EP2826604A1 - Elektrowerkzeug - Google Patents

Elektrowerkzeug Download PDF

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Publication number
EP2826604A1
EP2826604A1 EP13761505.0A EP13761505A EP2826604A1 EP 2826604 A1 EP2826604 A1 EP 2826604A1 EP 13761505 A EP13761505 A EP 13761505A EP 2826604 A1 EP2826604 A1 EP 2826604A1
Authority
EP
European Patent Office
Prior art keywords
brushless motor
motor
electric power
controller
power tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP13761505.0A
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English (en)
French (fr)
Other versions
EP2826604B1 (de
EP2826604A4 (de
Inventor
Hiroshi Miyazaki
Masaki Ikeda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Intellectual Property Management Co Ltd
Original Assignee
Panasonic Corp
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Publication date
Application filed by Panasonic Corp filed Critical Panasonic Corp
Publication of EP2826604A1 publication Critical patent/EP2826604A1/de
Publication of EP2826604A4 publication Critical patent/EP2826604A4/de
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Publication of EP2826604B1 publication Critical patent/EP2826604B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for

Definitions

  • the present invention relates to an electric power tool that includes a brushless motor.
  • Patent document 1 describes an electric power tool that detects the position of a rotor of a brushless motor with a rotation position detection sensor and sets the timing for energizing an armature winding of the brushless motor based on detected position information.
  • the electric power tool of patent document 1 performs a protection operation that obviates failures in the motor caused by an abnormality in the rotor position signal detected by the rotation position detection sensor. More specifically, as shown in Fig. 6 of patent document 1, a pattern of the rotor position signal that appears under a normal situation is continuous. However, the pattern that appears may be shifted under an abnormal situation. When an abnormality is detected in the rotor position signal, the motor is stopped to perform the protection operation on the motor.
  • Patent Document 1 Japanese Laid-Open Patent Publication No. 2011-11313
  • the inventors of the present invention have studied a method for detecting an abnormality in an electric power tool.
  • an interval between position information signals output from a rotation position detection sensor is set as an abnormality detection period. After an actual position information signal is detected, the occurrence of an abnormality is determined when the next position information signal cannot be detected within the abnormality detection period.
  • the inventors of the present invention have recognized that when the abnormality detection period is extremely short, the occurrence of an abnormality may be determined in the abnormality determination method of the referential example despite the situation being normal. On the other hand, when the abnormality detection period is extremely long, power may be supplied to a switching element of a brushless motor under a situation in which an abnormality is occurring. The inventors of the present invention have recognized that this may lead to damage of the switching element.
  • an electric power tool includes a brushless motor capable of generating forward and reverse rotation, a sensor that detects a rotation position of the brushless motor and outputs a position information signal, which indicates a change in the rotation position, a drive circuit that includes a plurality of switching elements and supplies power to the brushless motor, and a controller that controls the drive circuit based on the rotation position of the brushless motor detected by the sensor.
  • the controller estimates an output interval of the position information signal output from the sensor based on the rotation speed of the brushless motor and sets an abnormality detection period in accordance with the estimated output interval.
  • the controller determines an occurrence of an abnormality when, after actually detecting the position information signal output from the sensor, the next position information signal is undetected within the abnormality detection period.
  • the controller includes an abnormality period setting algorithm that sets the abnormality detection period to be shorter as the rotation speed of the brushless motor increases and sets the abnormality detection period to be longer as the rotation speed of the brushless motor decreases.
  • the controller executes abnormal deactivation to stop the supply of power to the brushless motor from the drive circuit when determining the occurrence of an abnormality.
  • the electric power tool includes an operation condition selector that detects one of activation and deactivation of the brushless motor in accordance with an operation performed by a user. After the abnormal deactivation is executed, when the activation of the brushless motor is selected with the operation condition selector, the controller reactivates the brushless motor.
  • the controller reactivates the brushless motor by controlling the switching elements of the drive circuit with a duty ratio lower than that used before execution of the abnormal deactivation.
  • the controller limits a count of the reactivation to a predetermined count.
  • the controller notifies the user that the reactivation has reached the predetermined count.
  • the controller performs an advance angle control on the brushless motor prior to the reactivation and does not perform the advance angle control when starting the reactivation.
  • the present invention provides an electric power tool in which an abnormality detection period may be set in a further suitable manner.
  • an electric power tool 1 of the embodiment includes a motor 3, which serves as a driving source, a hall element S, which serves as a sensor detecting a rotation position of the motor 3 and outputting a position information signal to indicate a change in the rotation position, a drive circuit 15, which supplies power to the motor 3, and a control circuit 14, which serves as a controller that controls the drive circuit 15.
  • the motor 3 is accommodated in a cylindrical motor housing 2 including an open end 2a and a closed end.
  • a rotation shaft 4 of the motor 3 extends in the axial direction of the motor housing 2 (left-right direction in Fig. 1 ).
  • the open end 2a of the motor housing 2 is coupled to a dome 5, the diameter of which gradually decreases from a basal end to a distal end 5a.
  • An output shaft 6 protrudes from the open end 2a of the dome 5.
  • the output shaft 6 is coupled to the rotation shaft 4 of the motor 3 by a torque amplifier 7, which is accommodated in the dome 5.
  • a distal end 6a of the output shaft 6 includes a bit attachment portion 8 that allows for the attachment of a tool (bit), which is not shown in the drawing.
  • a trigger switch 10 is arranged in a handle 9, which is formed in the proximity of the open end 2a of the motor housing 2.
  • the trigger switch 10 serves as an operation condition selector that selects one of activation and deactivation of the motor 3 in accordance with an operation performed by a user.
  • the trigger switch 10 includes a main body portion 10a, which is fixed in the handle 9, and an operation portion 10b, which includes a distal end protruding from a front end of the handle 9 and is urged in the protrusion direction from the main body portion 10a.
  • the trigger switch 10 provides the control circuit 14 with a speed signal corresponding to an amount operated by a user (pulled amount of the trigger switch 10) to adjust the rotation speed of the motor 3.
  • a rotation direction selector 11 (forward-reverse switch) is located on a surface of the handle 9 slightly above the trigger switch 10.
  • the rotation direction selector 11 selects a rotation direction of the motor 3 in accordance with a user operation.
  • the rotation direction selector 11 includes an operation knob, which is movably supported. The rotation direction of the motor 3 is switched in correspondence with the movement direction of the operation knob.
  • the electric power tool 1 is of a battery-driven type.
  • a battery seat 12 is formed in a bottom end of the handle 9, and a battery 13 serving as a power source is attached to the battery seat 12.
  • the control circuit 14 controls the driving of the motor 3, which serves as a driving source, through the drive circuit 15.
  • the drive circuit 15 generates driving power and supplies the driving power to the motor 3 in accordance with the control of the control circuit 14.
  • the control circuit 14 is, for example, accommodated in the handle 9, and the drive circuit 15 is, for example, accommodated in the motor housing 2.
  • a brushless motor is employed in the motor 3.
  • the hall element S which is electrically connected to the control circuit 14, detects the rotation position of a rotor of the brushless motor and provides the control circuit 14 with a position information signal to indicate a change in the rotation position.
  • Fig. 3 is a schematic block diagram showing the electrical configuration of the electric power tool 1.
  • the drive circuit 15 may include a pulse width modulation (PWM) inverter formed by connecting a plurality (for example, six) of switching elements 16 to 21.
  • PWM pulse width modulation
  • the drive circuit 15 is formed by connecting in parallel a series circuit of the switching elements 16 and 19, a series circuit of the switching elements 17 and 20, and a series circuit of the switching elements 18 and 21.
  • the switching elements 16, 17, and 18 located at an upper side are each connected to a positive terminal of the battery 13, and the switching elements 19, 20, and 21 located at a lower side are each connected to a negative terminal of the battery 13.
  • a node between the switching elements 16 and 19, a node between the switching elements 17 and 20, and a node between the switching elements 18 and 21 are connected to motor coils 3u, 3v, and 3w of the motor 3 via connection points 22u, 22v, and 22w, respectively.
  • the switching elements 16 to 21 each may be formed by a field effect transistor (FET).
  • the control circuit 14 may control the drive circuit 15 in accordance with rotation position information of the motor 3 based on a position information signal received from the hall element S. For example, the control circuit 14 generates a motor control signal in accordance with the rotation position information of the motor 3 and provides each of the switching elements 16 to 21 with the control signal. Each of the switching elements 16 to 21 is operated with a duty ratio (that is, ratio of on to off) of the motor control signal. The control circuit 14 changes the duty ratio for each of the switching elements 16 to 21 by appropriately changing the duty ratio of the motor control signal.
  • the drive circuit 15 converts the DC voltage of the battery 13 into three-phase driving power and supplies the three-phase driving power to the motor 3.
  • the motor control signal may be referred to as a gate on/off signal provided to the gates of the switching elements 16 to 21.
  • the control circuit 14 of the electric power tool 1 of the embodiment outputs the motor control signal, which is provided to each of the switching elements 16 to 21 when generating rotation with the motor 3, by sequentially switching from modes A to F shown in Fig. 4A . As shown in Fig. 4B , each of the switching elements 16 to 21 is switched on and off.
  • the control circuit 14 performs a commutation control, which provides the motor control signal corresponding to the mode to terminals U+, U-, V+, V-, W+, and W- respectively connected to the switching elements 16 to 21.
  • the switching elements 16 to 21 are each an FET, the terminals U+, U-, V+, V-, W+, and W- are each connected to the gate of the corresponding switching element.
  • the control circuit 14 controls the current supplied to the motor coils 3u, 3v, and 3w and controls the rotation speed of the motor 3.
  • a mode is selected from modes A to F in correspondence with a sensor signal output from the hall element S forming a rotor position detection sensor.
  • the control circuit 14 first performs an initial setting process (step S10).
  • the control circuit 14 reads a signal of the rotation direction selector 11 and determines the rotation direction of the motor 3 (step S11).
  • the control circuit 14 performs a volume input process that processes a speed signal received from the trigger switch 10 in accordance with a predetermined algorithm (step S12) and calculates the duty ratio in correspondence with the input speed signal (step S13).
  • the control circuit 14 calculates the timing for advancing an angle based on the rotation speed of the motor 3 (step S 14) and then performs the driving process on the motor 3 (step S 15). Subsequently, steps S11 to S15 are repeated.
  • the control circuit 14 converts the input speed signal into a volume signal corresponding to the pulled amount of the trigger switch 10 and stores the volume signal.
  • the timing of an external interruption that is, the timing for inputting the sensor signal
  • the control circuit 14 outputs a timer interruption signal after a delay of a time corresponding to (60- ⁇ )° from when an external interruption is received.
  • the control circuit 14 may perform an advance angle control of the advance angle ⁇ °.
  • the interruption process is triggered by an edge of the sensor signal (position information signal) output from the hall element S, which detects the rotor position of the motor 3.
  • the control circuit 14 When receiving an edge of the sensor signal from the hall element S (step S20), the control circuit 14 calculates an inter-edge period (interval between sensor signals) using a count value of the edge of the sensor signal that is input in the previous step S20 and a count value of the edge of the sensor signal that is input in the present step S20 (step S21). Then, the control circuit 14 starts a driving output timer (step S22). The control circuit 14 calculates rotation speed of the motor 3 using the inter-edge period, which is calculated in step S21, and calculates an abnormality detection period using the calculated rotation speed (step S23).
  • the control circuit 14 estimates an output interval of the sensor signal (position information signal) of the hall element S based on the calculated rotation speed and sets the abnormality detection period (detection window) in accordance with the estimated output interval.
  • the control circuit 14 includes an abnormality period setting algorithm that sets the abnormality detection period to be longer as the calculated rotation speed decreases and shorter as the calculated rotation speed increases.
  • the control circuit 14 may set the abnormality detection period in accordance with the abnormality period setting algorithm.
  • the abnormality period setting algorithm may include a function and a map indicating the relationship between the calculated rotation speed and the abnormality detection period.
  • the control circuit 14 starts an abnormality detection timer (step S24) and returns to the main routine.
  • the control circuit 14 stops the driving output timer when the advance angle time, which is calculated in step S 13 of the main routine, elapses, and starts an interruption process of Fig. 5C .
  • the control circuit 14 outputs a motor driving signal and a PWM signal (step S25). Then, the control circuit 14 returns to the main routine.
  • the control circuit 14 determines an occurrence of abnormality when the abnormality detection period elapses before the edge of the next sensor signal is input. Then, the control circuit 14 stops the abnormality detection timer and performs an abnormal deactivation process as an interruption process shown in Fig. 5D . For example, the control circuit 14 executes abnormal deactivation in step S30.
  • the abnormal deactivation may be referred to as a driving power supply suspension triggered by an abnormal detection or abnormality determination.
  • the motor control signal having the H level is provided to each of the terminals U+, U-, V+, V-, W+, and W- to stop the output from each of the switching elements 16 to 21.
  • the control circuit 14 may count abnormal deactivations and store the abnormal deactivation count. The stored count value may be reset through predetermined procedures.
  • control circuit 14 determines whether or not the trigger switch 10 has been activated (pulled) (step S31). If the trigger switch 10 is deactivated (step S31: NO), the control circuit 14 continues the abnormal deactivation state (step S32).
  • step S31 If the trigger switch 10 has been activated (step S31: YES), the control circuit 14 determines whether or not the abnormal deactivation count has exceeded a predetermined count (for example, ten) (step S33). If the abnormal deactivation count has exceeded the predetermined count (step S33: YES), the control circuit 14 continues the abnormal deactivation state.
  • a predetermined count for example, ten
  • step S33 If the abnormal deactivation count is less than or equal to the predetermined count (step S33: NO), the control circuit 14 performs the volume input process, which processes a speed signal of the trigger switch 10 in accordance with the predetermined algorithm (step S34). The control circuit 14 calculates the duty ratio in correspondence with the input speed signal (step S35).
  • the control circuit 14 compares the duty ratio calculated in step S35 with the duty ratio used before the abnormal deactivation (step S36). If the duty ratio calculated in step S35 is greater than or equal to the duty ratio used before the abnormal deactivation (step S36: YES), the control circuit 14 changes the calculated duty ratio to a duty ratio that is lower than the duty ratio used before the abnormal deactivation and reactivates the motor 3 (step S37). If the duty ratio calculated in step S35 is lower than the duty ratio used before the abnormal deactivation (step S36: NO), the control circuit 14 reactivates the motor with the calculated duty ratio (that is, a duty ratio lower than the duty ratio used before the abnormal deactivation) (step S38).
  • the speed of the motor 3 is low due to the abnormal deactivation.
  • the motor 3 were to be activated with the same duty ratio as that used before the abnormal deactivation, a current overshoot may suddenly rotate the bit and apply an unexpected repercussion to the user.
  • the motor 3 is reactivated with a duty ratio lower than the duty ratio that was used before the abnormal deactivation. This prevents or reduces current overshoot and unexpected repercussions, and improves safety of the electric power tool 1.
  • control circuit 14 may not perform the advance angle control. After activating the motor 3 in step S37 or S38, the control circuit 14 returns to step S11 of the main routine shown in Fig. 5A .
  • the above embodiment is configured to change the abnormality detection period in accordance with the rotation speed of the motor 3. Additionally, as shown in Fig. 9 , the abnormality detection period may be changed by taking into consideration the duty ratio.
  • the control circuit 14 may include an abnormality period setting algorithm that shortens the abnormality detection period when the duty ratio is large, and prolongs the abnormality detection period when the duty ratio is small.
  • the above embodiment is configured to limit the reactivation count to the predetermined count. However, there is no limit to such a configuration.
  • the above embodiment is configured not to perform the advance angle control on the motor 3 when starting reactivation. However, there is no limit to such a configuration.
  • control circuit 14 may notify a user that the number of reactivations of the motor 3 has reached the predetermined number of times.
  • This configuration allows the user to be aware of an abnormal situation.
  • a notification may be performed through a visual, audial, or tactile notification unit that may be arranged in the electric power tool 1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Portable Power Tools In General (AREA)
EP13761505.0A 2012-03-13 2013-02-20 Elektrowerkzeug Active EP2826604B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012055966A JP2013188825A (ja) 2012-03-13 2012-03-13 電動工具
PCT/JP2013/000947 WO2013136673A1 (ja) 2012-03-13 2013-02-20 電動工具

Publications (3)

Publication Number Publication Date
EP2826604A1 true EP2826604A1 (de) 2015-01-21
EP2826604A4 EP2826604A4 (de) 2016-01-13
EP2826604B1 EP2826604B1 (de) 2017-11-22

Family

ID=49160625

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13761505.0A Active EP2826604B1 (de) 2012-03-13 2013-02-20 Elektrowerkzeug

Country Status (4)

Country Link
EP (1) EP2826604B1 (de)
JP (1) JP2013188825A (de)
CN (1) CN104159712B (de)
WO (1) WO2013136673A1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9768713B2 (en) 2013-09-28 2017-09-19 Hitachi Koki Co., Ltd. Electric tool
WO2019046302A1 (en) * 2017-08-30 2019-03-07 Milwaukee Electric Tool Corporation ELECTRIC TOOL HAVING OBJECT DETECTION
US11539314B2 (en) 2016-11-24 2022-12-27 Makita Corporation Electric working machine

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6133818B2 (ja) * 2014-06-11 2017-05-24 トヨタ自動車株式会社 車両の制御装置
CN107520816B (zh) * 2016-06-21 2020-01-14 苏州宝时得电动工具有限公司 动力工具的保护方法及系统
JP6524274B2 (ja) * 2017-05-26 2019-06-05 ローム株式会社 信号灯モニタ
CN111774722B (zh) * 2020-06-30 2022-07-01 大族激光科技产业集团股份有限公司 一种基于激光系统电容传感器反馈信号衰变的智能控制方法
DE112022002395T5 (de) 2021-04-28 2024-02-22 Milwaukee Electric Tool Corporation Elektrowerkzeug mit einem block des maschinellen lernens zum steuern einer feldschwächung eines permanentmagnetmotors

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Publication number Priority date Publication date Assignee Title
DE4019895C2 (de) * 1990-06-22 1999-04-08 Ceka Elektrowerkzeuge Ag & Co Verfahren und Vorrichtung zur Steuerung des Betriebs von Elektrohandgeräten
JP4337531B2 (ja) * 2003-12-09 2009-09-30 パナソニック電工株式会社 電動工具
JP2008023645A (ja) * 2006-07-20 2008-02-07 Makita Corp 電動工具
JP5116490B2 (ja) * 2008-01-08 2013-01-09 株式会社マキタ モータ制御装置とそれを用いた電動工具
JP5112956B2 (ja) * 2008-05-30 2013-01-09 株式会社マキタ 充電式電動工具
JP5408416B2 (ja) * 2009-07-03 2014-02-05 日立工機株式会社 電動工具
JP2011025809A (ja) * 2009-07-24 2011-02-10 Nsk Ltd 電動パワーステアリング装置
JP5476177B2 (ja) * 2010-03-26 2014-04-23 パナソニック株式会社 電動工具
JP5469000B2 (ja) * 2010-06-17 2014-04-09 株式会社マキタ 電動工具、ロック状態発生判定装置、及びプログラム

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9768713B2 (en) 2013-09-28 2017-09-19 Hitachi Koki Co., Ltd. Electric tool
US11539314B2 (en) 2016-11-24 2022-12-27 Makita Corporation Electric working machine
WO2019046302A1 (en) * 2017-08-30 2019-03-07 Milwaukee Electric Tool Corporation ELECTRIC TOOL HAVING OBJECT DETECTION
US11085582B2 (en) 2017-08-30 2021-08-10 Milwaukee Electric Tool Corporation Power tool having object detection
US11674642B2 (en) 2017-08-30 2023-06-13 Milwaukee Electric Tool Corporation Power tool having object detection
US12025271B2 (en) 2017-08-30 2024-07-02 Milwaukee Electric Tool Corporation Power tool having object detection

Also Published As

Publication number Publication date
EP2826604B1 (de) 2017-11-22
WO2013136673A1 (ja) 2013-09-19
EP2826604A4 (de) 2016-01-13
CN104159712B (zh) 2016-08-03
JP2013188825A (ja) 2013-09-26
CN104159712A (zh) 2014-11-19

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