JP2009089567A - Motor device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor device controlling a rotation by detecting the place of a rotor for an LRK-winding motor by a sensor. <P>SOLUTION: The motor device has a motor body (14) having the rotor (18) arranging and fixing 14 permanent magnets (22) on a cylindrical surface so that the polarities of magnetic poles are inverted mutually and a stator (15) with 12 stator teeth with windings continuously made therearound by LRK winding and fitting first, second and third control terminals communicating with the windings and a driver circuit (24) connected to the first, second and third control terminals (U, V and W). The motor device further has a detector (32) fitting the sensor (31) detecting the place of the rotor and a control circuit passing a control signal to the first, second and third control terminals (U, V and W) through the driver circuit (24) on the basis of the detecting signal of the detector (32). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an improvement of a motor device known as a so-called LRK winding motor.

The following non-patent document 1 discloses information on the structure and the like of the LRK winding motor. The LRK winding motor is a brushless motor having a rotor in which 14 permanent magnets are arranged and fixed on a cylindrical surface, and a stator having 12 stator teeth. It has the feature that it only rotates.
http://www.aerodesign.de/peter/2001/LRK350/index_eng.html

  As described above, the LRK motor rotates only about 54 ° in one cycle control. Therefore, if the control in one cycle is divided into six states, it becomes only 8.6 ° per state. Is comparable to the one-step rotation angle of a stepping motor with a very high accuracy. Therefore, even if it is attempted to control the rotor position with a brush, the groove of the brush becomes very fine, and the tip of the brush becomes small accordingly, which makes it quite difficult mechanically. Also, the current is limited because the brush tip is small.

At present, the LRK winding motor is only used for RC (remote control) power of a model airplane or the like, and a technique for controlling the LRK winding motor with a sensor with high accuracy is not known. In the RC field, brushless motors are often controlled by a sensorless system that samples and rotates the rotational electromotive force from the coil. However, in the sensorless system, it is difficult to know the rotor position when the motor is stopped. Therefore, it is not possible to perform highly accurate start-up control that involves resumption.
Therefore, an object of the present invention is to provide a motor device that detects the rotor position of an LRK winding motor and controls the rotation.

  The motor device according to the present invention includes a rotor in which 14 permanent magnets are arranged and fixed on a cylindrical surface so that the polarities of magnetic poles are reversed to each other, and a stator having 12 stator teeth, A brushless motor body provided with first, second, and third control terminals that are continuously wound by LRK windings and communicated with the windings, and the first, second, and third control terminals A drive circuit connected to the detection circuit, a detection circuit provided with a sensor for detecting the position of the rotor, and the first, second, and third control terminals through the drive circuit based on a detection signal of the detection circuit. And a control circuit for passing control signals.

  The control circuit executes switching three-phase drive control, and one cycle is divided into six types according to the position of the rotor. For each state, the first, second, third The control pattern of the voltage applied to the control terminals is determined in advance, and the detection circuit outputs different detection signals for each rotor position corresponding to each of the six types of states.

  The detection circuit has three magnetic sensors for detecting the magnetism of the permanent magnets arranged at intermediate positions between the stator teeth for each predetermined number of the stator teeth along the cylindrical surface of the rotor. ing.

  The LRK winding applied to the stator teeth is a delta winding, and is continuously wound around the first stator teeth with a right-hand winding and wound around the second stator teeth with a left-hand winding. The first lead wire wound on the second stator tooth is led to the seventh stator tooth, wound left-handedly, wound on the eighth stator tooth right-handed, and continuously by the second lead wire. Thus, the second stator wire is wound around the fifth stator tooth, and the second lead wire wound around the sixth stator tooth is wound around the sixth stator tooth. Then, it is wound in a left-handed manner, wound in a right-handed manner on the twelfth stator tooth, continuously wound on the ninth stator tooth by the third lead wire, and wound on the ninth stator tooth. The third lead wire wound around the 10th stator tooth is led to the third stator tooth and wound left-handed. Winding clockwise on the fourth stator tooth, and further, the end of the first lead wire led out from the first stator tooth and the second lead wire led out from the twelfth stator tooth Are connected to each other to serve as the first control terminal, and the end of the second lead wire led out from the fifth stator tooth and the third lead led out from the fourth stator tooth The lead wire ends are connected to each other to serve as the second control terminal, and the third lead wire leads derived from the ninth stator teeth and the eighth stator teeth. It is good also as a winding method which mutually connected the edge part of the 1st lead wire, and was set as the said 3rd control terminal. Of course, right-handed and left-handed may be reversed. Of course, there is a star winding configuration or a motor having an integer multiple of the number of magnets / stators.

  In the LRK winding, as the second winding method, the first lead wire wound continuously around the first stator tooth by the right winding and the first lead wire wound around the first stator tooth is used as the second winding method. The second lead that is led to the seventh stator tooth and wound left-handed, and continuously wound by the second lead wire, wound right-handed around the fifth stator tooth, and wound around the fifth stator tooth The wire is led to the eleventh stator tooth and wound left-handed, and the third lead wire is continuously wound around the ninth stator tooth by right-handed winding and wound around the ninth stator tooth. The third lead wire is led to the third stator tooth and wound left-handed, and is further led from the end portion of the first lead wire led out from the first stator tooth and the eleventh stator tooth. The ends of the second lead wires are connected to each other to form the first control terminal, which is derived from the fifth stator tooth. The end of the second lead wire and the end of the third lead wire led out from the third stator tooth are connected to each other as the second control terminal, and from the ninth stator tooth As a winding method for connecting the end portion of the third lead wire led out and the end portion of the first lead wire lead out from the seventh stator tooth to form the third control terminal Also good. Of course, there is also a star winding configuration or a motor having an integer multiple configuration of this magnet / stator.

  The motor device of the present invention includes a detection circuit that detects the position of the rotor with a sensor. Therefore, the control circuit can know the position of the rotor even when the motor is not rotating. Can be started smoothly. In addition, since the control for the motor and the rotation of the motor are synchronized from the time of starting the motor, it is possible to perform highly accurate start-up control that involves stopping and resuming the rotation of the motor.

  Further, one cycle of control is divided into 6 states according to the position of the rotor, and the detection circuit outputs different detection signals for each rotor position corresponding to each state. Control can be performed simply by advancing, and control becomes simple.

  As the magnetic sensor 3 for detecting the magnetism of the permanent magnet, a Hall element used as a sensor of a conventional brushless motor can be used. However, such a Hall element is widely available and easily available. Cost can be reduced.

  In the first winding method of the LRK winding, winding is performed on all the stator teeth, so that a smooth motor rotating device with high output and high resolution can be obtained. On the other hand, in the second winding method, winding is performed on half of the stator teeth, so that a small motor device can be obtained.

  FIG. 1 is an exploded perspective view showing a structure of a motor main body 14 provided in a motor device 13 according to the present invention. This figure shows a state in which the rotor 18 having the rotating shaft 17 is removed from the fixed portion 16 where the stator 15 is fixed to the base. The stator 15 is provided with a bearing 19 that rotatably holds the rotating shaft 17 of the rotor 18 at the center, and twelve stator teeth are radially arranged from the center. A coil 20 is wound around each stator tooth by LRK winding described later. In addition, three magnetic sensors 31 are arranged at three positions in between the stator teeth and the stator teeth. The lead wire connected to the coil 20 and the lead wire connected to the magnetic sensor 31 are led out from the base connector by the flat cable 21. Although not visible in this figure, fourteen permanent magnets 22 are attached to the inner peripheral surface of the cylindrical portion of the rotor 18 in the rotational direction with the directions of the magnetic poles alternately.

FIG. 2 is a schematic cross-sectional view perpendicular to the rotating shaft 17 of the motor body 14 for specifically explaining the LRK winding described above, and shows the rotor 18 and the stator 15. Here, numerals 1 to 12 are symbols for indicating the order of the stator teeth.
In the LRK winding, the first lead wire is continuously wound around the first stator tooth by the right-hand winding, wound around the second stator tooth by the left-hand winding, and wound around the second stator tooth. The lead wire is led to the seventh stator tooth and wound left-handed, and the eighth stator tooth is wound right-handed.
Then, the second lead wire is continuously wound around the fifth stator tooth with a right-hand winding, wound around the sixth stator tooth with a left-hand winding, and wound around the sixth stator tooth. The lead wire is led to the eleventh stator tooth and wound left-handed, and the twelfth stator tooth is wound right-handed.
Similarly, the third lead wire is continuously wound around the ninth stator tooth by the right-hand winding, is wound around the tenth stator tooth by the left-hand winding, and is wound around the tenth stator tooth. The lead wire is led to the third stator tooth and wound left-handed, and wound around the fourth stator tooth right-handed.
Further, the end portion of the first lead wire led out from the first stator tooth and the end portion of the second lead wire led out from the twelfth stator tooth are connected to each other to connect a U terminal (first terminal). And the end of the second lead wire led out from the fifth stator tooth and the end of the third lead wire led out from the fourth stator tooth are connected to each other. V terminal (second control terminal), the end of the third lead wire led out from the ninth stator tooth, and the end of the first lead wire led out from the eighth stator tooth Are connected to each other as a W terminal (third control terminal). The LRK winding is a delta winding, and the U terminal, the V terminal, and the W terminal serve as an inflow point and an outflow point of the control signal. Since the motor body 14 does not have a brush, it is classified as a brushless motor.

FIG. 3 is a schematic circuit diagram for explaining the overall configuration of the motor device 13, and includes three sets of drive circuits 54 including a MOSFET driver 51, a P-channel MOSFET 52, and an N-channel MOSFET 53, a motor body 14, and a rotor. The detection circuit 32 includes three magnetic sensors 31 that are arranged along the 18 cylindrical surfaces and are configured by Hall elements that detect the magnetism of the permanent magnet 22, and are configured by an AD converter, and the like. And a control circuit 41 for controlling the drive circuit 54 based on the detection signal.
The control circuit 41 is configured by a microcomputer or a processor, and receives commands such as a rotation speed, a rotation direction, a rotation start, and a rotation stop by communication from an external device (not shown), and through the drive circuit 54, a U terminal of the motor main body 14 The control signal is passed through the V terminal and the W terminal. In addition, the control circuit 41 notifies the external device of information such as the rotation direction, rotation speed, and total rotation angle of the motor body 14.
An optical sensor or the like may be used instead of the magnetic sensor 31.

FIG. 4 is a waveform diagram of voltages applied to the U terminal, the V terminal, and the W terminal of the motor body 14 in order to cause the motor body 14 to pass control signals. The control cycle of the motor body 14 is divided into six states according to the rotor position, and the control pattern of the voltage applied to the U terminal, the V terminal, and the W terminal is determined in advance for each state. The control circuit 41 calculates a rotor position at that time from a detection signal described later of the detection circuit 32, and controls one of the U terminal, V terminal, and W terminal according to a control pattern defined in advance for each state. The other inflow point or any other point is selected as the outflow point of the control signal.
Specifically, in the # 1 state, in order to flow a control signal from the U terminal toward the V terminal, the P-channel MOSFET 52 connected to the U terminal and the N-channel MOSFET 53 connected to the V terminal are turned on. At this time, the W terminal is released. In the # 2 state, in order to flow a control signal from the U terminal toward the W terminal, the P-channel MOSFET 52 connected to the U terminal and the N-channel MOSFET 53 connected to the W terminal are turned on. At this time, the V terminal is released. In the # 3 state, in order to flow a control signal from the V terminal toward the W terminal, the P-channel MOSFET 52 connected to the V terminal and the N-channel MOSFET 53 connected to the W terminal are turned on. At this time, the U terminal is released. In the # 4 state, in order to flow a control signal from the V terminal toward the U terminal, the P-channel MOSFET 52 connected to the V terminal and the N-channel MOSFET 53 connected to the U terminal are turned on. At this time, the W terminal is released. In the # 5 state, in order to flow a control signal from the W terminal toward the U terminal, the P-channel MOSFET 52 connected to the W terminal and the N-channel MOSFET 53 connected to the U terminal are turned on. At this time, the V terminal is released. In the # 6 state, in order to flow a control signal from the W terminal toward the V terminal, the P-channel MOSFET 52 connected to the W terminal and the N-channel MOSFET 53 connected to the V terminal are turned on. At this time, the U terminal is released.

  5A to 5F are schematic cross-sectional views for explaining the state of the motor body 14 in the # 1 state to the # 6 state, respectively. In these figures, the polarities of the magnetic poles facing the stator 15 are written in each of the permanent magnets 22 attached to the rotor 18. Further, the polarity of the magnetic pole generated by the control signal is written on each stator tooth of the stator 15. The state of each figure is the rotor position when there is no external force to rotate the rotor 18, and if a control signal is flowing, the restoring force by the magnetic action that tries to hold the rotor 18 at this position is applied. Yes.

  As shown in FIGS. 5A to 5F, when changing from the # 1 state to the # 2 state, the polarities of the magnetic poles generated in the ninth, tenth, fourth, and third stator teeth are reversed. When changing from the # 2 state to the # 3 state, the polarities of the magnetic poles generated in the fifth, sixth, twelfth and eleventh stator teeth are reversed. When changing from # 3 state to # 4 state, the polarity of the magnetic poles generated in the first, second, seventh and eighth stator teeth is reversed. When changing from the # 4 state to the # 5 state, the polarities of the magnetic poles generated in the ninth, tenth, fourth, and third stator teeth are reversed again. When changing from # 5 state to # 6 state, the polarities of the magnetic poles generated in the fifth, sixth, twelfth and eleventh stator teeth are reversed again. When changing from # 6 state to # 1 state, the polarity of the magnetic poles generated in the first, second, seventh and eighth stator teeth is reversed.

  By such reversal of the magnetic poles of the stator teeth, the magnetic pole portions adjacent to each other in the N poles of the stator teeth and the portions adjacent to each other in the S poles are rotated once by one cycle of control. On the other hand, the rotor 18 rotates at an angle corresponding to two permanent magnets 22 minutes in one cycle of control, that is, about 54 °. It is about 8.6 ° per state.

As understood from FIG. 5A, in the # 1 state, the permanent magnet 22 located between the ninth state tooth and the tenth state tooth, and the middle between the fourth state tooth and the third state tooth. The permanent magnet 22 located at the position receives a magnetic action to rotate the rotor 18 counterclockwise from the magnetic poles of the state teeth, but the rotor 18 received by another permanent magnet 22 is clockwise. This cancels out the magnetic effect of the rotation.
Then, when proceeding from the # 1 state to the # 2 state, the polarities of the magnetic poles generated in the ninth, tenth, fourth, and third stator teeth are reversed. Then, the permanent magnet 22 positioned between the ninth state tooth and the tenth state tooth and the permanent magnet 22 positioned between the fourth state tooth and the third state tooth rotate the rotor 18 clockwise. The magnetic action to be rotated is received.
In the # 1 state, the permanent magnet 22 located between the second stator tooth and the third state tooth and the permanent magnet 22 located between the eighth stator tooth and the ninth stator tooth are However, if the polarity of the magnetic poles generated in the ninth, tenth, fourth, and third stator teeth is reversed, these permanent magnets 22 cause the rotor 18 to rotate. The magnetic action to be rotated clockwise is received.
Due to these magnetic actions, the rotor 18 rotates about 8.6 ° clockwise as it advances from the # 1 state to the # 2 state. The rotation of the rotor 18 when proceeding from the # 2 state to the # 3 state, the rotation of the rotor 18 when proceeding from the # 3 state to the # 4 state, the rotation of the rotor 18 when proceeding from the # 4 state to the # 5 state, The same applies to the rotation of the rotor 18 when proceeding from the # 5 state to the # 6 state and the rotation of the rotor 18 when proceeding from the # 6 state to the # 1 state.
In the LRK winding motor main body 14, the plurality of permanent magnets 22 simultaneously receive a magnetic action for rotating the rotor 18 and rotate smoothly with high control resolution, so that an output can be obtained with high efficiency.

In the middle of the stator teeth adjacent to each other of the stator 15, one magnetic sensor 31 is arranged for every two intermediate teeth. That is, as an example, the first magnetic sensor 31 is disposed between the second stator tooth and the third stator tooth, and the second magnetic sensor is disposed between the fourth stator tooth and the fifth stator tooth. 31 is arranged, and the third magnetic sensor 31 is arranged between the sixth stator tooth and the seventh stator tooth.
The detection circuit 32 monitors each detection signal of the magnetic sensor 31 to determine the polarity of the magnetic pole of the permanent magnet 22 that is closest to the magnetic sensor 31.
For example, when the magnetic sensor 31 is configured to detect the N pole and output “1”, the detection circuit 32 uses the detection signals of the first, second, and third magnetic sensors 31 as shown in FIG. Is “110”, in the state of FIG. 5B is “111”, in the state of FIG. 5C is “011”, in the state of FIG. 5D is “001”, in the state of FIG. 5E is “000”, in the state of FIG. “100” is output. Therefore, the rotor position corresponding to each state can be identified from the detection signal.
Since the control circuit 41 calculates the rotor position at that time based on the detection signal and selects the next state, the correct state corresponding to the rotation direction is selected even if the motor body 14 is stopped. be able to. As a result, the motor body 14 starts to rotate smoothly according to the control.
Further, in any state, by stopping the progress of the state and holding the control signal, the rotation of the motor main body 14 can be stopped while the static torque is generated.
Further, since the rotation angle of the rotor 18 per state of the motor main body 14 is as small as about 8.6 °, high-precision rotation control similar to that of the conventional high-precision stepping motor is possible. In the present invention, since the position of the rotor 18 can be grasped even when the motor body 14 is driven from the load side, power regeneration by braking can be easily performed.

FIG. 6 shows another example of the LRK winding.
Specifically, the first lead wire is continuously wound around the first stator tooth with a right-hand winding, and the first lead wire wound around the first stator tooth is led to the seventh stator tooth. The left lead is wound, the second lead wire is continuously wound around the fifth stator tooth, and the second lead wire wound around the fifth stator tooth is connected to the eleventh stator tooth. The third lead wire is wound around the ninth stator tooth, and the third lead wire wound around the ninth stator tooth is continuously wound around the third stator wire. To the stator teeth and wound left-handed, and further, the end portion of the first lead wire led out from the first stator teeth and the second lead wire led out from the eleventh stator teeth Are connected to each other to form a U terminal (first control terminal), and the second lead led out from the fifth stator tooth And the end of the third lead wire led out from the third stator tooth are connected to each other to form a V terminal (second control terminal), which is led out from the ninth stator tooth. The end portion of the third lead wire and the end portion of the first lead wire led out from the seventh stator tooth are connected to each other to form a W terminal (third control terminal).
The idea of the present invention can be similarly applied to such a winding method. In this winding method, winding is performed on half of the stator teeth, which is suitable for a small motor body 14 having a small interval between the stator teeth.

It is a disassembled perspective view which shows the structure of the motor main body with which the motor apparatus by this invention was equipped. It is a schematic sectional drawing perpendicular | vertical to the rotating shaft of the motor main body for demonstrating LRK winding. It is a schematic circuit diagram explaining the whole structure of the motor apparatus by this invention. It is a wave form diagram of the voltage applied to U terminal, V terminal, and W terminal of a motor body. It is a schematic sectional drawing for demonstrating the state of the motor main body in # 1 state. It is a schematic sectional drawing for demonstrating the state of the motor main body in # 2 state. It is a schematic sectional drawing for demonstrating the state of the motor main body in # 3 state. It is a schematic sectional drawing for demonstrating the state of the motor main body in # 4 state. It is a schematic sectional drawing for demonstrating the state of the motor main body in # 5 state. It is a schematic sectional drawing for demonstrating the state of the motor main body in # 6 state. It is a schematic sectional drawing perpendicular | vertical to the rotating shaft of the motor main body for demonstrating another LRK winding.

Explanation of symbols

DESCRIPTION OF SYMBOLS 13 Motor apparatus 14 Motor main body 15 Stator 18 Rotor 22 Permanent magnet 24 Drive circuit 31 Magnetic sensor 32 Detection circuit 41 Control circuit U U terminal (1st control terminal)
V V terminal (second control terminal)
W W terminal (third control terminal)

Claims (5)

It has a rotor in which 14 permanent magnets are arranged and fixed on the cylindrical surface so that the polarities of the magnetic poles are reversed, and a stator having 12 stator teeth. The stator teeth are continuously wound by LRK winding. A brushless motor body provided with first, second, and third control terminals that are lined and lead to the winding;
A drive circuit connected to the first, second and third control terminals;
A detection circuit provided with a sensor for detecting the position of the rotor;
A motor device comprising: a control circuit that causes the first, second, and third control terminals to pass a control signal through the drive circuit based on a detection signal of the detection circuit. In claim 1,
The control circuit executes switching three-phase drive control, and one cycle is divided into six types according to the position of the rotor, and the first, second, and third controls are performed for each state. The control pattern of the voltage applied to the terminal is predetermined,
The motor device according to claim 1, wherein the detection circuit outputs different detection signals for each rotor position corresponding to each of the six types of states. In claim 1 or 2,
The detection circuit has three magnetic sensors for detecting the magnetism of the permanent magnets arranged at intermediate positions between the stator teeth for each predetermined number of the stator teeth along the cylindrical surface of the rotor. A motor device characterized by that. In any one of Claims 1-3,
The LRK winding applied to the stator teeth is a delta winding,
The first lead wire is continuously wound around the first stator tooth with a right-hand winding, wound around the second stator tooth with a left-hand winding, and the first lead wire wound around the second stator tooth Led to the seventh stator tooth and wound left-handed, wound on the eighth stator tooth and wound right-handed,
The second lead wire is continuously wound around the fifth stator tooth by the second lead wire, and is wound around the sixth stator tooth and wound around the sixth stator tooth. To the eleventh stator teeth and wound left-handed, and the twelfth stator teeth wound right-handed,
The third lead wire is continuously wound by the third lead wire on the ninth stator tooth with the right-hand winding, wound on the tenth stator tooth by the left-hand winding, and wound on the tenth stator tooth. Is led to the third stator tooth and wound left-handed, and the fourth stator tooth is wound right-handed,
An end portion of the first lead wire led out from the first stator tooth and an end portion of the second lead wire lead out from the twelfth stator tooth are connected to each other to form the first control terminal age,
An end portion of the second lead wire led out from the fifth stator tooth and an end portion of the third lead wire lead out from the fourth stator tooth are connected to each other to perform the second control. Terminal,
The third control is performed by mutually connecting the end portion of the third lead wire led out from the ninth stator tooth and the end portion of the first lead wire lead out from the eighth stator tooth. A motor device characterized by being wound as a terminal. In any one of Claims 1-3,
The LRK volume is
The first lead wire is continuously wound around the first stator tooth with a right-hand winding, the first lead wire wound around the first stator tooth is guided to the seventh stator tooth and the left-hand winding is wound. And
The second lead wire is continuously wound around the fifth stator tooth by right-hand winding, and the second lead wire wound around the fifth stator tooth is guided to the eleventh stator tooth and wound left-hand. Line and
The third lead wire is continuously wound around the ninth stator tooth by right-hand winding, and the third lead wire wound around the ninth stator tooth is led to the third stator tooth and wound left-hand. In addition,
An end portion of the first lead wire led out from the first stator tooth and an end portion of the second lead wire led out from the eleventh stator tooth are connected to each other to form the first control terminal age,
An end portion of the second lead wire led out from the fifth stator tooth and an end portion of the third lead wire lead out from the third stator tooth are connected to each other to perform the second control. Terminal,
An end portion of the third lead wire led out from the ninth stator tooth and an end portion of the first lead wire lead out from the seventh stator tooth are connected to each other to perform the third control. A motor device characterized by being wound as a terminal.

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