JP2007202294A - Drive control method and controller of sensorless/brushless motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To start a sensorless/brushless motor quickly and surely with low noise and low vibration. <P>SOLUTION: Phase fixed excitation of stator windings 52a-52c is performed a plurality of times in a predetermined order (S100-S106) such that a rotor 53 is fixed in correspondense with an excited stator winding 52a-52c. Subsequently, excitation for rotation of the stator windings 52a-52c is started (S108) and when the rotor position is detected within a predetermined time based on a voltage induced in the stator winding 52a-52c in response to excitation (S110), sensorless operation where excitation of the stator windings 52a-52c is switched based on the detected rotor position is started (S112) thus ensuring quick start. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a sensorless / brushless motor, and more particularly, to an improvement in quick start-up, quietness, stability, and the like.

Conventionally, as a method for controlling the start of a sensorless / brushless motor, for example, fixing based on a detection signal of a position detection circuit that detects a point where an induced voltage generated in a stator winding passes a reference potential (for example, ground potential). Before reaching the sensorless operation that controls the rotation by exciting the coil winding, in other words, before the closed loop operation, so-called synchronous operation, in other words, open loop operation is performed for a predetermined time or a predetermined number of rotations. After that, a method of shifting to sensorless operation has been proposed (see, for example, Patent Document 1).
In particular, as a technique that takes into account the failure of startup, a technique has been proposed in which excitation is performed by changing the initial positioning phase at the time of restart (see, for example, Patent Document 2).

Japanese Patent No. 2682164 (page 3-4, FIG. 1 to FIG. 6) Japanese Patent No. 270408 (page 2-4, FIGS. 1-8)

However, in the former start-up control method, a rotor magnetic field is generated in a state in which the rotor position is not fixed, and the rotor is slid until normal rotation in order to force the rotor to rotate. In addition to generating noise from moving parts and causing noise, it also generates vibrations associated with the generation of such sounds, especially in applications where quietness is required. There is a problem that some device for suppressing the generation of noise and vibration is required separately. Furthermore, since it is necessary to pass through the synchronous operation state before reaching the original sensorless operation state, it takes time from the start to the steady operation state, i.e., the sensorless operation. is there.
On the other hand, in the case of the activation control like the latter, even when a foreign object that has entered the interior for some reason is preventing the rotation of the rotor during the activation, When the mechanical load is relatively light for the rotor, it may be possible to start by repeating the start control operation several times. However, depending on the application of the brushless motor, for example, the water adhering to the rotor's rotating shaft may freeze in the winter. In such a case, the mechanical load on the rotor becomes large and simple. However, there is a problem that it may be difficult to start with the latter start control that repeatedly starts.

The present invention has been made in view of the above circumstances, and provides a drive control method and apparatus for a sensorless brushless motor that can be activated with low noise and vibration.
Another object of the present invention is to provide a drive control method and apparatus for a sensorless brushless motor that can be quickly started.
Another object of the present invention is to provide a sensorless / brushless motor drive control method and apparatus capable of starting even when the rotor is frozen.

In order to achieve the above object of the present invention, a sensorless / brushless motor drive control device according to the present invention comprises:
The position of the rotor is determined based on the voltage induced in the stator winding, and the sensorless operation is performed to rotate the rotor by controlling the excitation timing to the stator winding based on the determination result. A sensorless / brushless motor drive control device,
The drive control device
Performing a plurality of phase-fixed excitations in a predetermined order for the stator windings so that the rotor is fixed corresponding to the excited stator windings;
Next, excitation for starting rotation of the stator winding is started.
In order to achieve the above object of the present invention, a sensorless / brushless motor drive control device according to the present invention comprises:
The position of the rotor is determined based on the voltage induced in the stator winding, and the sensorless operation is performed to rotate the rotor by controlling the excitation timing to the stator winding based on the determination result. A sensorless / brushless motor drive control device,
The drive control device
The number of phase-fixed excitations for exciting the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, Set the duty of the drive pulse signal applied to the stator winding and the number of repetitions of repeating the series of operations in the event of startup failure, depending on the ambient temperature,
Next, phase fixed excitation is performed based on the setting, and then it is determined whether the rotor position is detected based on the induced voltage generated in the stator winding by the phase fixed excitation, and the rotor position is detected. When it is determined that the sensorless operation is performed, the sensorless operation is started.
Furthermore, in order to achieve the object of the present invention, a drive control device for a sensorless brushless motor according to the present invention comprises:
The configuration is such that the position of the rotor is determined based on the voltage induced in the stator winding, the excitation timing to the stator winding is controlled based on the determination result, and the rotor is rotated. A sensorless / brushless motor drive control device,
The drive control device
A plurality of phase-fixed excitations are performed on the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, and then the ambient temperature is a predetermined low temperature. If it is determined that the ambient temperature is higher than the predetermined low temperature range, phase-fixed excitation is performed again, and the induced voltage generated in the stator winding is changed accordingly. Based on this, it is determined whether or not the rotor position is detected within a predetermined time. When the rotor position is detected within a predetermined time, the sensorless operation is started.
Furthermore, in order to achieve the above object of the present invention, a sensorless / brushless motor drive control device according to the present invention comprises:
The position of the rotor is determined based on the voltage induced in the stator winding, and the sensorless operation for rotating the rotor by controlling the excitation timing to the stator winding based on the determination result is performed. A sensorless / brushless motor drive control device,
The drive control device
The number of phase-fixed excitations for exciting the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, Set the duty of the drive pulse signal applied to the stator winding and the number of repetitions of repeating the series of operations in the event of startup failure, depending on the ambient temperature,
Next, phase-fixed excitation is performed based on the setting, and then, it is determined whether the ambient temperature is equal to or higher than a predetermined low temperature range, and when it is determined that the ambient temperature is equal to or higher than the predetermined low temperature range, Excitation for starting rotation is performed on the stator winding, and it is determined whether the rotor position is detected based on the induced voltage generated in the stator winding in response to the excitation, and the rotor position is detected. If it is determined that the sensorless operation is performed, the sensorless operation is started.

According to the present invention, by performing phase-fixed excitation a plurality of times and then performing excitation for rotation start, the rotor position can be reliably started by phase-fixed excitation. Therefore, unlike conventional systems, sensorless operation can be started without performing synchronous operation before entering sensorless operation, so that the speed of startup can be improved and noise caused by synchronous rotation as in the past. In addition, there is no occurrence of vibration and quietness can be improved.
Also, by changing the number of phase-fixed excitations, the drive pulse duty, and the number of attempts to restart when startup fails according to the ambient temperature, unlike the conventional startup, More reliable start-up can be ensured according to environmental conditions. In particular, when the rotor is in a frozen state, or when the static torque of the rotor is increased due to rusting of the rotor bearings or so-called grease removal, the possibility of starting is further secured compared to the conventional case. As a result, it contributes to improving the reliability of operation under severe environmental conditions.
Furthermore, after performing phase-fixed excitation, according to the ambient temperature, excitation for synchronous operation is performed a plurality of times, that is, synchronous operation within a range of less than one rotation of the rotor is performed. Unlike the above, it is possible to perform the start-up more reliably and quickly by minimizing the synchronous operation that causes noise and vibration.

Hereinafter, embodiments of the present invention will be described with reference to FIGS.
The members and arrangements described below do not limit the present invention and can be variously modified within the scope of the gist of the present invention.
First, a configuration example of a brushless motor drive control apparatus (hereinafter referred to as “this apparatus”) in which the brushless motor drive control method according to the embodiment of the present invention is executed will be described with reference to FIGS. 1 and 2. I will explain.

  The apparatus S includes a control unit (indicated as “CPU” in FIG. 1) 101, a drive circuit (indicated as “DRV” in FIG. 1) 102, and a position detection circuit (in FIG. 1, “SENS”). (Notation) 103 and are roughly divided.

  The brushless motor 51 in the embodiment of the present invention is a so-called sensorless brushless motor having a known and well-known configuration, for example, rotational driving of a blower fan (not shown) of a blower in a vehicle air conditioner. It is used for. The brushless motor 51 in the embodiment of the present invention has three-phase excitation, and uses a permanent magnet rotor (hereinafter referred to as “rotor”) using stator windings 52 a to 52 c and a permanent magnet magnetized in the circumferential direction. And 53).

The position detection circuit 103 functions as a conventional sensor for detecting the rotational position of the rotor 53. The position detection circuit 103 detects the voltage induced in the stator windings 52a to 52c of the brushless motor 51, and appropriately sends it to the control unit 101. It is configured to input at various levels.
The control unit 101 uses a microcomputer having a known and well-known configuration, and various programs for controlling the drive of the brushless motor 51 in a storage area or storage element (not shown) in the microcomputer. Are stored, and they are executed as appropriate.

Specifically, the control unit 101 determines the rotor 53 position based on the detection signal from the position detection circuit 103, and based on the determined rotor position and a desired rotation speed signal input from the outside, A control signal for the drive circuit 102 that outputs a drive pulse signal to the stator windings 52a to 52c of the brushless motor 51 is generated and output. The drive control of the brushless motor 51 via the drive circuit 102 by the control unit 101 is specifically known and well-known so-called PWM (Pulse Width Modulation) control, depending on the desired number of rotations. The duty of the drive pulse signal output from the drive circuit 102 is determined, and the switching timing of the drive pulse signal is controlled according to the detection signal from the position detection circuit 103 to control energization to the stator windings 52a to 52c. It is to do. In the embodiment of the present invention, the “duty” of the drive pulse signal represents the percentage of the time when the drive pulse signal becomes the logical value High with respect to the repetition period of the drive pulse signal.
Further, a known and well-known switching circuit is configured at the final stage of the drive circuit 102, and a drive pulse signal having a voltage value of the vehicle battery 1 is applied to the stator windings 52a to 52. Yes.

  Further, a temperature sensor 11 is provided at an appropriate position of the brushless motor 51 in order to detect the ambient temperature in the vicinity of the brushless motor 51, and the detection signal is input to the control unit 101. . The temperature sensor 11 is necessary in the second to fourth drive control examples among the four drive control examples described later, but is not essential in the first drive control example.

FIG. 2 shows a specific circuit configuration example of the position detection circuit 103. Hereinafter, the specific circuit configuration example will be described with reference to FIG.
The position detection circuit 103 mainly includes three comparators 41a to 41c provided corresponding to the stator windings 52a to 52c, and filter circuits 40a to 40c formed in front of the comparators 41a to 41c. It is structured as an element.
Each of the filter circuits 40a to 40c provided in the previous stage of each of the comparators 41a to 41c has basically the same configuration, and the configuration itself is a known and well-known configuration. Here, only the components are shown below, and the detailed description of the configuration is omitted.

First, in the first filter circuit 40a, an integrating circuit is configured by the resistors 1a and 2a and the capacitor 4a, and in the second filter circuit 40b, an integrating circuit is configured by the resistors 1b and 2b and the capacitor 4b. In the third filter circuit 40c, an integrating circuit is constituted by the resistors 1c and 2c and the capacitor 4c.
In this configuration example, the first filter circuit 40a has an induced voltage of the U-phase stator winding 52a, and the second filter circuit 40b has an induced voltage of the V-phase stator winding 52b. The voltage is applied to the third filter circuit 40c by the induced voltage of the stator winding 52c in the W phase.

The output side of each of the filter circuits 40a to 40c, that is, the first filter circuit 40a, is the connection point between the resistors 1a and 2a and the capacitor 4a, and the second filter circuit 40b. Are the connection points of the resistors 1b and 2b and the capacitor 4b, and in the third filter circuit 40c, the connection points of the resistors 1c and 2c and the capacitor 4c are the corresponding comparators 41a to 41a, respectively. It is connected to the non-inverting input terminal 41c.
Further, resistors 3a, 3b, and 3c for setting a reference voltage in the comparison operation of the comparators 41a to 41c are connected between the inverting input terminals and the non-inverting input terminals of the comparators 41a to 41c, respectively. At the same time, the inverting input terminals of the comparators 41a to 41c are connected to each other and maintained at the same potential. For this reason, the comparators 41a to 41c can detect a point (zero cross point) where the output voltage of the filter circuits 40a to 40c passes a reference voltage (for example, zero potential).

Here, the relationship between the induced voltage input to the position detection circuit 103 and the output signal of the position detection circuit 103 will be described more specifically with reference to FIG. 3. FIG. In the stator windings 52a to 52b to which no signal is applied, an example of an induced voltage (phase induced voltage) generated by the passage of the magnetic field of the rotor 53 is shown. In FIG. The induced voltage in 52a, EV represents the induced voltage in the stator winding 52b, and EW represents the induced voltage in the stator winding 52c.

  The point at which this induced voltage passes the midpoint potential, in other words, the point at which the positive electrode changes to the negative electrode, or the point at which the negative electrode changes to the positive electrode (see, for example, point A in FIG. 3A) is the rotor. The boundary portion of the magnetic poles magnetized in the circumferential direction 53 passes through the stator windings 52a to 52c. Therefore, the position of the rotor 53 can be detected by detecting this point.

On the other hand, the filter circuits 40a to 40c have a delay characteristic, and the delay amount has a characteristic that increases as the rotation speed of the brushless motor 51 increases, in other words, the repetition cycle of the input signal. The output signal has a phase delay of 90 degrees with respect to the input signal at the maximum.
FIG. 3B shows output signals of the filter circuits 40a to 40c when the induced voltage shown in FIG. 3A is input. Each output signal has a phase delay Φs with respect to the input signal. Is output. For example, the point A of the V-phase induced voltage EV in FIG. 3A corresponds to the point A ′ in FIG. 3B, and the point B of the U-phase induced voltage EU in FIG. Corresponds to point B ′.
In the embodiment of the present invention, Φs is, for example, 60 degrees in electrical angle when the brushless motor 51 rotates at 1000 rpm.

  The output signals of the filter circuits 40a to 40c are used for comparison operations in the corresponding comparators 41a to 41c, respectively. As a result, the comparators 41a to 41c receive the signals as shown in FIGS. 3 (C) to 3 (E). Furthermore, while the output signals of the filter circuits 40a to 40c change from the positive electrode to the negative electrode and pass the virtual midpoint potential, the logic value Low changes to High, while the output signals of the filter circuits 40a to 40c change from the negative electrode to the positive electrode. However, when the virtual midpoint potential is passed, a signal that becomes High from the logical value Low is output.

  The output signals of the comparators 41a to 41c have their rise and fall synchronized with the zero cross point of the induced voltage, and this zero cross point corresponds to the position of the rotor 53 as described above. Therefore, the control unit 101 determines the rising of the output signal of the input comparators 41a to 41c from the low level to the high level and the low level from the high level to the low level, thereby determining the rotor position. Detection is possible.

Next, drive control executed by the control unit 101 will be described with reference to FIGS.
First, an example of the first drive control will be described with reference to the flowchart shown in FIG. 4 and the explanatory diagram of FIG.
This first drive control is performed without starting synchronous operation as in the prior art, and when the processing by the control unit 101 is started, first, the first phase locking (hereinafter referred to as “phase”). The position detection circuit 103 is initialized (refer to step S100 in FIG. 4).
The phase locking is performed to fix a predetermined winding among the stator windings 52a to 52c in an excited state, thereby fixing the rotor 53 at a corresponding position.

  In addition, since the position detection circuit 103 according to the embodiment of the present invention has the capacitor as described above, when starting the sensorless operation, the input potential is initialized to a predetermined potential (in other words, The output voltage of the position detection circuit 103 needs to be initialized to a predetermined potential). However, performing phase locking as described above initializes the input potential at a predetermined input terminal of the position detection circuit 103. Therefore, phase locking also serves as initialization of the position detection circuit 103.

Initialization of the phase detection 1 and the position detection circuit 103 associated with the phase fixation 1 (hereinafter referred to as “position detection circuit initialization 1”) is performed for a preset predetermined time (see step S102 in FIG. 4). . If it is determined that the predetermined time has elapsed, then the phase detection 2 and the position detection circuit 103 associated with the phase fixation 2 are initialized in the same manner (hereinafter referred to as “position detection circuit initialization 2”). (See steps S104 and S106 in FIG. 4).
This phase lock 2 is a phase in which the excitation is fixed for a predetermined phase of the stator windings 52a to 52c after the phase lock 1. As described in the phase fixing 1, the position detection circuit initialization 2 is performed along with the phase fixing 2. Here, the predetermined time for performing phase fixing 1 and the predetermined time for performing phase fixing 2 may be the same, or may be different from each other.
When it is determined that the phase fixing 2 and the position detection circuit initialization 2 have been performed for a predetermined time (see step S106 in FIG. 4), start energization is started and simultaneously the detection of the induced voltage by the position detection circuit 103 is started. (See step S108 in FIG. 4).

Here, the start energization refers to the first energization to the stator windings 52a to 52c when the sensorless operation is started thereafter.
FIG. 5 shows an example of changes in the state of the drive pulse signal to the stator windings 52a to 52c and the input state of the position detection circuit 103 when the sensorless energization is performed through the phase locking 1 and 2 and the start energization described above. An explanatory diagram showing the above is shown, and this example will be described below with reference to FIG.

  In the figure, the notation of “output” in the left column is the U-phase, V-phase, W-phase, that is, in the embodiment of the present invention, from the drive circuit 102 to the stator windings 52a, 52b, 52c. It means an output signal, in other words, a drive pulse signal. In the row direction, the driving pulse signals in the order of “phase-fixed 1”, “phase-fixed 2” and “start energization” described above, and “sensorless operation” immediately after the start energization are performed. The logical value corresponding to the level of is displayed. In the figure, “H” means a logical value High, and “L” means a logical value Low.

  In FIG. 5, the notation “input” in the left column indicates the input signal of the position detection circuit 103. In the embodiment of the present invention, as described above in the description of the position detection circuit 103, voltages in the U phase, V phase, and W phase of the stator windings 52a to 52c are respectively applied. It has become. In the same figure, in the row direction indicated as “input”, “phase fixed 1”, “phase fixed 2” and “start energization” and “sensorless operation” immediately after start energization are performed. In order, logical values corresponding to the level of the input signal to the position detection circuit 103 are displayed.

In the example shown in FIG. 5, in the phase fixed 1, the V phase is set to the logical value High and the U phase is set to the logical value Low so that the excitation current flows from the V phase to the U phase. The W phase is set to the logical value High and the U phase is set to the logic value Low so that the excitation current flows from the W phase to the U phase.
On the other hand, the input stage of the position detection circuit 103 is in the same logical value state as the logical values of the stator windings 52a to 52c in the phase lock 1 and phase lock 2 described above (see FIG. 5).

  Next, in the start energization, the W phase is set to the logical value High and the V phase is set to the logic value Low so that the excitation current flows from the W phase to the V phase. The input stage corresponding to the phase is in the same logic state as the output level from the drive circuit 102 to the W phase and V phase, respectively. In this case, since the U phase is a non-excited phase, the rotor 53 is in a normal state, that is, for some reason, corresponding to the rotation of the rotor 53 in accordance with the excitation change from phase fixing 2 to start energization. If it is not in a state where it is locked due to the presence of a foreign substance or the like and does not rotate smoothly due to foreign matter or the like, the induced voltage is also applied to the input stage corresponding to the U phase of the position detection circuit 103 (see FIG. 5 (refer to the part indicated as “induced voltage”).

Returning to the description of FIG. 4 again, the start energization is performed as described above in step S108, whereby the position detection circuit 103 receives the induced voltages from the stator windings 52a to 52c. Then, detection of the induced voltage by the position detection circuit is started. Then, the control unit 101 performs rotor position detection based on the signal from the position detection circuit 103, and determines whether or not the rotor position is detected within a predetermined time (step S110 in FIG. 4). .
That is, as described above with reference to FIG. 3, a signal corresponding to a normal induced voltage from the stator windings 52 a to 52 c is input from the position detection circuit 103 to the control unit 101. In, the rotor position can be determined by determining the change in the logical value.

  If it is determined in step S110 that the rotor position has been detected within a predetermined time (in the case of YES), the operation proceeds to sensorless operation (see step 112 in FIG. 4). That is, based on the rotor position determined by the control unit 101, the phase to be excited next is determined based on the excitation state at the start energization, and the excitation timing, that is, the output timing of the drive pulse signal is determined. Then, the drive pulse signal is applied to the stator windings 52a to 52c via the drive circuit 102. Then, based on the rotor position determined based on the signal input from the position detection circuit 103, the excitation phase is sequentially switched as described above.

  On the other hand, if it is determined in step S110 that the rotor position is not detected within a predetermined time (NO), for example, the rotor 53 is locked for some reason, If the original induced voltage does not occur due to the intermittent movement of the rotation, etc., the process returns to the previous step S100 and the series of processes is performed again (step S110 in FIG. 4). reference).

  In the above-described embodiment, the phase fixing is performed twice. However, the present invention is not limited to this, and may be performed more than that. However, if the number of phase fixations is increased too much, the speed of start-up will be sacrificed accordingly. Is preferred.

Next, an example of the second drive control will be described with reference to the flowcharts shown in FIGS.
This second drive control is performed especially in winter when the rotation of the brushless motor 51, that is, for example, freezing of water droplets attached to the bearing portion (not shown) or for some reason, the rotor 53 and the brushless motor 51 This is suitable for facilitating the start-up when the rotor 53 has a mechanical load due to foreign matter or the like entering between other parts.
Hereinafter, specifically, when processing by the control unit 101 is started, first, initialization of variables, constants, and the like is performed (see step S200 in FIG. 6).
Next, the ambient temperature detected by the temperature sensor 11 is read (see step S202 in FIG. 6), and it is determined whether the ambient temperature is lower than a predetermined low temperature range or higher than a low temperature range. (See step S204 in FIG. 6). Here, the low temperature range may be set to a certain temperature range, or may be a specific temperature. For example, in the embodiment of the present invention, a temperature lower than 0 ° C. is set as the low temperature range.

In step S204, if it is determined that the ambient temperature is not lower than the predetermined low temperature range (in the case of NO), in other words, if it is determined that the ambient temperature is 0 ° C. or higher, the rotating portion of the brushless motor 51 is rotated. The possibility of being in a frozen state is extremely low, and the phase fixing number n is set to the predetermined number n1 (see step S208 in FIG. 6).
Next, the duty of the drive pulse signal at the time of activation is set to a predetermined value w1% (see step S214 in FIG. 6), and the process proceeds to the next step S220, and again when this activation process fails. The upper limit value of the number of repetitions when repeating a series of activation processes, that is, the maximum retry number Rn is set to the predetermined value α.

On the other hand, if it is determined in the previous step S204 that the ambient temperature is lower than the predetermined low temperature range (in the case of YES), whether or not the ambient temperature is equal to or lower than the predetermined cryogenic temperature range is determined. The determination is made (see step S206 in FIG. 6). Here, the cryogenic temperature range may be set to a certain temperature range, or may be a specific temperature. For example, in the embodiment of the present invention, a temperature lower than −20 ° C. is set as a very low temperature region, and a temperature exceeding this, that is, a temperature lower than 0 ° C. to −20 ° C. is determined not to be a very low temperature range. .
In step S204, when it is determined that the ambient temperature is not lower than the predetermined cryogenic temperature range (in the case of NO), that is, in the case of the embodiment of the present invention, the ambient temperature is less than 0 ° C. In this case, it is estimated that the rotating portion of the brushless motor 51 is in a frozen state. Therefore, the phase fixing number n is set to a predetermined number n2 (n2> n1). (See step S210 in FIG. 6).

  Next, the duty of the drive pulse signal at the time of activation is set to a predetermined value w2% (w2> w1) (see step S216 in FIG. 6), and the process proceeds to the next step S222. The upper limit value of the number of repetitions when the series of start-up processes is repeated again upon failure, that is, the maximum retry number Rn is set to the predetermined value β.

On the other hand, when it is determined in the previous step S206 that the ambient temperature is lower than the predetermined cryogenic temperature range (in the case of YES), that is, in this example, it is determined that the ambient temperature is lower than −20 ° C. In this case, it is estimated that there is a very high possibility that the rotating part of the brushless motor 51 is in a frozen state. Therefore, the phase fixing number n is set to a predetermined number n3 (n3>n2> n1). (See step S212 in FIG. 6).
Next, the duty of the drive pulse signal at the time of activation is set to a predetermined value w3% (w3>w2> w1) (see step S218 in FIG. 6), and the process proceeds to the next step S224, and this activation When the process fails, the upper limit value of the number of repetitions when the series of activation processes is repeated again, that is, the maximum retry number Rn is set to the predetermined value γ.

Then, after any of the above-described steps S220, S222, and S224 is executed, phase locking is performed (see step S226 in FIG. 6). Note that phase locking is as described in the first example of drive control, and thus detailed description thereof is omitted here.
This phase locking is performed for a predetermined time set in advance (see step S228 in FIG. 6), and when it is determined that the predetermined time has elapsed, 1 is added to the phase fixing number counting variable N at this time. The variable N is updated (see step S230 in FIG. 6), and then it is determined whether the value of N is equal to the set value n (see step S232 in FIG. 6).
Here, since the variable N is reset to zero at the time of the initialization described above (see step S200 in FIG. 6), N = 0 + 1 = 1 immediately after the first phase locking (step S224). It becomes.

If it is determined in step S232 that N = n is not satisfied (in the case of NO), that is, if it is determined that the phase fixing has not yet been performed n times, the process returns to the previous step S226, A series of subsequent processes will be repeated.
On the other hand, if it is determined in step S232 that N = n (in the case of YES), that is, if it is determined that the phase fixing has been performed n times, it is determined whether or not the rotor position has been detected. (See step S234 in FIG. 7). That is, when the induced voltage from the stator windings 52a to 52c is detected by the position detection circuit 103, the controller 101 can determine the position of the rotor 53 based on the output signal of the position detection circuit 103. The rotor position is determined. When it is determined that the rotor position has been detected in this way (in the case of YES), sensorless operation is started (see step S242 in FIG. 7). Note that the sensorless operation is as described in the first example of the drive control, and therefore detailed description thereof is omitted here.

  On the other hand, when it is determined in step S234 that the rotor position has not been detected (in the case of NO), 1 is added to the retry count counting variable Nr at this time, and the variable Nr is updated (FIG. 7). Next, it is determined whether or not the value of Nr is equal to the set value Rn (see step S238 of FIG. 7). When it is determined that Nr has not yet reached the predetermined value Rn (in the case of NO), the process returns to the previous step S226, and a series of subsequent processes are repeated. On the other hand, if it is determined in step S238 that Nr has reached the predetermined value Rn (in the case of YES), the drive is stopped because there is no possibility of activation due to some abnormality or the like (FIG. 7 step S240).

In the second drive control example described above, the number of phase fixations is increased as the ambient temperature decreases, and the duty of the drive pulse signal is increased, so that the ambient temperature decreases. Thus, the amount of heat generated in the stator windings 52a to 52c by phase fixing can be increased. Therefore, the heat generation according to the ambient temperature can promote the thawing of the portion when there is freezing. The brushless motor 51 can be activated even in the case of
Further, in the second drive control example, when the start-up fails, a series of processes for start-up is repeated a number of times determined according to the ambient temperature, so that the rotating portion of the brushless motor 51 is in a frozen state. Even if, for example, the static torque increases due to the occurrence of rust in the bearing that supports the rotating shaft (not shown) of the rotor 53 or grease is lost, even if it fails to start once, it will be retried. The possibility becomes great, and more reliable start-up control can be realized as compared with the prior art.
When stopping driving (see step S240 in FIG. 7), an alarm operation such as generation of an alarm sound or lighting of an alarm lamp is performed at the same time or instead of stopping driving. Also good.

Next, an example of the third drive control will be described with reference to the flowcharts shown in FIGS.
This third drive control is activated in particular when the rotating part of the brushless motor 51 is frozen in winter or when the static torque increases due to a decrease in the viscosity of the grease in the rotating part, as in the second driving control. It is suitable for reliably performing.
Specifically, when the processing by the control unit 101 is started, first, the first phase fixing (indicated as “phase fixing 1” in FIG. 8) is performed for a predetermined time (FIG. 8). 8 (see step S300 and step S302 in FIG. 8), when it is determined that a predetermined time has elapsed since the start of phase fixing, the second phase fixing (indicated as “phase fixing 2” in FIG. 8) is performed for a predetermined time ( (See step S304 and step 306 in FIG. 8).
Note that, as described in the first drive control example, performing phase locking also simultaneously initializes the position detection circuit 103, as in the previous example.

  When it is determined that a predetermined time has elapsed from the start of phase fixing 2 (see step S306 in FIG. 8), the ambient temperature detected by the temperature sensor 11 is read (see step S308 in FIG. 8). Then, it is determined whether or not the ambient temperature is equal to or lower than a predetermined low temperature range or a temperature exceeding the low temperature range (see step S310 in FIG. 8). The determination as to whether or not the ambient temperature is lower than the predetermined low temperature range is basically the same as the process in step S204 in the second drive control described above with reference to FIG. 6, and also in this example. Similarly to the second drive control example, a temperature lower than 0 ° C. is set as the low temperature range.

Therefore, if it is determined in step S310 that the ambient temperature is not lower than the predetermined low temperature range (in the case of NO), in other words, if it is determined that the ambient temperature is 0 ° C. or higher, the third phase. Fixing is performed (see step S314 in FIG. 8).
On the other hand, if it is determined in step S310 that the ambient temperature is lower than the predetermined low temperature range (in the case of YES), whether or not the ambient temperature is further lower than the predetermined cryogenic temperature range. Is determined (see step S312 in FIG. 8). The determination as to whether or not the ambient temperature is lower than a predetermined cryogenic temperature region is basically the same as the process of step S206 in the second drive control described above with reference to FIG. In the same manner as in the second example of drive control, a temperature of less than −20 ° C. is set as the extremely low temperature range.

  In step S312, when it is determined that the ambient temperature is not lower than the predetermined cryogenic temperature range (in the case of NO), in other words, the ambient temperature is determined to be less than 0 ° C. to −20 ° C. In this case, the first excitation (noted as “synchronous operation 1” in FIG. 8) is performed on the stator windings 52a to 52c as the synchronous operation (refer to step S316 in FIG. 8), and then the synchronous operation is performed. Second excitation as operation (referred to as “synchronous operation 2” in FIG. 8) is performed (see step S318 in FIG. 8). In this embodiment, the excitation as the synchronous operation is performed with the duty of the drive pulse signal and the repetition frequency thereof fixed to predetermined values for activation.

  On the other hand, when it is determined in step S312 that the ambient temperature is lower than a predetermined cryogenic temperature range (in the case of YES), that is, in this example, it is determined that the ambient temperature is lower than −20 ° C. In this case, excitation to the stator windings 52a to 52c as the synchronous operation is performed in the same manner as the case where it is determined that the ambient temperature is below 0 ° C. to −20 ° C. In this case, excitation is performed four times (see steps S320 to S326 in FIG. 8). The excitation in this case is also performed with the duty and repetition period of the drive pulse signal fixed to predetermined values, as described in the previous steps S316 and S318.

Then, when any of the above-described steps S314, S318, and S326 is executed, it is determined whether or not the rotor position has been detected within a predetermined time (see step S328 in FIG. 9). That is, when the rotor position is determined by the control unit 101 based on the output signal of the position detection circuit 103, as described above in step S234 in the second drive control. In this case, it is assumed that the rotor position has been detected, and the operation shifts to the sensorless operation (see step S330 in FIG. 9).
On the other hand, when it is determined in step S328 that the rotor position is not detected within a predetermined time (in the case of NO), the process returns to the previous step S300 and the series of processes is repeated again.

  FIG. 10 shows an example of excitation for the stator windings 52a to 52c in the start-up control described above, and this figure particularly shows a case where the sensorless operation is performed by performing two excitations as the synchronous operation. For example, the state of the drive pulse signal to the stator windings 52a to 52c when the steps S316 and S318 are executed after the steps S300 and S306 in FIG. An example of a change in state is shown.

  In the figure, the notation of “output” in the left column is the U-phase, V-phase, W-phase, that is, in the embodiment of the present invention, from the drive circuit 102 to the stator windings 52a, 52b, 52c. It means an output signal, in other words, a drive pulse signal. In the row direction, the driving pulses in the order of “phase-fixed 1” and “phase-fixed 2”, “synchronous operation 1” and “synchronous operation 2”, and subsequent “sensorless operation” are described. The logical value corresponding to the signal level is displayed. In the figure, “H” means a logical value High, and “L” means a logical value Low.

Further, in FIG. 10, the notation “input” in the left column means the input signal of the position detection circuit 103. In the embodiment of the present invention, as described above in the description of the position detection circuit 103, voltages in the U phase, V phase, and W phase of the stator windings 52a to 52c are respectively applied. It has become. In the figure, in the row direction indicated as “input”, a logical value corresponding to the level of the input signal to the position detection circuit 103 at each excitation stage is displayed.
In FIG. 10, the numbers in parentheses written below the letters representing the excitation phases of “phase fixing”, “synchronous operation”, and “sensorless operation” are numbers indicating the order from phase fixing 1.

In the example shown in FIG. 10, in the phase fixing that is the first excitation (phase fixing 1 in step S <b> 300 in FIG. 8), the V phase has logical values High and U so that the excitation current flows from the V phase to the U phase. In the second phase fixing (phase fixing 2 in step S304 in FIG. 8), the W phase is high and the U phase is the logical value Low so that the excitation current flows from the W phase to the U phase. It is said.
Next, the first excitation by the synchronous operation is performed on the basis of the second phase-fixed excitation state, and the W phase has the logical values High and V phase so that the excitation current flows from the W phase to the V phase. Is the logical value Low. Next, the second excitation as the synchronous operation is performed at the timing based on the synchronous operation, and the U phase is set to the logical value High and the V phase is set to the logical value Low so that the excitation current flows from the U phase to the V phase.

Since no induced voltage is generated in the stator windings 52a to 52c until the second excitation as the synchronous operation is performed, the signal input to the position detection circuit 103 is the same as the drive pulse signal. It becomes a logic level (see FIG. 10).
After the excitation by the second synchronous operation, the rotor 53 starts to rotate unless there is a factor that impedes the rotation of the rotor 53, so that the first excitation as the sensorless operation is performed (in FIG. 10, “ Sensorless operation (see column “5)”). That is, with the excitation in the immediately preceding synchronous operation as a reference, the U phase is set to the logical value High and the W phase is set to the logical value Low. In this case, the induced voltage induced in the stator winding 52b is input to the input stage corresponding to the V phase of the position detection circuit 103, and excitation (see “ The timing of the sensorless operation (see the column labeled “6”) is determined based on the induced voltage of the V phase read into the control unit 101 by the position detection circuit 103, and the V phase is logical values High, W The phase is set to the logical value Low. Thereafter, the sensorless operation is continued in the same manner (see the column labeled “Sensorless operation (7)” in FIG. 10).

  In the above-described third drive control example, when the ambient temperature is equal to or higher than a predetermined low temperature range, the phase shifts to the sensorless operation, while when the ambient temperature is lower than the low temperature range, synchronization is performed according to the temperature. The operation shifts to the sensorless operation after the operation, but the period of the synchronous operation is about several times as the number of excitations. Therefore, the rotation of the rotor 53 is less than one rotation. Compared with the start control of the system, not only is it possible to start quickly, but since the synchronous rotation is less than one rotation, it has been used due to vibration and noise that have been caused by synchronous rotation over several tens of rotations in the past. The problem of causing discomfort in the person will be solved.

Next, an example of the fourth drive control will be described with reference to the flowcharts shown in FIGS.
This fourth drive control generally has the functions of the second and third drive controls. In FIG. 11 and FIG. 12, steps that perform the same processing as the steps shown in FIG. 6, FIG. 7 and FIG. Omitted, the following description will focus on differences.
Hereinafter, specifically, when the processing by the control unit 101 is started, initialization is performed (see step S200 in FIG. 11), similarly to the second drive control example described above with reference to FIG. Subsequently, the ambient temperature is read (see step S202 in FIG. 11), and a predetermined number of phase fixations are performed according to the ambient temperature (see step S204 to step S232 in FIG. 11).

After a predetermined number of phases are fixed according to the ambient temperature, the ambient temperature is determined again, and start energization or a predetermined number of synchronous operations are performed according to the determination result (FIG. 12). Steps S310 to S326).
Here, in this drive control, when it is determined in step S310 that the ambient temperature is not lower than the predetermined low temperature range (in the case of NO), start energization is performed (see step S314A in FIG. 12). This start energization is the same as the start energization in step S108 of the first drive control example described above with reference to FIG. 4, and detailed description thereof is omitted here.

  As described above, after the start energization (step S314A in FIG. 12) or the synchronous operation according to the ambient temperature (see steps S316 and S318 in FIG. 12, steps S320 to S326), is the rotor position detected? It is determined whether or not (see step S234 in FIG. 12), and if the rotor position is detected, the operation proceeds to sensorless operation (see step S242 in FIG. 12). On the other hand, if it is determined in step S234 that the rotor position has not yet been detected (in the case of NO), the processing after step S226 is repeated a predetermined number of times (steps S236 and S238 in FIG. 12). However, if the rotor position is still not detected, the drive is stopped because there is no possibility of starting due to some abnormality or the like (see step S240 in FIG. 7).

It is a block diagram which shows one structural example of the drive control apparatus of the sensorless brushless motor in embodiment of this invention. FIG. 2 is a circuit diagram showing a circuit configuration example of a position detection circuit used in the brushless motor drive control device shown in FIG. 1. FIG. 3A is a schematic waveform diagram schematically illustrating a relationship between an induced voltage input to the position detection circuit and an output signal of the position detection circuit, and FIG. 3A is a schematic diagram illustrating an example of an induced voltage in a stator winding. FIG. 3B is a schematic waveform diagram showing a schematic output waveform of the filter circuit, and FIG. 3C is a schematic output waveform of a comparator to which an U-phase induced voltage is applied via the filter circuit. FIG. 3D is a schematic waveform diagram, FIG. 3D is a schematic waveform diagram showing a schematic output waveform of a comparator to which a V-phase induced voltage is applied via a filter circuit, and FIG. FIG. 6 is a schematic waveform diagram showing a schematic output waveform of a comparator to which the induced voltage is applied. It is a flowchart which shows the process sequence in the 1st example of the drive control method of the sensorless brushless motor in embodiment of this invention. FIG. 5 is an explanatory diagram for explaining an output state of a drive pulse signal and an input state of a position detection signal circuit at the time of start-up by the drive control method shown in FIG. 4. It is a flowchart which shows the process sequence in the 2nd example of the drive control method of the sensorless brushless motor in embodiment of this invention. It is a flowchart which shows the latter half part of the process sequence in the 2nd example of the drive control method of the sensorless brushless motor in embodiment of this invention. It is a flowchart which shows the process sequence in the 3rd example of the drive control method of the sensorless brushless motor in embodiment of this invention. It is a flowchart which shows the latter half part of the process sequence in the 3rd example of the drive control method of the sensorless brushless motor in embodiment of this invention. It is explanatory drawing explaining the output state of the drive pulse signal at the time of starting by the drive control method shown by FIG.8 and FIG.9, and the input state of a position detection signal circuit. It is a flowchart which shows the process sequence in the 4th example of the drive control method of the sensorless brushless motor in embodiment of this invention. It is a flowchart which shows the latter half part of the process sequence in the 4th example of the drive control method of the sensorless brushless motor in embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 ... Temperature sensor 51 ... Brushless motor 52a-52c ... Stator winding 53 ... Rotor 101 ... Control part 102 ... Drive circuit 103 ... Position detection circuit

Claims (39)

A sensorless / brushless motor drive control method that determines the position of the rotor based on the voltage induced in the stator winding, and controls the excitation timing to the stator winding based on the determination result. There,
A plurality of phase-fixed excitations are performed on the stator winding in a predetermined order so that the rotor is fixed corresponding to the excited stator winding, and then the stator winding On the other hand, a drive control method for a sensorless / brushless motor, wherein excitation for starting rotation is started.   When the rotor position is detected within a predetermined time based on the induced voltage generated in the stator winding in response to the excitation after the start of excitation for rotation, the stator winding is subsequently performed based on the detected rotor position. 2. The sensorless / brushless motor drive control method according to claim 1, wherein the operation shifts to a sensorless operation in which excitation is switched to a line.   The phase-fixed excitation is repeated when the rotor position is not detected within a predetermined time based on the induced voltage generated in the stator winding in response to the excitation after the start of the excitation for the rotation. Drive control method for sensorless and brushless motors. The position of the rotor is determined based on the voltage induced in the stator winding, and the sensorless operation is performed to rotate the rotor by controlling the excitation timing to the stator winding based on the determination result. A sensorless / brushless motor drive control program executed in a sensorless / brushless motor drive control apparatus comprising:
Performing a plurality of phase-fixed excitations in a predetermined order with respect to the stator windings such that the rotor is fixed corresponding to the excited stator windings;
Performing initial excitation for rotation;
After the first excitation for the rotation, determining whether the rotor position is detected within a predetermined time based on the induced voltage generated in the stator winding in response to the excitation;
In the step, if it is determined that the rotor position is detected, then starting sensorless operation based on the detected rotor position;
A drive control program for a sensorless brushless motor, comprising:   5. The method according to claim 4, further comprising the step of repeating the process from the phase-fixed excitation again when it is determined that the rotor position is not detected within a predetermined time after the first excitation for rotation. Drive control program for sensorless and brushless motors. The position of the rotor is determined based on the voltage induced in the stator winding, and the sensorless operation is performed to rotate the rotor by controlling the excitation timing to the stator winding based on the determination result. A sensorless / brushless motor drive control device,
The drive control device
Performing a plurality of phase-fixed excitations in a predetermined order for the stator windings so that the rotor is fixed corresponding to the excited stator windings;
Next, the sensorless / brushless motor drive control device is configured to start excitation for starting rotation of the stator winding. The drive control device
After starting excitation for rotation, it was determined whether the rotor position was detected within a predetermined time based on the induced voltage generated in the stator winding in response to the excitation, and it was determined that the rotor position was detected. In this case, the sensorless / brushless motor drive control device according to claim 6, wherein the driveless sensor is configured to shift to a sensorless operation based on the rotor position. The drive control device
8. The sensorless brushless motor according to claim 7, wherein when the rotor position is not detected within a predetermined time after the excitation for starting the rotation, the process is repeated again from the phase-fixed excitation. Drive control device. A sensorless / brushless motor drive control method that determines the position of the rotor based on the voltage induced in the stator winding, and controls the excitation timing to the stator winding based on the determination result. There,
The number of phase-fixed excitations for exciting the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, Set the duty of the drive pulse signal applied to the stator winding and the number of repetitions of repeating the series of operations in the event of startup failure, depending on the ambient temperature,
Next, phase-fixed excitation is performed based on the setting, and after that, when the rotor position is detected based on the induced voltage generated in the stator winding by the phase-fixed excitation, the detected rotor position is thereafter set. A sensorless / brushless motor drive control method, wherein a sensorless operation is started based on switching of excitation to the stator winding.   If the rotor position is not detected based on the induced voltage generated in the stator winding due to the phase-fixed excitation after the set number of times of phase-fixed excitation, set the phase-locked excitation with the set number of excitations. 10. The sensorless / brushless motor drive control method according to claim 9, wherein the control is repeated until the detection of the rotor position is made up to a limit of the number of repetitions.   11. The sensorless / brushless motor drive control method according to claim 10, wherein if the rotor position is not detected even if the fixed number of times of the fixed excitation is performed a predetermined number of times, the drive is stopped. The configuration is such that the position of the rotor is determined based on the voltage induced in the stator winding, the excitation timing to the stator winding is controlled based on the determination result, and the rotor is rotated. A sensorless / brushless motor drive control program executed in a sensorless / brushless motor drive control apparatus,
The number of phase-fixed excitations for exciting the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, A step of setting the duty of the drive pulse signal applied to the stator winding and the number of repetitions of repeating a series of operations in the case of startup failure according to the externally input ambient temperature;
Performing phase-fixed excitation with the number of excitations set in the step;
Determining whether or not the rotor position has been detected based on the induced voltage generated in the stator winding by the phase-fixed excitation after the phase-fixed excitation has been performed with the set number of excitations;
When it is determined that the rotor position has been detected based on the induced voltage generated in the stator winding by phase-fixed excitation, the step of starting sensorless operation thereafter;
A drive control program for a sensorless brushless motor, comprising:   When it is determined that the rotor position is not detected based on the induced voltage generated in the stator winding due to the phase-fixed excitation, the phase-locked excitation of the set number of excitations is limited to the set number of repetitions. 13. The sensorless / brushless motor drive control program according to claim 12, further comprising a step of repeating until position detection is performed.   14. The sensorless brushless according to claim 13, further comprising a step of stopping the driving when the rotor position is not detected even if the fixed phase excitation of the set number of excitations is performed a predetermined number of times. Motor drive control program. The position of the rotor is determined based on the voltage induced in the stator winding, and the sensorless operation is performed to rotate the rotor by controlling the excitation timing to the stator winding based on the determination result. A sensorless / brushless motor drive control device,
The drive control device
The number of phase-fixed excitations for exciting the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, Set the duty of the drive pulse signal applied to the stator winding and the number of repetitions of repeating the series of operations in the event of startup failure, depending on the ambient temperature,
Next, phase fixed excitation is performed based on the setting, and then it is determined whether the rotor position is detected based on the induced voltage generated in the stator winding by the phase fixed excitation, and the rotor position is detected. A sensorless / brushless motor drive control device configured to start sensorless operation when it is determined that the sensorless operation has been performed. The drive control device
After performing phase-fixed excitation for the set number of excitations, it was determined that the rotor position was not detected in determining whether the rotor position was detected based on the induced voltage generated in the stator winding by the phase-fixed excitation. 16. The sensorless brushless device according to claim 15, wherein the phase-fixed excitation of the set number of excitations is repeated until the rotor position is detected up to the set number of repetitions. Motor drive control device. The drive control device
17. The sensorless brushless motor according to claim 16, wherein the driving is stopped when the rotor position is not detected even if the fixed number of times of the set number of excitations is repeated a predetermined number of times. Drive control device. The position of the rotor is determined based on the voltage induced in the stator winding, and the sensorless operation for rotating the rotor by controlling the excitation timing to the stator winding based on the determination result is performed. A sensorless / brushless motor drive control method,
A plurality of phase-fixed excitations are performed on the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, and then the ambient temperature is a predetermined low temperature. If the rotor position is above the range, phase-fixed excitation is performed again, and if the rotor position is detected within a predetermined time based on the induced voltage generated in the stator winding in response to this, sensorless operation is started. A sensorless / brushless motor drive control method.   When the ambient temperature is lower than the predetermined low temperature range, excitation is performed for the set number of times of synchronous operation according to the predetermined temperature range, and the induced voltage generated in the stator winding accordingly. 19. The sensorless / brushless motor drive control method according to claim 18, wherein if the rotor position is detected within a predetermined time, the sensorless operation is started thereafter. The configuration is such that the position of the rotor is determined based on the voltage induced in the stator winding, the excitation timing to the stator winding is controlled based on the determination result, and the rotor is rotated. A sensorless / brushless motor drive control program executed in a sensorless / brushless motor drive control apparatus,
Performing a plurality of phase-fixed excitations in a predetermined order with respect to the stator windings such that the rotor is fixed corresponding to the excited stator windings;
Determining whether the ambient temperature is above a predetermined low temperature range; and
When it is determined that the ambient temperature is equal to or higher than a predetermined low temperature range, a step of performing phase-fixed excitation again,
Determining whether the rotor position is detected within a predetermined time based on the induced voltage generated in the stator winding in response to the phase-fixed excitation performed again;
A step of starting sensorless operation when it is determined that the rotor position is detected;
A drive control program for a sensorless brushless motor, comprising: In determining whether or not the ambient temperature is equal to or higher than a predetermined low temperature range, if it is determined that the ambient temperature is lower than the predetermined low temperature range, whether or not the ambient temperature is equal to or higher than a predetermined extreme temperature range. A determining step;
When it is determined that the ambient temperature is equal to or higher than a predetermined cryogenic temperature, performing a first predetermined number of excitations for synchronous operation;
Determining whether a rotor position has been detected within a predetermined time based on an induced voltage generated in a stator winding by excitation for the first predetermined number of times of synchronous operation;
A step of starting sensorless operation when it is determined that the rotor position is detected;
21. The drive control program for a sensorless brushless motor according to claim 20, comprising: In determining whether or not the ambient temperature is equal to or higher than the predetermined extreme temperature range, when it is determined that the ambient temperature is lower than the predetermined extremely low temperature range, excitation for synchronous operation is performed for the first predetermined range. Performing a second predetermined number of times greater than the number of times;
Determining whether a rotor position has been detected within a predetermined time based on an induced voltage generated in the stator winding by excitation for the second predetermined number of times of synchronous operation;
A step of starting sensorless operation when it is determined that the rotor position is detected;
The drive control program for a sensorless / brushless motor according to claim 21, comprising: The configuration is such that the position of the rotor is determined based on the voltage induced in the stator winding, the excitation timing to the stator winding is controlled based on the determination result, and the rotor is rotated. A sensorless / brushless motor drive control device,
The drive control device
A plurality of phase-fixed excitations are performed on the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, and then the ambient temperature is a predetermined low temperature. If it is determined that the ambient temperature is higher than the predetermined low temperature range, phase-fixed excitation is performed again, and the induced voltage generated in the stator winding is changed accordingly. It is determined whether the rotor position is detected within a predetermined time based on this, and when the rotor position is detected within the predetermined time, the sensorless brushless motor is configured to start the sensorless operation. Control device. The drive control device
When it is determined that the ambient temperature is lower than the predetermined low temperature range, it is determined whether the ambient temperature is equal to or higher than the predetermined extreme temperature range, and the ambient temperature is determined to be equal to or higher than the predetermined cryogenic temperature. In this case, excitation for synchronous operation is performed a first predetermined number of times, and the rotor position is within a predetermined time based on the induced voltage generated in the stator winding by the first predetermined number of excitations for synchronous operation. 24. The sensorless brushless motor drive control device according to claim 23, wherein the sensorless brushless motor drive control device is configured to start sensorless operation when it is determined whether or not the rotor position has been detected. The drive control device
In determining whether or not the ambient temperature is equal to or higher than the predetermined extreme temperature range, when it is determined that the ambient temperature is lower than the predetermined extremely low temperature range, excitation for synchronous operation is performed for the first predetermined range. Performing a second predetermined number of times greater than the number of times;
Determining whether a rotor position has been detected within a predetermined time based on an induced voltage generated in the stator winding by excitation for the second predetermined number of times of synchronous operation;
25. The sensorless / brushless motor drive control device according to claim 24, wherein the sensorless operation is started when it is determined that the rotor position is detected. The position of the rotor is determined based on the voltage induced in the stator winding, and the sensorless operation for rotating the rotor by controlling the excitation timing to the stator winding based on the determination result is performed. A sensorless / brushless motor drive control method,
The number of phase-fixed excitations for exciting the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, Set the duty of the drive pulse signal applied to the stator winding and the number of repetitions of repeating the series of operations in the event of startup failure, depending on the ambient temperature,
Next, phase-fixed excitation is performed based on the setting. Thereafter, when the ambient temperature is equal to or higher than a predetermined low temperature range, excitation for starting rotation is performed on the stator winding, and according to the excitation. When the rotor position is detected based on the induced voltage generated in the stator winding, the sensorless / brushless motor drive control method is shifted to sensorless operation thereafter.   If the ambient temperature is less than the predetermined low temperature range after performing the phase-fixed excitation for the set number of times according to the ambient temperature, the set number of times of synchronous operation is set according to the predetermined temperature range. 27. The sensorless operation according to claim 26, wherein when the rotor position is detected within a predetermined time based on the induced voltage generated in the stator winding in accordance with the excitation for the sensorless operation, the sensorless operation is subsequently performed. -Brushless motor drive control method.   If the rotor position is not detected after excitation for the start of rotation to the stator winding or after excitation for synchronous operation, up to the number of repetitions set according to the ambient temperature, 28. Drive control of a sensorless brushless motor according to claim 26 or 27, wherein the excitation for starting rotation or the excitation for synchronous operation according to the ambient temperature is repeated until the rotor position is detected. Method.   The drive is stopped if the rotor position is not detected even after a predetermined number of repetitions of phase-fixed excitation and excitation for the subsequent rotation start or excitation for synchronous operation according to the ambient temperature. 29. The drive control method for a sensorless brushless motor according to claim 28. The configuration is such that the position of the rotor is determined based on the voltage induced in the stator winding, the excitation timing to the stator winding is controlled based on the determination result, and the rotor is rotated. A sensorless / brushless motor drive control program executed in a sensorless / brushless motor drive control apparatus,
The number of phase-fixed excitations for exciting the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, A step of setting the duty of the drive pulse signal applied to the stator winding and the number of repetitions of repeating a series of operations in the case of startup failure according to the externally input ambient temperature;
Performing phase-fixed excitation with the number of excitations set in the step;
Determining whether the ambient temperature is above a predetermined low temperature range; and
When it is determined that the ambient temperature is equal to or higher than a predetermined low temperature range, exciting the stator winding for starting rotation;
Determining whether the rotor position is detected based on an induced voltage generated in the stator winding in response to excitation for starting rotation;
A step of starting sensorless operation when it is determined that the rotor position is detected;
A drive control program for a sensorless brushless motor, comprising: In determining whether or not the ambient temperature is equal to or higher than a predetermined low temperature range, if it is determined that the ambient temperature is lower than the predetermined low temperature range, whether or not the ambient temperature is equal to or higher than a predetermined extreme temperature range. A determining step;
When it is determined that the ambient temperature is equal to or higher than a predetermined cryogenic temperature, performing a first predetermined number of excitations for synchronous operation;
Determining whether a rotor position has been detected based on an induced voltage generated in the stator winding by excitation for the first predetermined number of times of synchronous operation;
A step of starting sensorless operation when it is determined that the rotor position is detected;
31. A drive control program for a sensorless brushless motor according to claim 30, comprising: In determining whether or not the ambient temperature is equal to or higher than the predetermined extreme temperature range, when it is determined that the ambient temperature is lower than the predetermined extremely low temperature range, excitation for synchronous operation is performed for the first predetermined range. Performing a second predetermined number of times greater than the number of times;
Determining whether a rotor position is detected based on an induced voltage generated in a stator winding by excitation for the second predetermined number of times of synchronous operation;
A step of starting sensorless operation when it is determined that the rotor position is detected;
31. A drive control program for a sensorless brushless motor according to claim 30, comprising:   The rotor after the excitation for starting rotation of the stator winding, the excitation for the first predetermined number of times of synchronous operation, or the excitation for the second predetermined number of times of synchronous operation is executed In the determination of whether or not the position has been detected, if it is determined that the rotor position is not detected, up to the number of repetitions set according to the ambient temperature, phase-fixed excitation and excitation for the subsequent rotation start or 33. The drive control of a sensorless brushless motor according to claim 30, 31 or 32, comprising the step of repeating excitation for synchronous operation in accordance with the atmospheric temperature until the rotor position is detected. program.   A step of stopping the drive if the rotor position is not detected even after a predetermined number of repetitions of phase-fixed excitation and subsequent excitation for starting rotation or synchronous operation according to the ambient temperature. 34. The drive control program for a sensorless / brushless motor according to claim 33. The position of the rotor is determined based on the voltage induced in the stator winding, and the sensorless operation for rotating the rotor by controlling the excitation timing to the stator winding based on the determination result is performed. A sensorless / brushless motor drive control device,
The drive control device
The number of phase-fixed excitations for exciting the stator windings in a predetermined order so that the rotor is fixed corresponding to the excited stator windings, Set the duty of the drive pulse signal applied to the stator winding and the number of repetitions of repeating the series of operations in the event of startup failure, depending on the ambient temperature,
Next, phase-fixed excitation is performed based on the setting, and then, it is determined whether the ambient temperature is equal to or higher than a predetermined low temperature range, and when it is determined that the ambient temperature is equal to or higher than the predetermined low temperature range, Excitation for starting rotation is performed on the stator winding, and it is determined whether the rotor position is detected based on the induced voltage generated in the stator winding in response to the excitation, and the rotor position is detected. A sensorless / brushless motor drive control device configured to start sensorless operation when it is determined that the sensorless operation has been performed. The drive control device
In the determination of whether or not the ambient temperature is equal to or higher than a predetermined low temperature range, if it is determined that the ambient temperature is lower than the predetermined low temperature range, whether or not the ambient temperature is equal to or higher than a predetermined extreme temperature range. If the ambient temperature is determined to be equal to or higher than a predetermined cryogenic temperature, excitation for synchronous operation is performed a first predetermined number of times, and the rotor position is determined based on the induced voltage generated in the stator winding by the excitation. 36. The drive control device for a sensorless brushless motor according to claim 35, wherein it is configured to start sensorless operation when it is determined whether or not a rotor position has been detected. . The drive control device
In determining whether or not the ambient temperature is equal to or higher than the predetermined extreme temperature range, when it is determined that the ambient temperature is lower than the predetermined extremely low temperature range, excitation for synchronous operation is performed for the first predetermined range. A second predetermined number of times greater than the number of times, and it is determined whether or not the rotor position is detected based on the induced voltage generated in the stator winding by the excitation, and when it is determined that the rotor position is detected, the sensorless operation is performed. 36. The drive control device for a sensorless brushless motor according to claim 35, wherein the drive control device is configured to start the motor. The drive control device
The rotor after the excitation for starting rotation of the stator winding, the excitation for the first predetermined number of times of synchronous operation, or the excitation for the second predetermined number of times of synchronous operation is executed In the determination of whether or not the position has been detected, if it is determined that the rotor position is not detected, up to the number of repetitions set according to the ambient temperature, phase-fixed excitation and excitation for the subsequent rotation start or 38. The sensorless / brushless motor drive control device according to claim 35, 36, or 37, wherein excitation for synchronous operation according to an ambient temperature is repeated until the rotor position is detected. The drive control device
If the rotor position is not detected even after a predetermined number of repetitions of phase-fixed excitation and excitation for the start of subsequent rotation or synchronous operation according to the ambient temperature, the drive is stopped. 39. The sensorless / brushless motor drive control device according to claim 38.

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