JP2000134981A - Motor driving gear - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor driving gear capable of decreasing the torque fluctuation of a motor and the like without changing the structure of the motor and of driving the motor without using a position sensor. SOLUTION: A position detecting part 3 calculates to presume induced voltages EU, EV, EW which occur in coils 2U, 2V, 2W of each phase of a motor 1 and then detects the rotational position of a rotor based on the presumed induced voltages EU, EV, EW. A sine wave command value outputting part 4 synchronizes with a rotor position signal CLK to output sine wave command values XU, XV, XW by reading out the wave form of a sine wave from ROM tables 6U, 6V, 6W. Driving circuits 22U, 22V, 22W supply currents IU, IV, IW generated by converting the voltage/current of the sine wave command values XU, XV, XW to the coils 2U, 2V, 2W of each phase of the motor 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor for driving a motor by outputting a voltage signal based on the rotational position of a rotor, converting the voltage signal into a current signal, and energizing each phase coil of the motor. It relates to a driving device.

[0002]

In such a motor driving apparatus, for example, there is a technique for smoothing the rotational driving of a motor by supplying a sine wave voltage to each phase coil of a brushless motor. However, if the rotor magnet and the stator have the shape of a normal brushless motor, the magnetic flux distribution between them is substantially trapezoidal. And since the current waveform applied to the coil has a shape proportional to the derivative of the magnetic flux distribution, even if a sinusoidal voltage is applied to the coil, both trapezoidal shoulder portions are lifted, and the central portion is crushed or depressed. It becomes a shape. Accordingly, since the torque waveform (proportional to the product of the magnetic flux and the current) generated in the coil becomes trapezoidal after all, there is a problem that it causes a torque fluctuation and a rotation speed fluctuation.

In order to solve such a problem, conventionally, the structure of the motor has been improved by devising the magnetizing method of the rotor magnet, the shape of the magnet and the magnet yoke, or the shape of the stator. And the magnetic flux distribution is made sinusoidal. However, if the structure of the motor is made special as described above, on the other hand, problems such as deterioration in manufacturability may occur.

In order to drive a brushless motor in rotation, for example, when the motor is a three-phase motor, three position sensors such as Hall ICs are used to detect the rotation position of the rotor, and an appropriate position corresponding to the rotation position is detected. It is necessary to energize at the timing. However, since the sensor is a relatively expensive component, the cost increases as more sensors are used.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to reduce motor torque fluctuations and the like without changing the structure of the motor, and without using a position sensor. An object of the present invention is to provide a motor drive device that can drive a motor.

[0006]

According to a first aspect of the present invention, there is provided a motor driving device for estimating an induced voltage generated in each phase coil based on a phase voltage of the motor and an impedance of each phase coil. Position detecting means for detecting a rotational position of the rotor constituting the motor based on the estimated induced voltage; and waveform data of substantially sine wave based on the rotational position of the rotor detected by the position detecting means. Voltage signal output means for outputting a voltage signal corresponding to the voltage signal output means, and a drive means for driving the motor by converting the voltage signal output by the voltage signal output means into a current signal and energizing each phase coil of the motor It is characterized by having.

According to this structure, when the position detecting means estimates the induced voltage generated in each phase coil of the motor based on each phase voltage and the impedance of each phase coil, the position detecting means detects the induced voltage of the rotor based on the estimated induced voltage. The rotational position is detected, and the voltage signal output means outputs a voltage signal corresponding to the substantially sine wave waveform data based on the rotational position. Then, the driving means supplies a current signal generated by the voltage / current conversion to each phase coil of the motor.

Then, a substantially sinusoidal current signal is applied to each phase coil of the motor, so that the torque fluctuation of the motor can be further reduced as compared with the case where a substantially sinusoidal voltage signal is applied. . Further, since the position detecting means detects the rotational position of the rotor based on the induced voltage estimated to be generated in each phase coil of the motor, it is possible to detect the rotational position of the rotor without using a position sensor. Become.

In this case, it is preferable that the position detecting means is configured to estimate a voltage obtained by subtracting a voltage drop due to the impedance of each phase coil from each phase voltage of the motor as an induced voltage. Specifically, assuming that the position detecting means is L and R, respectively, the inductance and resistance of the coil and i is the current flowing through the coil, the voltage drop is represented by L · di. /
dt + R · i, which is obtained by calculating (claim 3), or assuming that a current command value for determining a current to be supplied to the coil is x, the voltage drop is represented by L · dx / d
It is determined by calculating t + R · x, (claim 4).
It is preferable to adopt a configuration. With this configuration, the induced voltage can be accurately estimated based on the impedance of each phase coil.

According to a fifth aspect of the present invention, there is provided a storage means for storing waveform data based on a substantially sinusoidal wave, wherein the position detecting means detects a zero cross point of the induced voltage as a rotational position of the rotor. The voltage signal output means may be configured to output a voltage signal by reading waveform data from the storage means in synchronization with the timing of detecting the rotational position.

According to this structure, the voltage signal output means includes:
By reading out the waveform data in synchronization with the detection timing of the zero cross point of the induced voltage, it is possible to easily output a substantially sinusoidal voltage signal to the driving means.

In this case, as described in claim 6, the position detecting means includes a PLL oscillation circuit for outputting a frequency signal based on the detection timing of the rotational position, and the voltage signal output means includes a PLL oscillation circuit. It is preferable that the waveform data is read from the storage means in accordance with the frequency signal to be output.

With this configuration, the output signal frequency of the PLL oscillation circuit is determined according to the detection timing of the zero cross point of the induced voltage, and the synchronization between the detection timing of the zero cross point and the read timing of the waveform data is determined. Can be easily obtained.

[0014] In the above case, as described in claim 7, the driving means may be PWM-controlled based on the voltage signal output from the voltage signal output means to convert the driving means into a current signal. With this configuration, power consumption can be reduced.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. In FIG. 1 showing the entire configuration, for example, each phase coil 2U, 2V and 2W of a motor 1 composed of a brushless motor is connected in a star connection with one end commonly connected, and its neutral point 2N and coils 2U and 2V. And 2W are connected to the input terminals of the phase detection unit 3 respectively. The neutral point 2N is connected to the ground.

The phase detecting section (position detecting means) 3 compares the potential of the neutral point 2N with the other end of the coils 2U, 2V and 2W to thereby determine the phase voltage V of the coils 2U, 2V and 2W.
U, VV, and VW are detected, and the sine wave command value output unit (voltage signal output means) 4 outputs a sine wave command value (voltage signal) XU, XV, and XW to refer to the rotor position signal. CLK is output.

The sine wave command value output section 4 is composed of an address counter 5, a ROM table (storage means) 6, a D / A converter 7, and the like. The address counter 5
When the rotor position signal CLK is given, the number of input pulses of the rotor position signal CLK is counted and output to the ROM table 6 as an address. RO
The M table 6 stores sine wave data. Then, data corresponding to the address given from the address counter 5 is read from the ROM table 6 and output to the D / A converter 7.

The D / A converter 7 has a ROM table 6
The read data is D / A converted and output to the command value adjusting unit 8. The command value adjustment unit 8
The acceleration / deceleration command (analog signal) given from outside is
The D / A conversion output of the A converter 7 is multiplied and output as sine wave command values XU, XV and XW.
The address counter 5, the ROM table 6, the D / A converter 7, and the command value adjuster 8 are provided for each of the U, V, and W phases (see FIG. 5).

FIG. 2 is a functional block diagram showing a detailed configuration of the phase detector 3. The phase voltages of the coils 2U, 2V, and 2W are detected by the phase voltage detector 9, and the carrier components of the PWM signal, which will be described later, are removed by a low-pass filter (LPF) 10.
, VV, VW to the induced voltage calculation unit 11. The induced voltage calculation unit 11 outputs the sine wave command values XU, XV, X output from the sine wave command value output unit 4.
W is also given, and based on these, induced voltages EU, EV, EW generated in the coils 2U, 2V, 2W of each phase of the motor 1 are calculated and estimated.

The estimated induced voltages EU, EV, EW are:
The zero-crossing point detection unit 12 compares the induced voltages EU, EV, and EW with the potential VN of the neutral point 2N to detect the zero-crossing point of each phase, and performs pulse-like detection. The signals U0, V0, W0 are output to the rotor position detector 13. The rotor position detector 13 outputs the rotor position signal CLK based on the zero cross point detection signals U0, V0, W0. The starting signal output unit 14 outputs a starting clock signal fS to the rotor position detecting unit 13 in place of the zero-cross point detection signals U0, V0, W0 when starting the motor 1.

FIG. 3 is a functional block diagram showing a detailed configuration of the rotor position detecting section 13. As shown in FIG. Rotor position detector 13
Is constituted by a PLL oscillation circuit. One input terminal of the multiplexer 15 is supplied with a starting clock signal fs, and the other input terminal is supplied with an output signal of an OR gate 16 to which zero-cross point detection signals U0, V0, W0 are inputted. Have been. Then, the output signal of the multiplexer 15 is provided to the phase comparator 17.

The switching of the output signal of the multiplexer 15 is performed by the output signal of the switching control circuit 18. The switching control circuit 18 outputs a low-level output signal to the multiplexer 1 when a start command signal is supplied from outside.
5, the multiplexer 15 outputs the starting clock signal fs to the phase comparator 17. Then, a high-level output signal is output to the multiplexer 15 after a lapse of a predetermined time from the time when the start command signal is given. Then, the multiplexer 15 sets the OR gate 1
6 is output to the phase comparator 17.

The output signal of the phase comparator 17 is passed through a low-pass filter (LPF) 19 to a voltage-controlled oscillation circuit (VC
O) 20. The voltage controlled oscillation circuit 20 outputs an oscillation signal having a frequency corresponding to the applied voltage as a rotor position signal (frequency signal) CLK,
The rotor position signal CLK is also supplied to the divide-by-10 counter 21. 10 of the divide-by-10 counter 21
The frequency-divided output signal is provided to the phase comparator 17.

The phase comparator 17 compares the signal supplied via the multiplexer 15 with the divide-by-10 counter 21
And outputs an error voltage proportional to the phase difference with the divided-by-10 output signal. The error voltage is applied to a voltage controlled oscillator (VCO) 20 via a low-pass filter 19,
The rotor position signal CLK is output as a signal having a cycle obtained by multiplying a cycle corresponding to a rotation angle of the motor 1 of 60 degrees by 1/10.

Referring again to FIG. 1, sine wave command values XU, XV, XW output by sine wave command value output unit 4.
Are drive circuits (drive means) 22U, 22 corresponding to each phase.
V, 22W. Hereinafter, the drive circuit 22U will be described as an example. The sine wave command value XU is
It is applied to a non-inverting input terminal of an operational amplifier 24U via a resistor 23U.

The output terminal of the operational amplifier 24U is connected to the non-inverting input terminal of the comparator 25U, and the inverting input terminal of the comparator 25U is connected to the carrier generating circuit 26U.
Output terminals are connected. Carrier generation circuit 26
Outputs a triangular wave which is a carrier signal of PWM control. Note that the carrier frequency is the rotor position signal C
The value is set to a value sufficiently higher than the frequency of LK.
The output terminal of the comparator 25U is connected to the gates of a P-channel MOSFET 27U and an N-channel MOSFET 28U whose drains are commonly connected. F
The sources of the ETs 27U and 28U are connected to a positive power supply + VCC and a negative power supply -VCC, respectively. The drains of the FETs 27U and 28U are connected to the coil 2U of the motor 1 via a resistor 29U, and are connected to the resistors 30U and 3U.
It is connected to ground via a 1U series circuit. A common connection point between the resistors 30U and 31U is an operational amplifier 24U.
Connected to the inverting input terminal.

The common connection point between the resistor 29U and the coil 2U is connected to the non-inverting input terminal of the operational amplifier 24U via the resistor 32U. The drive circuits 22V, 22V
The same applies to the configuration of W. In FIG. 1, reference numerals V and W are attached instead of U. However, the carrier generation circuit 26 is commonly used for the drive circuits 22V and 22W.

The above drive circuits 22U, 22V, 22W
Converts the currents IU, IV, IW into coils 2U, 2V, 2W by voltage / current conversion of the sine wave command values XU, XV, XW regardless of the impedance of the coils 2U, 2V, 2W.
It is configured to supply 2W. The principle of operation will be described with reference to FIG.

FIG. 4 (a) shows a comparator 25, a carrier generation circuit 26, FETs 27U and 2
8 is excluded. Assuming that the current flowing through the load impedance ZL is I0 when the input voltage Vi supplied via the resistor R1 (23) is given, the following equation is established. ZL I0-(ZL I0 -Vi) .R2 / (R1 + R1) = (RS + ZL) I0.R4 / (R3 + R4) In this case, if R1 = R2 and R3 = R4, then I0 = Vi / RS, and FIG. As shown in (b), the current I0 flows in proportion to the input voltage Vi, regardless of the load impedance ZL.

Next, the operation of the present embodiment will be described with reference to FIGS. In the following, unless otherwise distinguished between the U, V and W phases, U, V and W are denoted without reference numerals.

As described above, the rotor position signal CLK is sinusoidal based on the starting clock signal fS from the starting signal output unit 14 until a predetermined time elapses from the time when the external start command signal is given. It is provided to the command value output unit 4. Then, the drive waveform data is read from the ROM table 6 by the address counted up by the address counter 5 based on the rotor position signal CLK,
Sine wave command values XU,
When XV and XW are given, the motor 1 is started.

When the motor 1 starts and rotates, FIG.
As shown in (a), the phase voltages VU, VV, VW of the phase coils 2, 2V, 2W are detected by the phase voltage detecting section 9 of the position detecting section 3, and the induced voltage calculating section 11 is connected via the low-pass filter 10. Is output to Assuming that the impedance of the coil 2 is (R + jωL), the induced voltage calculation unit 11 performs the following calculation using the sine wave command value X to obtain the induced voltage E
Is calculated and estimated. E = V− (L · di / dt + R) X That is, the second term in the above equation represents a voltage drop due to the coil impedance.

In this case, the phase current I is detected by arranging a current detector such as a resistor or a current transformer in the coil 2, and the phase current I may be used instead of the sine wave command value X. good.

Then, the zero-crossing point detection signals U0, V0, W0 of the induced voltages EU, EV, EW are detected by the zero-crossing point detection section 12 and output to the rotor position detection section 13 (see FIG. 6B). The zero-cross point is detected from the OR gate 16 of the rotor position signal output unit 13 because the three-phase induced voltages EU, EV, and EW whose phases are different from each other by 120 degrees are detected at every rotation angle of the motor 1 of 180 degrees. Is a pulse signal output at intervals of a rotation angle of 60 degrees.

When a predetermined time elapses from the time when the start command signal is given from the outside, the output signal of the OR gate 16 is given to the phase comparator 17 of the rotor position signal output unit 13, and the zero cross point detection signals U0, U0, Based on V0 and W0, a rotor position signal CLK having a period obtained by equally dividing the rotation angle 60 degrees into ten is output (see FIG. 6C). Here, FIG. 5 shows an address counter 5U, 5V, 5 for each phase.
5 shows the W and ROM tables 6U, 6V, 6W. Assuming that the driving waveform data of the sine wave is 8 bits,
If the rotation angle of 60 degrees is divided into 10 equal parts, the driving waveform data for one cycle of the sine wave is 60 bytes. Therefore, the addresses of the ROM tables 6U, 6V, and 6W corresponding to each phase are assigned as follows, for example. ROM table address 6U 00H ~ 3BH 6V 100H ~ 13BH 6W 200H ~ 23BH

The address counters 5U, 5V, and 5W corresponding to each phase set the count value to the start addresses 00H, 100H, and 200H of the corresponding ROM tables 6U, 6V, and 6W in the initial setting. Reaches the last address 3BH, 13BH, 23BH.

Further, as shown in FIG.
The drive waveform data to be stored in the tables 6U, 6V, and 6W is obtained by arranging a data value (amplitude level ± 0) corresponding to a sine wave phase of 0 degree at the head address 00H of the ROM table 6U, for example, based on the U phase. In the head addresses of the other ROM tables 6V and 6W, data values having phase differences of -120 degrees and -240 degrees are arranged.

Each data is read out from each of the ROM tables 6U, 6V, 6W in accordance with the rotor position signal CLK and D / A converted to obtain sine wave command values XU, XV.
, XW to the driving circuits 22U, 22V, 22W, the coils 2U, 2V, 2W of the motor 1 receive substantially sinusoidal currents IU, IV, IW corresponding to the sine wave command values XU, XV, XW. It is supplied as a PWM signal.

As described above, according to the present embodiment, when the position detecting section 3 estimates the induced voltages EU, EV, EW generated in the phase coils 2U, 2V, 2W of the motor 1, the position detecting section 3 calculates the estimated induced voltage EU. , EV, EW, the rotational position of the rotor is detected, and the sine wave command value output section 4 reads the sine wave waveform data from the ROM tables 6U, 6V, 6W in synchronization with the rotor position signal CLK, thereby obtaining the sine wave. Wave command value XU
, XV, XW, and outputs the driving circuits 22U, 22V, 2
2W, currents IU, IV, IW generated by performing voltage / current conversion of the sine wave command values XU, XV, XW are supplied to the respective phase coils 2U, 2V, 2W of the motor 1.

Accordingly, each phase coil 2U, 2
Since V and 2W can be supplied with sinusoidal currents IU, IV and IW, the torque fluctuation of the motor 1 can be improved without changing the structure of the motor 1 as compared with the case of applying a sinusoidal voltage signal. Can be further reduced. Further, since the position detecting unit 3 detects the rotational position of the rotor based on the zero cross points of the induced voltages EU, EV, EW estimated to be generated in the phase coils 2U, 2V, 2W, no position sensor is used. Can detect the rotational position,
It can be configured at lower cost.

The position detecting section 3 subtracts the voltage drop due to the impedance (R + jωL) of each phase coil 2U, 2V, 2W from each phase voltage VU, VV, VW of the motor to generate induced voltages EU, EV, EV. EW, and the voltage drop is calculated using the sine wave command value X (L · d / d).
t + R) X is obtained by calculating the phase current I
, The induced voltage E can be accurately estimated.

Further, according to the present embodiment, the rotor position signal output section 13 of the position detection section 3 outputs the zero cross point detection signal U
0, V0, W0 Since the PLL oscillation circuit outputs the rotor position signal CLK based on the detection timing, the detection timing of the zero-cross point and the ROM table 6
Synchronization with the timing of reading the waveform data from U, 6V, and 6W can be easily achieved. In addition, the drive circuits 22U, 22V, 22W are set to the sine wave command values XU, XV,
By performing PWM control based on XW, the currents IU, IV
, IW, the power consumption can be reduced.

FIG. 7 shows a second embodiment of the present invention. The same parts as those of the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted. Only the different parts will be described below. The configuration of the second embodiment is different from the driving circuits 22U, 22V,
Drive circuits (drive means) 33U, 33
V, 33W.

The drive circuit 33U will be described. The comparator 25U, the carrier generation circuit 26, and the FETs 27U and 28U in the drive circuit 22U are removed, and the output terminal of the operational amplifier 24U has a common emitter with a resistor 29U.
NPN transistor 34U and PNP connected to
A transistor 35U of a type is arranged. The collectors of the transistors 34U and 35U are connected to the positive power supply + VCC,
Each is connected to the negative power supply -VCC. Drive circuit 33
V and 33W have the same configuration.

Although not specifically shown, a low-pass filter 10 for filtering the carrier of the PWM signal is removed from the position detecting section (position detecting means) 3 '. Other configurations are the same as in the first embodiment.

According to the second embodiment configured as described above, when the sine wave command values XU, XV, XW are given, the drive circuits 33U, 33V, 33W directly control the voltage / current without PWM control. The conversion is performed to obtain a sinusoidal current IU,
IV and IW are supplied to each phase coil 2U, 2V and 2W of the motor 1. Since the transistors 34 and 35 disposed at the output terminals of the operational amplifier 24 act as current drivers, it is possible to supply a larger current to the coils 2U, 2V and 2W, and the capacity of the motor 1 is reduced. It is suitable when the size is relatively large.

The present invention is not limited to the embodiment described above and shown in the drawings, and the following modifications or extensions are possible. When a sufficient data output time can be ensured, the sine wave driving waveform for one phase is stored in the ROM table 6, and data corresponding to each phase is read from one ROM table. good. For example, in FIG. 6D, V and W phase data corresponding to the U phase address 00H can be read from the addresses 28H and 14H of the ROM table 6U. Also, the data of one phase is read, and the data of the other two phases are
It can also be calculated from the phase relationship. Neutral point 2N
May be disconnected from the ground, and the drive circuit 22 may be operated with a single power supply. The rotor position signal output unit 13 may be arranged on the sine wave command value output unit 4 side. With such a configuration, it is possible to further shorten the wiring of the rotor position signal CLK having a relatively high frequency. The storage means may store sine-wave drive waveform data superimposed with data that also offsets the cogging torque of the motor. With such a configuration, it is possible to reduce the cogging torque.

[0048]

According to the motor driving apparatus of the present invention, the position detecting means estimates the induced voltage generated in each phase coil based on each phase voltage of the motor and the impedance of each phase coil. The rotational position of the rotor is detected based on The voltage signal output means outputs a voltage signal corresponding to the substantially sinusoidal waveform data based on the rotational position, and the drive means supplies a current signal generated by the voltage / current conversion to each phase coil of the motor. Then, a substantially sinusoidal current signal is supplied to each phase coil of the motor,
Without changing the structure of the motor, the torque fluctuation of the motor can be further reduced as compared with the case where a substantially sinusoidal voltage signal is supplied. Further, it is possible to detect the rotational position of the rotor without using a position sensor.

[Brief description of the drawings]

FIG. 1 is a diagram showing an electrical configuration according to a first embodiment of the present invention.

FIG. 2 is a functional block diagram illustrating a detailed configuration of a position detection unit.

FIG. 3 is a functional block diagram showing a detailed configuration of a rotor position signal output unit.

FIG. 4 is a diagram for explaining the operation principle of a drive circuit;
(A) is an equivalent circuit diagram, (b) is a diagram showing the relationship between input voltage and output current

FIG. 5 is a diagram showing a configuration of an address counter and a ROM table corresponding to each phase.

FIG. 6 is a timing chart of each signal.

FIG. 7 is a view corresponding to FIG. 1, showing a second embodiment of the present invention.

[Explanation of symbols]

1 is a motor, 2U, 2V and 2W are coils, 3, 3 'are phase detection units (position detection means), 4 is a sine wave command value output unit (voltage signal output means), and 6 (U, V, W) is ROM table (storage means), 13 is a rotor position detection section (PLL oscillation circuit), 22U, 22V, 22W are drive circuits (drive means), 33U, 33V, 33W are drive circuits (drive means)
Is shown.

Claims (7)

[Claims] 1. An induced voltage generated in each phase coil is estimated based on each phase voltage of the motor and the impedance of each phase coil, and a rotational position of a rotor constituting the motor is detected based on the estimated induced voltage. A voltage signal output means for outputting a voltage signal corresponding to substantially sinusoidal waveform data based on the rotational position of the rotor detected by the position detection means; And a driving unit for driving the motor by converting a voltage signal to be converted into a current signal and energizing each phase coil of the motor. 2. The motor drive device according to claim 1, wherein the position detecting means estimates a voltage obtained by subtracting a voltage drop due to impedance of each phase coil from each phase voltage of the motor as an induced voltage. 3. The position detecting means determines the inductance and resistance of the coil as L and R, and the current flowing through the coil as i.
Wherein the voltage drop is obtained by calculating L · di / dt + R · i.
The motor drive device according to claim 1. 4. The position detecting means, assuming that the inductance and resistance of the coil are L and R, respectively, and the current command value for determining the current flowing through the coil is x, the voltage drop is L · dx / dt + R · 3. The value obtained by calculating x.
The motor drive device according to claim 1. 5. A storage means for storing waveform data based on a substantially sine wave, wherein the position detection means detects a zero cross point of the induced voltage as a rotation position of the rotor, and a voltage signal output means detects the zero position of the rotation position. 5. The motor driving device according to claim 1, wherein a voltage signal is output by reading waveform data from the storage unit in synchronization with the detection timing. 6. The position detecting means includes a PLL oscillation circuit for outputting a frequency signal based on the detection timing of the rotational position, and the voltage signal output means is provided by a storage means in accordance with the frequency signal output by the PLL oscillation circuit. 6. The motor driving device according to claim 5, wherein the waveform data is read. 7. The driving device according to claim 1, wherein the driving unit performs a PWM control based on the voltage signal output from the voltage signal output unit to convert the driving signal into a current signal. Motor drive.