a command current signal measured by a current detection circuit; a state control circuit controls synchronously the first switching unit, the second switching unit and a feedback circuit; the error signal is selectively applied to the first linear unit or the second linear unit by the feedback circuit to enable one linear unit to be operated in a liner model and the other to be operated in a non-conduction mode, and accordingly, the drive current is in direct proportion to the command current signal by control; the state control circuit controls a brake circuit to enable the error signal to be converted into a brake signal, which enables the first linear unit and the second linear unit to be operated in a conduction mode simultaneously.
Description
[technical field]
The present invention is about a kind of motor control circuit, especially about a kind of control circuit of may command drive current to motor of supplying.
[background technology]
Generally speaking, can be applicable to provide drive current to motor by four H bridge circuits that switching transistor was construed as, for example d.c. motor, stepper motor and voice coil motor or the like, thereby rotation direction, rotating speed and other operating characteristicses of control motor.
Fig. 1 shows the circuit diagram of the H bridge circuit 10 that is used for CD-ROM drive motor M of prior art.With reference to Fig. 1, motor M is coupled in supply-voltage source V via H bridge circuit 10
mAnd between ground potential.Though in fact by the complication system that element constituted of numerous mechanicalnesses and circuit, drive current is the coil that is applied among the motor M to motor M basically, thereby produce magnetic field.Therefore, " motor " speech mainly is meant the coil of motor hereinafter, can be considered as an inductive load simplifiedly, and also this point of lay special stress on and describe motor M with coil of accompanying drawing.
H bridge circuit 10 comprises four N passage MOSFET (metal oxide semiconductor field-effect, NMOS) transistor Q
1To Q
4Nmos pass transistor Q
1Drain coupled in supply-voltage source V
m, and its source-coupled is in the terminal A of motor M.Nmos pass transistor Q
2Drain coupled in supply-voltage source V
m, and its source-coupled is in the terminal B of motor M.Nmos pass transistor Q
3Drain coupled in the terminal A of motor M, and its source-coupled is in ground potential.Nmos pass transistor Q
4Drain coupled in the terminal B of motor M, and its source-coupled is in ground potential.
Because the brilliant Q of NMOS
4Has parasitic diode D respectively
1To D
4So H bridge circuit 10 is body pipe Q additionally
1To flywheel (Flywheel) diode is set.If four switching transistors of H bridge circuit 10 are implemented by bipolar junction transistor (BJT), then diode D as shown in Figure 1
1To D
4Must additionally be provided with.
Nmos pass transistor Q
1To Q
4Gate pole respectively by control signal G
1To G
4Control.As control signal G
1With G
4Be in logic high and control signal G
2With G
3When being in logic low, nmos pass transistor Q
1With Q
4Conducting and nmos pass transistor Q
2With Q
3Not conducting makes the nmos pass transistor Q of terminal A via conducting
1Be coupled in supply-voltage source V
m, and terminal B is via the nmos pass transistor Q of conducting
4Be coupled in ground potential.As a result, supply-voltage source V
mApply drive current I
1Make it with the motor M that flows through of the direction from terminal A to terminal B.As control signal G
1With G
4Be in logic low and control signal G
2With G
3When being in logic high, nmos pass transistor Q
1With Q
4Not conducting and nmos pass transistor Q
2With Q
3Conducting makes the nmos pass transistor Q of terminal B via conducting
2Be coupled in supply-voltage source V
m, and terminal A is via the nmos pass transistor Q of conducting
3Be coupled in ground potential.As a result, supply-voltage source V
mApply another drive current I
2Make it with the motor M that flows through of the direction from terminal B to terminal A.
In the extensive use of using motor M, put on the practical operation feature of the drive current decision motor M between terminal A and B, thereby need to satisfy some application requirements on the typical case.At first, the direction of drive current and order of magnitude are necessary for controllable physical quantity, because the direction of drive current decision is by the order of magnitude decision of the direction in the magnetic field that coil produced of motor M and the drive current intensity by the magnetic field that coil produced of motor M.Especially need operate in the following time of situation of constant current driving as motor M, the order of magnitude of drive current must be kept fixing.
On the prior art, pulse-width modulation (PWM) technology is through being usually used in controlling the order of magnitude of the drive current that is applied to motor.Particularly, at nmos pass transistor Q
4Conducting and nmos pass transistor Q
2With Q
3Under the situation of not conducting, control signal G
1Must be implemented by a pwm signal, be made nmos pass transistor Q
1ON time by control signal G
1Duty cycle determine and then controlling and driving electric current I
1Mean value.Yet the PWM technology causes supply-voltage source V
mAnd the excessive turbulence that is applied to the drive current of motor M.For the application that needs are accurately controlled motor, the PWM technology of prior art may cause some harmful effects.Thereby, a kind of control circuit of the drive current of low noise to motor M that provide is provided.
[summary of the invention]
A purpose of the present invention is to provide a kind of motor control circuit, and may command is used for the direction and the order of magnitude of the drive current of motor.
Another object of the present invention is to provide a kind of motor control circuit, the absolute value that can be used in the drive current of motor is kept fixing.
Another purpose of the present invention is to provide a kind of motor control circuit, can suppress to be used for the noise of the drive current of motor.
According to the present invention, a kind of motor control circuit is provided, be used to supply drive current to a motor.Drive current is applied between first end points and second end points of motor.This motor control circuit comprises: a H bridge circuit, a current detection circuit, an error amplifier, a feedback circuit and a state control circuit.
The H bridge circuit has first and second switch element and first and second linear unit.First switch element and first linear unit coupled in common to the first end points.The second switch unit and second linear unit coupled in common to the second end points.Current detection circuit produces a current detection signal, and it represents the drive current of motor.Error amplifier produces at least one error signal, and it represents the difference between a current detection signal and a command current signal.At least one error signal electrically is located away from first and second switch element.Feedback circuit is coupled in error amplifier to receive at least one error signal, applies at least one error signal to the first or second linear unit with selectivity.First and second switch element of state control circuit Synchronization Control and feedback circuit.
In first operating period, first switch element operate in one not conduction mode, second switch unit operations allow one at least one error signal to be applied to first linear unit in a conduction mode, feedback circuit, cause first linear unit to operate in a linear model and feedback circuit prevents that at least one error signal is applied to second linear unit.Thereby drive current is controlled so as to and is proportional to the command current signal in fact.At this moment, drive current is with the motor of flowing through from the direction of second end points to the first end points.
In second operating period, first switch element operate in that conduction mode, second switch unit operations prevent that at least one error signal is applied to that first linear unit and feedback circuit allow at least one error signal in not conduction mode, feedback circuit another be applied to second linear unit, cause second linear unit to operate in linear model.Thereby drive current is controlled so as to and is proportional to the command current signal in fact.At this moment, drive current is with the motor of flowing through from the direction of first end points to the second end points.
Error amplifier comprises first and second nmos pass transistor and first to the 3rd current mirror.The gate pole of first nmos pass transistor controlled by current detection signal and its source-coupled in a fixed current source.The gate pole of second nmos pass transistor controlled by this command current signal and its source-coupled in this fixed current source.The primary current branch of first current mirror is coupled in the drain electrode of first nmos pass transistor.The primary current branch of second current mirror is coupled in the drain electrode of second nmos pass transistor.The primary current branch of the 3rd current mirror is coupled in the image current branch of first current mirror.First output is coupled in the image current branch of second current mirror and the image current branch of the 3rd current mirror, in order to supply at least one error signal.
Second current mirror also has a paralleloscope image current branch, and parallel coupled is in the image current branch of second current mirror.The 3rd current mirror also has a paralleloscope image current branch, and parallel coupled is in the image current branch of the 3rd current mirror.Error amplifier also comprises one second output, is coupled in the paralleloscope image current branch of second current mirror and the paralleloscope image current branch of the 3rd current mirror, in order to supply another of at least one error signal.
Feedback circuit comprises first and second switching device.First switching device is coupled in this first linear unit, and is controlled by state control circuit.In this first operating period, first switching device allows this of at least one error signal to be applied to first linear unit.In second operating period, first switching device prevents that at least one error signal is applied to first linear unit.The second switch device is coupled in second linear unit, and is controlled by state control circuit.In first operating period, the second switch device prevents that at least one error signal is applied to second linear unit.In second operating period, the second switch device allow at least one error signal this another be applied to second linear unit.
State control circuit is output first to fourth state control signal synchronously, in order to first and second switching device of difference Control and Feedback circuit and first and second switch element of H bridge circuit.Each of first to fourth state control signal is a digital logic signal, has a logic high and a logic low.In first operating period, first with third state control signal be in logic low and second and the four condition control signal be in logic high.In second operating period, first with third state control signal be in logic high and second and the four condition control signal be in logic low.
Motor control circuit also comprises a braking circuit, is controlled by this state control circuit.In the 3rd operating period, braking circuit is changed at least one error signal becomes at least one brake signal, and apply at least one brake signal simultaneously to first and second linear unit via feedback circuit, cause first and second linear unit to operate in conduction mode simultaneously.In the 3rd operating period, state control circuit is controlled first and second switch element and is operated in not conduction mode.
State control circuit is also exported a brake control signal, and it is a digital logic signal, has a logic high and a logic low.Brake control signal is imported this braking circuit, makes this this at least one error signal of braking circuit conversion become this at least one brake signal.In the 3rd operating period, first to fourth state control signal is in logic low and at least one brake signal is in logic high.
[description of drawings]
Explanation hereinafter and accompanying drawing will make aforementioned and other purposes of the present invention, feature, more obvious with advantage.Now describe in detail according to preferred embodiment of the present invention with reference to the accompanying drawings.
Fig. 1 shows the circuit diagram of the H bridge circuit that is used for CD-ROM drive motor of prior art.
Fig. 2 shows the circuit diagram according to an example of motor control circuit of the present invention.
Fig. 3 shows the detailed circuit diagram according to an example of error amplifier of the present invention and braking circuit.
Fig. 4 shows the sequential chart according to three kinds of modes of operation of motor control circuit of the present invention.
[embodiment]
Fig. 2 shows the circuit diagram according to an example of motor control circuit 20 of the present invention.With reference to Fig. 2, motor control circuit 20 comprises a H bridge circuit 21, a current detection circuit 22, an error amplifier 23, a feedback circuit 24 and a state control circuit 25.
H bridge circuit 21 comprises two switch element SQ
1With SQ
2And two linear unit LQ
1With LQ
2Switch element SQ
1With SQ
2In order to coupling supply-voltage source V
mWith motor M, and linear unit LQ
1With LQ
2Then in order to coupling motor M and ground potential.Switch element SQ
1With SQ
2Mode of operation comprise conduction mode and conduction mode not, and linear unit LQ
1With LQ
2Mode of operation then comprise linear model, conduction mode, with conduction mode not." conduction mode " speech is meant that equivalent resistance can ignore and be considered as the mode of operation of short circuit in fact." not conduction mode " speech is meant the mode of operation that equivalent resistance is very high and be considered as opening a way in fact." linear model " speech is meant the mode of operation that equivalent resistance changes in fact linearly along with control signal.
Current detection circuit 22 is in order to the detection drive current of motor M of flowing through, that is puts on the electric current between terminal A and terminal B, and exports a current detection signal I who represents motor drive current
dInverting input (-) to error amplifier 23.The non-inverting input (+) of error amplifier 23 receives a command current (Command Current) signal I
Com, produce desired motor drive current according to motor control circuit 20 of the present invention in order to indication.Command current signal I
ComMust determine by the user, adjust or feed back decision according to the operating characteristics of motor by other circuit according to application demand.In error amplifier 23, current detection signal I
dWith command current signal I
ComCompare mutually, thereby produce the error signal I of both differences of at least one representative
e
The state control signal S that is produced based on state control circuit 25
1With S
2, feedback circuit 24 makes at least one error signal I that is produced by error amplifier 23
eSelectivity is applied to linear unit LQ
1Or LQ
2Particularly, as state control signal S
1With S
2Indication feedback circuit 24: linear unit LQ
1Operate in linear model and linear unit LQ
2When operating in not conduction mode, feedback circuit 24 allows at least one error signal I
ePut on linear unit LQ
1But prevent at least one error signal I
ePut on linear unit LQ
2In the case, linear unit LQ
1Equivalent resistance along with at least one error signal I
eChange in fact linearly.As state control signal S
1With S
2Indication feedback circuit 24: linear unit LQ
1Operate in not conduction mode and linear unit LQ
2When operating in linear model, feedback circuit 24 prevents at least one error signal I
ePut on linear unit LQ
1But allow at least one error signal I
ePut on linear unit LQ
2In the case, linear unit LQ
2Equivalent resistance along with at least one error signal I
eChange in fact linearly.
State control circuit 25 also produces two other state control signal S
3With S
4, in order to the switch element SQ of control H bridge circuit 21
1With SQ
2, make it operate in conduction mode or conduction mode not.25 state control signal S that produce synchronously of state control circuit
1To S
4Cooperatively interact, to realize mode of operation control according to motor control circuit 20 of the present invention.
Particularly, as state control signal S
1Make feedback circuit 24 optionally apply at least one error signal I
eTo linear unit LQ
1The time, state control signal S
4Make switch element SQ
2Operate in conduction mode.At this moment, state control signal S
2With S
3Make linear unit LQ respectively
2With switch element SQ
1Operate in not conduction mode.As a result, the terminal A short circuit of motor M is in supply-voltage source V
m, the terminal B of motor M is then via the linear unit LQ that operates in linear model
1Be coupled in ground potential with current detection circuit 22.In the case, drive current is with the motor M that flows through of the direction from terminal A to terminal B, and detected by current detection circuit 22.As previously mentioned, the circuit feedback that constituted via current detection circuit 22, error amplifier 23 and feedback circuit 24 of the change of motor drive current is to linear unit LQ
1Thereby, utilize linear unit LQ
1Equivalent resistance variation and control motor drive current and be proportional to command current signal I in fact
Com
On the other hand, as state control signal S
2Make feedback circuit 24 optionally apply at least one error signal I
eTo linear unit LQ
2The time, state control signal S
3Make switch element SQ
1Operate in conduction mode.At this moment, state control signal S
1With S
4Make linear unit LQ respectively
1With switch element SQ
2Operate in not conduction mode.As a result, the terminal B short circuit of motor M is in supply-voltage source V
mThe terminal A of motor M is then via the linear unit LQ that operates in linear model
2Be coupled in ground potential with current detection circuit 22.In the case, drive current is with the motor M that flows through of the direction from terminal B to terminal A, and detected by current detection circuit 22.As previously mentioned, the circuit feedback that constituted via current detection circuit 22, error amplifier 23 and feedback circuit 24 of the change of motor drive current is to linear unit LQ
2Thereby, utilize linear unit LQ
2Equivalent resistance variation and control motor drive current and be proportional to command current signal I in fact
Com
Therefore, the direction and the order of magnitude that are used for the drive current of motor according to motor control circuit 20 may command of the present invention.If command current signal I
ComBe set at a fixed value, then the absolute value that can be used in the drive current of motor according to motor control circuit 20 of the present invention is kept fixing.Because according to motor control circuit 20 of the present invention is to utilize linear unit LQ
1With LQ
2Linear model and obtain desired motor drive current, so suppress the noise of drive current effectively.
Should note in foundation motor control circuit 20 of the present invention switch element SQ
1With SQ
2The state control signal S that is produced by state control circuit 25
3With S
4Control, but not at least one error signal I
eEspecially, at least one error signal I
eElectrically be located away from switch element SQ
1With SQ
2At least one error signal I
eMainly via feedback circuit 24 selectivity FEEDBACK CONTROL linear unit LQ
1Or LQ
2, make it operate in linear model.
In the embodiment shown in Figure 2, switch element SQ
1With SQ
2Must be implemented by nmos pass transistor.Switch element SQ
1Drain coupled in supply-voltage source V
m, and its source-coupled is in the terminal B of motor M.Switch element SQ
2Drain coupled in supply-voltage source V
m, and its source-coupled is in the terminal A of motor M.Linear unit LQ
1With LQ
2Must be implemented by nmos pass transistor.Linear unit LQ
1Drain coupled in the terminal B of motor M, and its source-coupled is in ground potential.Linear unit LQ
2Drain coupled in the terminal A of motor M, and its source-coupled is in ground potential.
Should note because nmos pass transistor has parasitic diode D
1To D
4So H bridge circuit 21 shown in Figure 2 need not additionally be provided with free-wheel diode.If the switch element SQ of H bridge circuit 21
1With SQ
2And linear unit LQ
1With LQ
2Implemented by bipolar junction transistor, then diode D as shown in Figure 2
1To D
4Must additionally be provided with.
Current detection circuit 22 must be implemented by a resistance R.One end of resistance R is coupled in linear unit LQ
1With LQ
2And the other end is coupled in ground potential.Therefore, the drive current potential difference that resistance R caused of flowing through promptly can be used as current detection signal I
d, in order to the order of magnitude of indication drive current.
Though should note in the embodiment shown in Figure 2, current detection circuit 22 is the indirect detection drive current of motor M of flowing through by detecting the electric current that flows to ground potential from terminal A or the terminal B of motor M, but the invention is not restricted to this and must be applied to the drive currents that current detection circuit 22 directly detects the motor M that flows through.Particularly, current detection circuit 22 must be arranged at the terminal A of motor M or be arranged at the terminal B of motor M, is for example implemented by a series connection resistance, makes between terminal A and B the mobile drive current motor M current detection circuit 22 of also flowing through of not only flowing through.
Though should note in the embodiment shown in Figure 2, feedback circuit 24 determines error signal I independently under the control of state control circuit 25
E1Whether be applied to linear unit LQ
1And determine error signal I independently
E2Whether be applied to linear unit LQ
2, but the invention is not restricted to this and must be applied to error amplifier 23 and only be provided with single output, in order to produce single error signal I
eIn the case, feedback circuit 24 makes the single output of error amplifier 23 optionally be coupled in linear unit LQ under the control of state control circuit 25
1Or LQ
2Thereby, carry out single error signal I
eOptionally be applied to linear unit LQ
1Or LQ
2
Because the linear unit LQ of H bridge circuit 21
1With LQ
2Operate in the linear model but not as in the prior art with PWM mode high-frequency switch between conducting and not on-state, therefore can excessive turbulence supply-voltage source V according to motor control circuit 20 of the present invention
mAnd the noise that suppresses motor drive current effectively.If expectation suppresses the noise of motor drive current to a greater degree, then feedback circuit 24 gets and more is provided with capacitor C
1With C
2Capacitor C
1Be coupled in linear unit LQ
1Gate pole and ground potential between, make error signal I
E1Be applied to linear unit LQ relatively lenitively
1Gate pole.Capacitor C
2Be coupled in linear unit LQ
2Gate pole and ground potential between, make error signal I
E2Be applied to linear unit LQ relatively lenitively
2Gate pole.
Also be provided with a braking circuit 26 according to motor control circuit 20 of the present invention, use so that linear unit LQ
1With LQ
2Operate in conduction mode simultaneously.Particularly, when motor control circuit 20 was carried out braking control, one brake control signal BRK was to braking circuit 26 in state control circuit 25 outputs.In response to brake control signal BRK, at least one error signal I that braking circuit 26 is produced error amplifier 23
eConvert at least one brake signal to.Under the control of state control circuit 25, switch element SQ
1With SQ
2Operate in not conduction mode, and feedback circuit 24 applies at least one brake signal simultaneously to linear unit LQ
1With LQ
2, make it operate in conduction mode simultaneously.
Particularly, in the embodiment shown in Figure 2, in response to brake control signal BRK, the inverting input short circuit that braking circuit 26 makes error amplifier 23 is in ground potential or be in and be lower than command current signal I
ComState.As a result, error signal I
E1With I
E2Be transformed into brake signal, and no longer be the aforesaid linear signal that is used for FEEDBACK CONTROL with logic high.In the case, state control circuit 25 is by state control signal S
1With S
2Make switching device SW
1With SW
2Not conducting simultaneously, feasible brake signal I with logic high
E1With I
E2Import linear unit LQ respectively
1With LQ
2Gate pole.Brake signal I with logic high
E1With I
E2Make linear unit LQ
1With LQ
2Operate in conduction mode, realize desired braking control.
In braking control, in order to make error signal I
E1With I
E2More promptly be transformed into the brake signal with logic high, braking circuit 26 can additionally be provided with the device of the output stage of direct departure amplifier 23, forces two output O
1With O
2Output has the brake signal I of logic high rapidly
E1With I
E2
Fig. 3 shows according to the detailed circuit diagram of error amplifier 23 of the present invention with an example of braking circuit 26.At first explanation is according to the detailed circuit of an example of error amplifier 23 of the present invention.Nmos pass transistor N
1Gate pole in order to received current detection signal I
d, and nmos pass transistor N
2Gate pole in order to receive command current signal I
CumNmos pass transistor N
1With N
2Source electrode all be coupled in a fixed current source I
EaTherefore, current detection signal I
dWith command current signal I
ComDecision fixed current source I
EaBe allocated in nmos pass transistor N
1With N
2Current ratio.
PMOS transistor P
1With P
3Constitute a current mirror, wherein PMOS transistor P
1As primary current branch and PMOS transistor P
3As image current branch.PMOS transistor P
1Be coupled in nmos pass transistor N
1, the feasible PMOS transistor P that flows through
3Electric current by mirror effect corresponding to the nmos pass transistor N that flows through
1Electric current, in order to represent current detection signal I
dPMOS transistor P
2With P
4Constitute another current mirror, wherein PMOS transistor P
2As primary current branch and PMOS transistor P
4As image current branch.PMOS transistor P
2Be coupled in nmos pass transistor N
2, the feasible PMOS transistor P that flows through
4Electric current via mirror effect corresponding to the nmos pass transistor N that flows through
2Electric current, in order to represent command current signal I
Com
Nmos pass transistor N
3With N
4Constitute a current mirror, wherein nmos pass transistor N
3As the nmos pass transistor N of primary current branch
4As image current branch.Nmos pass transistor N
3Be coupled in PMOS transistor P
3, the feasible nmos pass transistor N that flows through
4Electric current by mirror effect corresponding to the nmos pass transistor N that flows through
1Electric current, in order to represent current detection signal I
d
The output O of error amplifier 23
1Be coupled in PMOS transistor P
4With nmos pass transistor N
4As current detection signal I
dLess than command current signal I
ComThe time, PMOS transistor P flows through
4Electric current greater than nmos pass transistor N
4Electric current, cause a differential current from output O
1Flow out.As current detection signal I
dGreater than command current signal I
ComThe time, PMOS transistor P flows through
4Electric current less than nmos pass transistor N
4Electric current, cause a differential current to flow into output O
1Therefore, error signal I
E1Differential current is implemented thus.
PMOS transistor P
5Parallel coupled is in PMOS transistor P
4, as paralleloscope image current branch, the feasible PMOS transistor P that flows through
5Electric current also represent command current signal I
ComNmos pass transistor N
5Parallel coupled is in nmos pass transistor N
4, as paralleloscope image current branch, the feasible nmos pass transistor N that flows through
5Electric current also represent current detection signal I
d
The output O of error amplifier 23
2Be coupled in PMOS transistor P
5With nmos pass transistor N
5As current detection signal I
dLess than command current signal I
ComThe time, PMOS transistor P flows through
5Electric current greater than nmos pass transistor N
5Electric current, cause a differential current from output O
2Flow out.As current detection signal I
dGreater than command current signal I
ComThe time, PMOS transistor P flows through
5Electric current less than nmos pass transistor N
5Electric current, cause a differential current to flow into output O
2Therefore, error signal I
E2Differential current is implemented thus.
For the clearer operation of understanding according to motor control circuit 20 of the present invention, now illustrate (1) according to motor control circuit 20 of the present invention with reference to Fig. 4 and make electric current drive mode of operation, (2) braking operation state and (3) and make electric current drive mode of operation from the flow through constant current of motor M of terminal B to terminal A from the flow through constant current of motor M of terminal A to terminal B.
As shown in Figure 4, T during operation
1In, state control signal S
1With S
3Be logic low, state control signal S
2With S
4For logic high and brake control signal BRK are logic low.Therefore, switching device SW
1With switch element SQ
1Neither conducting, switching device SW
2With switch element SQ
2All conducting and braking circuit 26 are in by (Disable) state.Current detection circuit 22 output current detection signal I
d, the flow through drive current of motor M of representative.Error signal I
E1Produced by error amplifier 23, indicated current detection signal I
dWith command current signal I
ComBetween difference.Error signal I
E1Be a linear signal, be in the range of linearity between logic high H and logic low L, and FEEDBACK CONTROL linear unit LQ
1Make it to operate in linear model.Error signal I
E2Because of switching device SW
2Conducting and be pulled low to ground potential.As a result, after the vibration through of short duration transition period, current detection signal I
dBe maintained in and equal command current signal I in fact
ComIn other words, the flow through drive current of motor M is maintained in and is proportional to command current signal I in fact
ComThereby, as command current signal I
ComWhen being a fixed value, realize making electric current from the flow through constant current driving mode of operation of motor M of terminal A to terminal B effectively according to motor control circuit 20 of the present invention.
T during operation
2In, state control signal S
1To S
4Be all logic low, and brake control signal BRK is a logic high.Therefore, switching device SW
1With SW
2And switch element SQ
1With SQ
2Neither conducting.Braking circuit 26 makes error signal I
E1With I
E2Convert brake signal to logic high H.Brake signal I with logic high H
E1With I
E2Make linear unit LQ
1With LQ
2Enter conduction mode simultaneously.Thereby, reach braking operation state effectively according to motor control circuit 20 of the present invention.Subsidiary one carries, this moment motor M terminal A and terminal B short circuit is in ground potential in fact, drive current is only at the linear unit LQ of conducting
1With LQ
2And flow in the loop that constituted of motor M.As a result, current detection signal I
dBecause not flowing through current detection circuit 22, drive current is not reduced to zero in fact.
T during operation
3In, state control signal S
1With S
3Be logic high, state control signal S
2With S
4For logic low and brake control signal BR K are logic low.Therefore, switching device SW
1With switch element SQ
1All conductings, switching device SW
2With switch element SQ
2Neither conducting and braking circuit 26 are in cut-off state.Current detection circuit 22 output current detection signal I
d, the flow through drive current of motor M of representative.Error signal I
E2Produced by error amplifier 23, indicated current detection signal I
dWith command current signal I
ComBetween difference.Error signal I
E1Because of switching device SW
1Conducting and be pulled low to ground potential.Error signal I
E2Be a linear signal, be in the range of linearity between logic high H and logic low L, and FEEDBACK CONTROL linear unit LQ
2Make it to operate in linear model.As a result, after the vibration through of short duration transition period, current detection signal I
dBe maintained in and equal command current signal I in fact
ComIn other words, the flow through drive current of motor M is maintained in and is proportional to command current signal I in fact
ComThereby, as command current signal I
ComWhen being a fixed value, reaching effectively according to motor control circuit 20 of the present invention and to make electric current drive mode of operation from the flow through constant current of motor M of terminal B to terminal A.
Though should note in the embodiment shown in Figure 2 switch element SQ
1With SQ
2Be coupled in supply-voltage source V
mAnd between motor M and linear unit LQ
1With LQ
2Be coupled between motor M and ground potential, but the invention is not restricted to this and must be applied to switch element SQ
1With SQ
2Be coupled between motor M and ground potential and linear unit LQ
1With LQ
2Be coupled in supply-voltage source V
mAnd between motor M.In the case, switch element SQ
1With SQ
2Conducting determine the terminal A of motor M and B respectively whether short circuit be in ground potential, and linear unit LQ
1With LQ
2Then provide the equivalent resistance that is subjected to FEEDBACK CONTROL in terminal A and B and the supply-voltage source V of motor M respectively
mBetween.
Though disclose the present invention by preferred embodiment; right its is not in order to limit the present invention; the any technical staff in this area can do to change and revise without departing from the spirit and scope of the present invention the present invention, so protection scope of the present invention should be as the criterion with claims.
Claims (13)
1, a kind of motor control circuit is used to supply drive current to a motor, and this motor has one first end points and one second end points, and this drive current is applied between this first end points and this second end points, and this motor control circuit comprises:
One H bridge circuit, have one first switch element, a second switch unit, one first linear unit, with one second linear unit, this first switch element and this first linear unit coupled in common to this first end points and this second switch unit and this second linear unit coupled in common to this second end points;
One current detection circuit, in order to produce a current detection signal, it represents this drive current of this motor;
One error amplifier, in order to produce at least one error signal, it represents the difference between this current detection signal and a command current signal, wherein this at least one error signal electrically be located away from this first with this second switch unit;
One feedback circuit is coupled in this error amplifier receiving this at least one error signal, with selectivity apply this at least one error signal to this first or this second linear unit; And
One state control circuit, in order to Synchronization Control this first with this second switch unit and this feedback circuit, make in one first operating period, this first switch element operates in a conduction mode not, this second switch unit operations is in a conduction mode, this feedback circuit allows in this at least one error signal to be applied to this first linear unit, cause this first linear unit to operate in a linear model, and this feedback circuit prevents that this at least one error signal is applied to this second linear unit, is proportional to this command current signal in fact thereby control this drive current.
2, according to the motor control circuit of claim 1, wherein:
This error amplifier comprises:
One first nmos pass transistor, have a gate pole, one the drain electrode and one source pole, this gate pole controlled by this current detection signal and this source-coupled in a fixed current source;
One second nmos pass transistor, have a gate pole, one the drain electrode and one source pole, this gate pole controlled by this command current signal and this source-coupled in this fixed current source;
One first current mirror, have a primary current branch and an image current branch, one first end of this primary current branch is coupled in this drain electrode of this first nmos pass transistor, one second end of this primary current branch is coupled in a fixed voltage source, and one second end of this image current branch is coupled in this fixed voltage source;
One second current mirror, have a primary current branch and an image current branch, one first end of this primary current branch is coupled in this drain electrode of this second nmos pass transistor, one second end of this primary current branch is coupled in this fixed voltage source, and one second end of this image current branch is coupled in this fixed voltage source;
One the 3rd current mirror, have a primary current branch and an image current branch, one first end of this primary current branch is coupled in one first end of this image current branch of this first current mirror, one second end of this primary current branch is coupled in this a fixed current source and a ground potential, one first end of this image current branch is coupled in one first end of this image current branch of this second current mirror, and one second end of this image current branch is coupled in this fixed current source and this ground potential; And
One first output is coupled in this first end of this image current branch of this first end of this image current branch of this second current mirror and the 3rd current mirror, in order to supply this of this at least one error signal.
3, according to the motor control circuit of claim 2, wherein:
This primary current branch of this first current mirror is implemented by one the one PMOS transistor, the one PMOS transistor has a gate pole, a drain electrode and an one source pole, this gate pole be coupled in this drain electrode, this drain coupled in this drain electrode of this first nmos pass transistor and this source-coupled in a fixed voltage source;
This primary current branch of this second current mirror is implemented by one the 2nd PMOS transistor, the 2nd PMOS transistor has a gate pole, a drain electrode and an one source pole, this gate pole be coupled in this drain electrode, this drain coupled in this drain electrode of this second nmos pass transistor and this source-coupled in this fixed voltage source;
This image current branch of this first current mirror is implemented by one the 3rd PMOS transistor, the 3rd PMOS transistor has a gate pole, a drain electrode and an one source pole, this gate pole, this drain coupled that this gate pole is coupled in this primary current branch of this first current mirror in this primary current branch of the 3rd current mirror and this source-coupled in this fixed voltage source; And
This image current branch of this second current mirror is implemented by one the 4th PMOS transistor, the 4th PMOS transistor has a gate pole, a drain electrode and an one source pole, this gate pole, this drain coupled that this gate pole is coupled in this primary current branch of this second current mirror in this first output of this error amplifier and this source-coupled in this fixed voltage source.
4, according to the motor control circuit of claim 2, wherein:
This primary current branch of the 3rd current mirror is implemented by one the 3rd nmos pass transistor, the 3rd nmos pass transistor has a gate pole, a drain electrode and an one source pole, this gate pole be coupled in this drain electrode, this drain coupled in this image current branch of this first current mirror and this source-coupled in a ground potential, and
This image current branch of the 3rd current mirror is implemented by one the 4th nmos pass transistor, the 4th nmos pass transistor has a gate pole, a drain electrode and an one source pole, this gate pole, this drain coupled that this gate pole is coupled in the 3rd nmos pass transistor in this image current branch of this second current mirror and this source-coupled in this ground potential.
5, according to the motor control circuit of claim 1, wherein:
This current detection circuit is implemented by a resistance, and an end of this resistance is coupled in this and first is coupled in this ground potential with this second linear unit and the other end, makes this drive current cause a potential difference on this resistance, and this potential difference is as this current detection signal.
6, according to the motor control circuit of claim 1, wherein:
This at least one error signal is made up of two error signals, and
This state control circuit also Synchronization Control this first with this second switch unit and this feedback circuit, make in one second operating period, this first switch element operate in this conduction mode, this second switch unit operations in this not conduction mode, this feedback circuit prevent that these two error signals are applied to that this first linear unit and this feedback circuit allow these two error signals another be applied to this second linear unit, cause this second linear unit to operate in this linear model, be proportional to this command current signal in fact thereby control this drive current.
7, according to the motor control circuit of claim 2, wherein:
This at least one error signal is made up of two error signals;
This second current mirror also has a paralleloscope image current branch, and parallel coupled is in this image current branch of this second current mirror;
The 3rd current mirror also has a paralleloscope image current branch, and parallel coupled is in this image current branch of the 3rd current mirror; And
This error amplifier also comprises one second output, is coupled in this paralleloscope image current branch of this second current mirror and this paralleloscope image current branch of the 3rd current mirror, in order to supply another of this at least one error signal.
8, according to the motor control circuit of claim 6, wherein:
This feedback circuit comprises:
One first switching device, be coupled in this first linear unit, and controlled by this state control circuit, in order in this first operating period, to allow this of this at least one error signal to be applied to this first linear unit, and prevent that in this second operating period this at least one error signal is applied to this first linear unit, and
One second switch device, be coupled in this second linear unit, and controlled by this state control circuit, in order to preventing that in this first operating period this at least one error signal is applied to this second linear unit, and in this second operating period, allow this at least one error signal this another be applied to this second linear unit.
9, according to the motor control circuit of claim 6, wherein:
This feedback circuit comprises:
One first electric capacity is coupled in this first linear unit, in order in this first operating period, makes this of this at least one error signal to be applied to this first linear unit relatively gentlely, and
One second electric capacity is coupled in this second linear unit, in order in this second operating period, make this at least one error signal this another be applied to this second linear unit relatively gentlely.
10, according to the motor control circuit of claim 6, wherein:
This state control circuit is output first to fourth state control signal synchronously, in order to control respectively this feedback circuit and this H bridge circuit this first with this second switch unit, wherein this first to each of this four condition control signal be a digital logic signal, have a logic high and a logic low, make:
In this first operating period, this first with this third state control signal be in this logic low and this second with this four condition control signal be in this logic high, and
In this second operating period, this first with this third state control signal be in this logic high and this second with this four condition control signal be in this logic low.
11, according to the motor control circuit of claim 1, also comprise:
One braking circuit, controlled by this state control circuit, make in one the 3rd operating period, this this at least one error signal of braking circuit conversion becomes at least one brake signal, and via this feedback circuit apply simultaneously this at least one brake signal to this first with this second linear unit, cause this first with this second linear unit operate in this conduction mode simultaneously, and
In the 3rd operating period, this state control circuit control this first with this second switch unit operations in this conduction mode not.
12, according to the motor control circuit of claim 11, wherein:
This error amplifier has an inverting input, in order to receiving this current detection signal, and a non-inverting input, and in order to receiving this command current signal, and
In the 3rd operating period, this braking circuit makes this inverting input short circuit of this error amplifier in this ground potential, makes that this at least one error signal is converted into this at least one brake signal.
13, according to the motor control circuit of claim 11, wherein:
This state control circuit is exported first to fourth state control signal and a brake control signal, this first to this four condition control signal in order to control respectively this feedback circuit and this H bridge circuit this first with this second switch unit, this brake control signal is imported this braking circuit, make this this at least one error signal of braking circuit conversion become this at least one brake signal, wherein this first to each of this four condition control signal and this at least one brake signal be a digital logic signal, have a logic high and a logic low, make:
In this first operating period, this first is in this logic low with this third state control signal, this second is in this logic high and this brake control signal is in this logic low with this four condition control signal, and
In the 3rd operating period, this first is in this logic low and this brake control signal is in this logic high to this four condition control signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100334831A CN1320740C (en) | 2004-04-09 | 2004-04-09 | Motor controlling circuit with controllable driven current supply |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100334831A CN1320740C (en) | 2004-04-09 | 2004-04-09 | Motor controlling circuit with controllable driven current supply |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1681193A CN1681193A (en) | 2005-10-12 |
| CN1320740C true CN1320740C (en) | 2007-06-06 |
Family
ID=35067656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100334831A Expired - Fee Related CN1320740C (en) | 2004-04-09 | 2004-04-09 | Motor controlling circuit with controllable driven current supply |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1320740C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104143941A (en) * | 2014-06-19 | 2014-11-12 | 国网四川省电力公司成都市新都供电分公司 | Driving circuit of trolley |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102882452B (en) * | 2012-09-13 | 2015-05-20 | 南京澳德思电气有限公司 | Micro-power consumption singlechip-based control device and method for high-voltage direct current motor |
| CN104579069B (en) * | 2015-01-30 | 2020-05-26 | 天津工业大学 | Multifunctional magnetic field generation control circuit |
| CN105655980B (en) * | 2016-03-23 | 2018-01-19 | 南京双环电器股份有限公司 | A kind of protection control circuit of electric extinguisher |
| TWI610532B (en) * | 2017-03-13 | 2018-01-01 | 茂達電子股份有限公司 | Motor driving circuit |
| KR102393214B1 (en) * | 2017-03-31 | 2022-05-02 | 삼성전기주식회사 | Apparatus for driving actuator |
| JP2019009970A (en) * | 2017-06-28 | 2019-01-17 | ルネサスエレクトロニクス株式会社 | Motor drive device and motor system |
| CN113437910A (en) * | 2020-03-23 | 2021-09-24 | 致新科技股份有限公司 | Motor controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4066945A (en) * | 1976-03-31 | 1978-01-03 | The Bendix Corporation | Linear driving circuit for a d.c. motor with current feedback |
| CN1165426A (en) * | 1995-07-19 | 1997-11-19 | 松下电器产业株式会社 | Current command type PWM (pulse width modulation) inverter apparatus |
-
2004
- 2004-04-09 CN CNB2004100334831A patent/CN1320740C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4066945A (en) * | 1976-03-31 | 1978-01-03 | The Bendix Corporation | Linear driving circuit for a d.c. motor with current feedback |
| CN1165426A (en) * | 1995-07-19 | 1997-11-19 | 松下电器产业株式会社 | Current command type PWM (pulse width modulation) inverter apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104143941A (en) * | 2014-06-19 | 2014-11-12 | 国网四川省电力公司成都市新都供电分公司 | Driving circuit of trolley |
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| Publication number | Publication date |
|---|---|
| CN1681193A (en) | 2005-10-12 |
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