JP3389325B2 - Motor starter - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor starting device for starting a sensorless brushless motor having an armature coil in which a neutral point is not grounded and Y-connected.

[0002]

2. Description of the Related Art In recent years, an electric bicycle which is equipped with a motor and a transmission mechanism for transmitting the motor output to a shaft of a driving wheel (hereinafter referred to as a driving wheel shaft) on a rear wheel or a front wheel of the bicycle to reduce a load of a rider. Is proposed.

In such an electric bicycle, the transmission mechanism has a one-way clutch mechanism for temporarily releasing the connection between the motor shaft and the drive wheel shaft when the rotation speed of the motor shaft does not match the rotation speed of the drive wheel shaft. (For example, a ratchet) is provided. In addition, since the maintainability is good and the riding comfort is good, it is possible to use a sensorless brushless motor as the motor.

Further, an accelerator device for turning off the motor and designating the speed of the motor is incorporated in the handle of the electric motor bicycle, and the user appropriately operates the on / off state of the motor and the speed. be able to.

When the user of the electric bicycle operates the accelerator device from the off position to any of the speed designation positions, the motor drive device performs a predetermined starting process. As this start-up process, for example, as disclosed in Japanese Patent Application Laid-Open No. 1-30819 (method for starting a sensorless / brushless motor), the armature coil of the motor is excited for a predetermined time and then, There is a method of performing a predetermined start-up excitation switching operation until the rotation speed of the rotating magnetic field of the motor reaches a predetermined value.

When the rotating speed of the rotating magnetic field of the motor reaches a predetermined value, thereafter, the rotating position of the rotating magnetic field is detected based on the voltage change at the neutral point of the armature coil, and based on the detection result. The normal operation operation of switching the armature coil to excitation is switched to. The speed of the motor is set by switching the magnitude of the drive current applied to the armature coil to a value corresponding to the specified speed.

[0007]

However, such a conventional device has the following disadvantages.

That is, in the above-mentioned conventional device, as a method of starting the motor, the magnitude of the load is assumed in advance, and the excitation switching cycle (starting speed) at the time of starting is set so that the motor can be started with the assumed load. is doing.

However, in the electric bicycle, the start and stop of the motor occur at appropriate timings. For example, when the electric bicycle approaches a curve, the user turns off the motor to suppress the speed before and after entering the curve, and when turning on the motor again before and after exiting the curve, the motor turns off. In this state, the motor shaft and the drive wheel shaft are disengaged from each other by the action of the one-way clutch. Therefore, when the motor is turned on again, the load on the motor shaft becomes almost "0".

On the other hand, when the user turns on the motor to start from the state where the electric bicycle is stopped, the load on the motor shaft is almost equal to the load because the drive wheel shaft is not rotating when the motor is turned on. Maximum value.

In this way, since the load of the motor at the time of starting is different, for example, if the starting speed at the time of starting is set assuming the load at the time of starting from the state where the electric bicycle is stopped, the curve exits. At times, when the motor is turned on again, the rise time of the rotation of the motor becomes long, and the operability deteriorates.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a motor starting device capable of shortening the starting time of a sensorless brushless motor.

[0013]

[0014]

[0015]

SUMMARY OF THE INVENTION The present invention relates to a motor starting device for starting a sensorless brushless motor having an armature coil with a neutral point ungrounded Y-connection, and a speed detecting means for detecting a rotational speed of a load. During startup, when the detection value of the speed detecting means is larger than a predetermined value, the armature coil is excited and switched in a predetermined high-speed cycle and in a predetermined startup pattern to detect the speed at startup. When the detected value of the means is less than or equal to a predetermined value, the motor drive control means is provided for switching the excitation of the armature coil in a predetermined low speed cycle and in a predetermined start-up pattern.

Further, in a motor starting device for starting a sensorless brushless motor having an armature coil which is not connected to the neutral point Y and grounded, a speed detecting means for detecting a rotation speed of a load and the speed detecting means at the time of starting. Is greater than a predetermined value, the armature coil is excitation-switched at a cycle corresponding to the detection value of the speed detecting means and in a predetermined start-up pattern, while the start-up speed detection is performed. When the detected value of the means is less than or equal to a predetermined value, the motor drive control means is provided for switching the excitation of the armature coil in a predetermined low speed cycle and in a predetermined start-up pattern.

[0017]

[0018]

Therefore, since the high-speed starting operation is performed when the load is rotating and the low-speed starting operation is performed when the load is not rotating, it is possible to appropriately start the motor according to the rotating state of the load. It is possible to shorten the starting time of the motor.

[0019]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

FIG. 1 shows an electric bicycle according to an embodiment of the present invention.

In FIG. 1, the electric bicycle 1 includes a frame 2, a front wheel 3, a rear wheel 4, a handle 5, a saddle 6, a pedal 7, and a transmission mechanism 8 for transmitting the power of the pedal 7 to the rear wheel 4. It is configured.

The disk-shaped housing 10 provided on the hub 9 of the rear wheel 4 is provided with a motor 11 and a transmission mechanism (not shown) for transmitting the power of the motor 11 to the drive shaft of the rear wheel 7. Has been. The transmission mechanism includes a motor 11
A one-way clutch mechanism (for example, a ratchet) is provided for temporarily releasing the connection between the motor shaft and the rear wheel shaft when the rotation speed of the shaft and the rotation speed of the drive shaft of the rear wheel 7 do not match. Further, a sensorless brushless motor is used as the motor 11 because of its good maintainability and good riding comfort. A battery box 13 for accommodating a battery for supplying electric power to the motor 11 is arranged on the luggage carrier 12 provided on the upper portion of the rear wheel 7.

The right hand grip 14 of the handle 5 is provided with an accelerator device for allowing the user to specify the on / off and speed of the motor 11. For example, in the accelerator device, it is possible to operate the motor 11 at a position for designating OFF, a position for designating a low speed, a position for designating a medium speed, and a position for designating a high speed. , Is output to a motor control device described later. Also,
The handle 5 has a brake 15 for stopping the vehicle body,
16 are provided.

FIG. 2 shows an example of a motor control device for driving and controlling the motor 11. In this case,
The motor 11 is a sensorless brushless motor.

In the figure, the motor 11 includes armature coils 11u, 11v, 11w which are not connected to the neutral point and are connected to the ground Y.
And a rotor 11r that forms a rotating magnetic field, and the driving power source of the battery 20 is applied to the armature coils 11u, 11v, and 11w via the switching device 21.

The switching device 21 is connected in series between the positive pole and the negative pole of the battery 20.
It consists of three switching elements connected in parallel. The interconnection point of the switching elements S1 and S2 connected in series is the armature coil 11
The interconnection end of the switching element S3 and the switching element S4, which are connected to the other end of u and are connected in series, are connected to the other end of the armature coil 11v, and the switching element S5 and the switching element are connected in series. The interconnection end of S6 is connected to the other end of the armature coil 11w. Here, the switching elements S1, S2, S3, S
4, S5 and S6 are composed of FETs and protective diodes.

The voltage Vn at the interconnection point of the armature coils 11u, 11v, 11w, that is, at the neutral point 11n is determined by the plus side input end of the comparator 22, the plus side input end of the comparator 23, and the comparator 24. Are added to the negative input terminals of.

The voltage dividing resistors R1 and R2 divide the voltage E of the battery 20 into 1/2, and the voltage (E / 2) at the voltage dividing point is applied to the negative side input terminal of the comparator 22. Has been. The voltage dividing resistors R3, R4 and R5 are connected to the battery 20.
Voltage E is divided into 1/3 and 2/3,
The voltage (2E / 3) at the voltage dividing point of 2/3 is the comparator 23
, And the voltage (E / 3) at the voltage dividing point of 1/3 is applied to the positive input terminal of the comparator 24.

In the comparator 22, the voltage Vn is the voltage (E / 2).
If it is larger than the above, the comparison signal SC1 of logic H level is output and the voltage Vn is equal to the voltage (E /
3) In the following cases, the comparison signal SC1 of logic L level is output, and the comparison signal SC1 is added to the gate circuit 25.

In the comparator 23, the voltage Vn is the voltage (2E /
When it is larger than 3), the comparison signal SC2 of logic H level is output and the voltage Vn is equal to the voltage (2
E / 3) or less, a logical L level comparison signal SC
2 is output, and the comparison signal SC2 is applied to one input terminal of the OR circuit 26.

In the comparator 24, the voltage Vn is the voltage (E / 3).
If it is smaller than the above, the comparison signal SC3 of logic H level is output, and the voltage Vn is equal to the voltage (E /
3) In the above cases, the comparison signal SC3 of logical L level is output, and the comparison signal SC3 is applied to one input terminal of the OR circuit 26.

The output of the OR circuit 26 is the gate control signal S
C4 is added to the control signal input terminal of the gate circuit 25.

The gate circuit 25 receives the gate control signal SC4.
Is at a logic L level, the input comparison signal SC1 is passed as it is and is output as a signal SC5, while when the gate control signal SC4 rises to a logic H level, the signal SC5 is output at the time of its rise. The signal SC5 is applied to the motor drive control unit 27 and the activation end determination unit 28.

The start / end determining unit 28 determines whether the input signal SC
If the logic level of 5 periodically changes to the logic H level and the logic L level, and the period of being the logic H level and the period of being the logic L level are the same time, the motor 11 It is determined that the rotation speed of the rotor 11r has reached a sufficient value and the startup has ended, and the startup end determination signal DS representing the determination result is added to the motor drive control unit 27.

The motor drive controller 27 includes switching elements S1, S2, S3, S4, S of the switching device 21.
Control signals SS1, SS2, SS3 to 5 and S6, respectively.
SS4, SS5, SS6 are output to switch the on / off states of the switching elements S1, S2, S3, S4, S5, S6, whereby the armature coil 1 of the motor 11 is switched.
The excitation states of 1u, 11v, and 11w are switched.

Here, the motor drive control unit 27, at the time of starting, the armature coils 11u, 11v, 11 of the motor 11.
After w is excited to the initial setting state for a predetermined time, after that, a predetermined start-time excitation switching operation is performed until the start end determination signal DS is output from the start end determination unit 28, and when the start is finished, the gate circuit 25 outputs The armature coil 1 of the motor 11 corresponding to the change in the logic level of the signal SC5 to be generated.
The normal operation is performed by exciting 1u, 11v, and 11w with a predetermined excitation pattern. Further, the motor drive control unit 27, in the normal driving operation, corresponds to the position signal SP output from the accelerator device, and controls signals SS1 and SS.
2, SS3, SS4, SS5, SS6 levels are set, whereby the armature coils 11u, 1 of the motor 11 are set.
The magnitude of the drive current applied to 1v and 11w is set.

Then, in the normal operation processing, the motor drive control unit 27, as shown in FIGS.
Control signals SS1, SS2, SS3, SS4, SS5, S
Set the level of S6 to patterns PT1, PT2, PT3, PT
4, PT5, PT6 are sequentially switched. Here, control signals SS1, SS2, SS3, SS4, SS5, SS6
Of the control signal SS1, SS2, SS3, SS4, SS5, SS6 is a voltage value corresponding to the position signal SP at that time.

In this way, the control signals SS1, SS2, S
S3, SS4, SS5 and SS6 are replaced with patterns PT1 and P
By sequentially switching to T2, PT3, PT4, PT5, PT6, the rotor 11r of the motor 11 rotates at a predetermined speed.

When the patterns PT1 to PT6 are switched, the armature coils 11u, 11v, 11w of the respective ones are switched.
The terminal voltages Vu, Vv, and Vw of FIG.
As shown in (i), the voltage Vn at the neutral point 11n of the armature coils 11u, 11v, 11w changes accordingly.
Changes as shown in FIG. Here, the terminal voltages Vu, Vv, and Vw include switching elements S1 to S6.
Noise SK on the pulse generated when switching on and off
, The noise component SKa is also included in the voltage Vn.

Therefore, the comparison signals SC1, SC2, SC3 output from the comparators 22, 23, 24 in accordance with the level change of the voltage Vn are shown in FIG.
Changes as shown in (l) and (m), and
The gate control signal SC4 output from the OR circuit 26 is
It changes as shown in FIG.

That is, the gate control signal SC4 changes from the logic level L to the logic level H at the timing immediately before the signal component of the noise component SKa of the voltage Vn is output as the comparison signal SC1.
As the voltage rises to the level, the motor drive control unit 27 changes to a mode in which the motor drive control unit 27 falls to the logical L level immediately before the edge required for the excitation switching operation appears.

As a result, the signal SC5 output from the gate circuit 25 is compared with the comparison signal S as shown in FIG.
The signal of the noise component SKa contained in the voltage Vn is removed from C1.

The motor drive controller 27 sends this signal SC5
Has a rising edge that rises from the logic L level to the logic H level and a fall edge that falls from the logic H level to the logic L level at predetermined electrical angles (for example, 30 degrees) corresponding to the excitation switching cycle at that time. In the delayed state, the patterns PT1 to P of the control signals SS1 to SS6
The switching operation of T6 is performed.

In this way, in the state where the motor 11 is normally operating, the rotor 11r has a sufficient rotation speed, so that the voltage Vn of the neutral point 11r of the armature coils 11u, 11v, 11w is appropriate. Signal SC5 changes to a logic H level and a logic L level periodically, and
The period T1 of the logic H level and the period T2 of the logic L level have almost the same value.

That is, by detecting the level change of the signal SC5, it can be determined whether or not the motor 11 is in a state where the normal operation processing can be applied.
This is adopted as the determination condition for the activation end determination unit 28 to determine the activation end, as described above.

FIG. 4 shows an example of processing of the motor drive controller 27.

The motor drive control unit 27 monitors the change of the position signal SP (NO loop of judgment 101), the position signal SP changes, and the result of the judgment 101 is Y.
When it becomes ES, it is checked whether or not the position signal SP is at the "motor off" operation position (decision 102).

When the result of determination 102 is YES, a flag Foff for storing the state in which the motor 11 is off is set (process 103), and the control signal SS is set.
The changes of 1 to SS6 are stopped, the excitation switching operation of the motor 11 is stopped, the motor 11 is stopped (process 104), and the process returns to the determination 101.

The position signal SP has changed, and the value after the change is at an operation position other than "motor off", and the judgment 1
When the result of 02 is NO, it is checked whether or not the flag Foff is set (decision 105).

When the result of determination 105 is YES, it means that the motor has been switched from the "motor off" state to the operation position for designating one of the speeds. Therefore, at this time, the motor 11 is started.

That is, first, the flag Foff is cleared (process 106), and a predetermined high speed starting process is started (process 107). Here, the high-speed start processing means the control signal SS
The values of 1 to SS6 are set to a pattern of a predetermined initial setting state, the initial setting state is maintained for a predetermined time, and the patterns PT1 to PT1 described above are set in a predetermined short cycle corresponding to the case where the shaft of the motor 11 is unloaded. This is a process of performing a switching operation to PT6.

In this way, when the high speed starting process is started, it is monitored whether or not the start end judging signal DS is output from the start end judging section 28 within a predetermined time (decision 10).
8,109 NO loop).

When the motor 11 can be started by the high speed start processing and the result of determination 108 is YES, the levels of the control signals SS1 to SS6 are switched to the patterns PT1 to PT6 with reference to the signal SC5, and
The normal operation process of setting the high level values of the control signals SS1 to SS6 to the level corresponding to the operation position of the position signal SP at that time is started (process 110), the motor 11 is normally operated, and the determination 101 Return to.

Further, for example, when the motor 11 cannot be started in the high-speed starting process at the time of starting from the stopped state and the result of judgment 109 is YES, the excitation switching of the motor 11 is stopped at that time. (Process 111), a predetermined low speed start process is started (Process 112). Here, the low-speed start processing is to set the values of the control signals SS1 to SS6 to a pattern of a predetermined initial setting state, maintain the initial setting state for a predetermined time, and load the shaft of the motor 11 in a predetermined state (for example, It is a process of performing the switching operation to the above-mentioned patterns PT1 to PT6 in a predetermined long cycle corresponding to the rated load).

Then, in this state, the start / end determining unit 28
Waits until the start end determination signal DS is output (NO loop of determination 113). When the motor 11 is in the start end state, the start end determination signal DS is output from the start end determination unit 28, and the result of the determination 113 is YES, the signal S
Control signal SS is applied to patterns PT1 to PT6 with reference to C5.
The level of 1 to SS6 is switched, and the control signal S
The high level values of S1 to SS6 are set to the position signal S at that time.
The normal operation process of setting the level corresponding to the operation position of P is started (process 114), the motor 11 is normally operated,
Return to decision 101.

Further, when the motor speed is changed in the normal operation state and the result of judgment 105 is NO, the high level value of the control signals SS1 to SS6 is set to the operation position of the position signal SP at that time. Is set to a level corresponding to (processing 115) and the process returns to the determination 101.

In this way, in this embodiment, the high-speed start-up operation is performed at the first start-up, and when the motor 11 cannot be started by the high-speed start-up operation, the low-speed start-up operation is performed. I have to.

Therefore, for example, at the exit of the curve, when the motor is switched from the motor-off state to the motor-on state, the drive shaft of the rear wheel 4 is rotating and the shaft of the motor 11 is in a no-load state. 5 (a)
As shown in, since the motor 11 directly rises to the normal operation state in the first start-up operation, the start-up time of the motor 11 can be significantly shortened, and the operation mode performed by the user can be appropriately dealt with.

On the other hand, when the motor 11 is started in the stopped state, the load of the motor 11 is large in this case, and therefore the motor 11 cannot be started in the first high speed start operation. In this case, the motor 11 can be started by the second low speed start operation, as shown in FIG.

In this way, in this embodiment, the motor 11 can be activated in accordance with the operating state of the electric bicycle 1, so that the driving operability of the electric bicycle 1 can be improved.

By the way, in the above-described embodiment, the motor 11 is operated by the first high speed start operation and the second low speed start operation.
The magnitudes of the drive currents applied to the armature coils 11u, 11v, and 11w are set to the same value, but if the motor 11 can be started by the high-speed start operation, even if the output torque of the motor 11 is reduced. , Can be started. Also,
When the motor 11 cannot be started by the high-speed start operation, when the start failure occurs, a large torque is suddenly generated and the riding comfort is deteriorated.

In order to eliminate such a situation, in the first high speed start-up operation, the armature coil 11 of the motor 11 is
The drive currents applied to u, 11v, and 11w may be set to small values.

FIG. 6 shows an example of processing executed by the motor drive control unit 27 in this embodiment.

The motor drive control unit 27 monitors that the position signal SP has changed (NO loop of judgment 201), and the position signal SP has changed and the result of judgment 201 is Y.
When it becomes ES, it is checked whether or not the position signal SP is at the "motor off" operation position (decision 202).

When the result of determination 202 is YES, a flag Foff for storing the state in which the motor 11 is off is set (process 203), and the control signal SS
The changes of 1 to SS6 are stopped to stop the excitation switching operation of the motor 11, the motor 11 is stopped (process 204), and the process returns to the determination 201.

The position signal SP changes, and the value after the change is at an operation position other than "motor off".
When the result of 02 is NO, it is checked whether or not the flag Foff is set (decision 205).

When the result of determination 205 is YES, it means that the motor has been switched from the "motor off" state to the operating position for designating one of the speeds. Therefore, at this time, the motor 11 is started.

That is, first, the flag Foff is cleared (process 206), the high level values of the control signals SS1 to SS6 are set to the predetermined small values at the time of starting (process 207), and the predetermined high speed starting process is started. (Process 208). here,
The high-speed start processing is to set the values of the control signals SS1 to SS6 to a pattern of a predetermined initial setting state, maintain the initial setting state for a predetermined time, and set a predetermined short time corresponding to the case where the shaft of the motor 11 is unloaded. In the cycle, the above-mentioned patterns PT1 to P
This is a process of performing a switching operation to T6.

In this way, when the high speed start processing is started, it is monitored whether or not the start end judgment signal DS is output from the start end judgment section 28 within a predetermined time (decision 20).
NO loop of 9,210).

When the motor 11 can be started by the high speed start processing and the result of the determination 209 is YES, the level of the control signals SS1 to SS6 is switched to the patterns PT1 to PT6 with reference to the signal SC5, and
The normal operation process of setting the high level values of the control signals SS1 to SS6 to the level corresponding to the operation position of the position signal SP at that time is started (process 211), the motor 11 is normally operated, and the determination 201 is made. Return.

Further, for example, when the motor 11 cannot be started in the high-speed starting process at the time of starting from the stopped state and the result of the judgment 210 is YES, the excitation switching of the motor 11 is stopped at that time. (Processing 212), the high level values of the control signals SS1 to SS6 are set to normal values (Processing 213), and a predetermined low speed starting process is started (Processing 21).
4). Here, the low-speed starting process means the control signals SS1 to S
The value of S6 is set in a pattern of a predetermined initial setting state, the initial setting state is maintained for a predetermined time, and the load of the shaft of the motor 11 is set to a predetermined long cycle corresponding to a predetermined state (for example, rated load). This is a process of performing a switching operation to the patterns PT1 to PT6.

Then, in this state, the start / end determining unit 28
Waits until the start end determination signal DS is output from (NO loop of determination 215). When the motor 11 is in the start end state, the start end determination signal DS is output from the start end determination unit 28, and the result of the determination 215 is YES, the signal S
Control signal SS is applied to patterns PT1 to PT6 with reference to C5.
The level of 1 to SS6 is switched, and the control signal S
The high level values of S1 to SS6 are set to the position signal S at that time.
The normal operation process of setting the level corresponding to the operation position of P is started (process 216), the motor 11 is normally operated,
Return to decision 201.

Further, when the motor speed is changed in the normal operation state and the result of the judgment 205 is NO, the high level values of the control signals SS1 to SS6 are set to the operation position of the position signal SP at that time. Is set to a level corresponding to (process 217) and the process returns to the determination 201.

Therefore, in the case of the present embodiment, the drive shaft of the rear wheel 4 is rotating and the shaft of the motor 11 is unloaded, for example, when the motor is switched off from the motor off state at the exit of the curve. In such a state, as shown in FIGS. 7 (a) and 7 (b), the motor 11 directly rises to the normal operation state in the first starting operation, so that the starting time of the motor 11 can be significantly shortened. , It is possible to appropriately deal with the driving mode that the user is performing.
Also, in this case, since the drive current at high-speed startup is small,
The consumption of the battery 20 can be reduced.

Further, when the motor 11 is started in the stopped state, in this case, the load of the motor 11 is large, so that the motor 11 cannot be started in the first high speed start operation. In this case, as shown in FIGS. 8A and 8B, the motor 11 can be started by the second low speed start operation. Further, since the drive current during the high-speed start-up operation is small, the impact on the vehicle body at the time of start-up failure is small, and the riding comfort is improved.

FIG. 9 shows a motor control device according to another embodiment of the present invention. In the figure, the same parts as those in FIG. 2 and the corresponding parts are designated by the same reference numerals.

In the figure, the pulse generator 30 generates a pulse signal PP in response to the rotation of the rear wheel 4, and the pulse signal PP is added to the speed detector 31.

The speed detecting section 31 receives the input pulse signal P
The frequency of P is determined to detect the rotational speed of the rear wheel 4, and a speed signal SV representing the detection result is applied to the motor drive control unit 27.

FIG. 10 shows an example of processing performed by the motor drive control section 27.

The motor drive control unit 27 monitors that the position signal SP has changed (NO loop of judgment 301), and the position signal SP has changed and the result of judgment 301 is Y.
When it becomes ES, it is checked whether or not the position signal SP is at the operation position of "motor off" (decision 302).

When the result of determination 302 is YES, a flag Foff for storing the state in which the motor 11 is off is set (process 303), and the control signal SS
The changes of 1 to SS6 are stopped to stop the excitation switching operation of the motor 11, the motor 11 is stopped (process 304), and the process returns to the determination 301.

The position signal SP has changed, and the value after the change is at an operation position other than "motor off".
When the result of 02 is NO, it is checked whether or not the flag Foff is set (decision 305).

When the result of determination 305 is YES, it means that the motor has been switched from the "motor off" state to the operation position for designating one of the speeds. Therefore, at this time, the motor 11 is started.

That is, first, the flag Foff is cleared (process 306) and the speed signal SV is input (process 30).
7) It is checked whether or not the value of the speed signal SV is larger than the constant KZ representing the speed "0" (decision 30
8) If the result of determination 308 is YES, a predetermined high-speed starting process is started (process 309), and if the result of determination 308 is NO, a predetermined low-speed starting process is started (process 310). Here, the high-speed start processing corresponds to a case where the values of the control signals SS1 to SS6 are set to a pattern of a predetermined initial setting state, the initial setting state is maintained for a predetermined time, and the shaft of the motor 11 is unloaded. This is a process of performing the switching operation to the above-mentioned patterns PT1 to PT6 in a predetermined short cycle. In addition, the low-speed start processing means the control signal SS
The values of 1 to SS6 are set in a pattern of a predetermined initial setting state, the initial setting state is maintained for a predetermined time, and the load of the shaft of the motor 11 corresponds to a predetermined state (for example, rated load) at a predetermined long cycle, This is a process of performing the switching operation to the patterns PT1 to PT6 described above.

When the high-speed starting process or the low-speed starting process is started in this way, it waits until the start-end judging unit 28 outputs the start-end judging signal DS (N in judgment 311).
O loop).

When the start of the motor 11 is completed, a judgment 311 is made.
When the result is YES, the levels of the control signals SS1 to SS6 are switched to the patterns PT1 to PT6 with reference to the signal SC5, and the high level values of the control signals SS1 to SS6 are changed to the operation of the position signal SP at that time. The normal operation process for setting the level corresponding to the position is started (process 312), the motor 11 is normally operated, and the process returns to the step 301.

When the motor speed is changed in the normal operation state and the result of the determination 305 is NO, the high level values of the control signals SS1 to SS6 are set to the operation position of the position signal SP at that time. Is set to a level corresponding to (process 313), and the process returns to the determination 301.

In this way, in this embodiment, the high speed starting operation is performed when the rear wheel 4 is rotating at the time of starting, and the low speed starting operation is performed when the rear wheel 4 is stopped at the time of starting. It is carried out.

Therefore, for example, when the motor is switched from the motor-off state to the motor-on state at the exit of the curve, the drive shaft of the rear wheel 4 is rotating and the shaft of the motor 11 is in a no-load state. 11
As shown in (a) and (b), since the high-speed start-up operation is performed, the motor 11 properly rises to the normal operation state.

When the motor 11 is started in the stopped state, in this case, since the rear wheels 4 are not rotating, the low speed start operation is performed as shown in FIGS. 12 (a) and 12 (b). Therefore, the motor 11 can be started appropriately.

In this way, in this embodiment, the motor 11 can be started according to the operating state of the electric bicycle 1, so that the driving operability of the electric bicycle 1 can be improved.

FIG. 13 shows still another processing example of the motor drive control section 27.

The motor drive control unit 27 monitors that the position signal SP has changed (NO loop of judgment 401), the position signal SP has changed, and the result of judgment 401 is Y.
When it becomes ES, it is checked whether or not the position signal SP is at the "motor off" operation position (determination 402).

When the result of determination 402 is YES, a flag Foff for storing the state in which the motor 11 is off is set (process 403), and the control signal SS
1 to SS6 are stopped to stop the excitation switching operation of the motor 11, the motor 11 is stopped (process 404), and the process returns to the determination 401.

The position signal SP has changed, and the value after the change is at an operation position other than "motor off".
When the result of 02 is NO, it is checked whether or not the flag Foff is set (decision 405).

When the result of the determination 405 is YES, it means that the motor 11 has been switched from the "motor off" state to the operation position for designating any speed.

That is, first, the flag Foff is cleared (process 406) and the speed signal SV is input (process 40).
7) It is checked whether or not the value of the speed signal SV is larger than the constant KZ representing the speed "0" (decision 4).
08).

When the result of the judgment 408 is YES, the high level value of the control signals SS1 to SS6 is set to a predetermined small value at the time of starting (process 409), and the switching cycle corresponding to the speed signal SV at that time is set. Is set (process 410), and the starting process is started (process 411). Here, the starting process is to set the values of the control signals SS1 to SS6 to a pattern of a predetermined initial setting state, maintain the initial setting state for a predetermined period of time, and perform the above-described pattern P at the switching cycle set at that time.
This is a process of performing a switching operation from T1 to PT6.

When the result of the determination 408 is NO, the high level values of the control signals SS1 to SS6 are set to normal values (step 412), and a predetermined low speed start processing is started (step 413). Here, the low-speed start processing is to set the values of the control signals SS1 to SS6 to a pattern of a predetermined initial setting state, maintain the initial setting state for a predetermined time, and load the shaft of the motor 11 in a predetermined state (for example, The above-mentioned patterns PT1 to PT6 at a predetermined long cycle corresponding to the rated load)
This is a process of performing a switching operation to.

When the starting operation is started in this way,
In that state, it is monitored whether or not the activation end determination signal DS is output from the activation end determination unit 28 within a predetermined time (NO loop of determinations 414 and 415).

When the motor 11 can be started, the judgment 41
When the result of 4 is YES, the levels of the control signals SS1 to SS6 are switched to the patterns PT1 to PT6 with reference to the signal SC5, and at the same time, the control signals SS1 to SS6.
The normal operation processing for setting the high-level value of No. 1 to the level corresponding to the operation position of the position signal SP at that time is started (processing 416), the motor 11 is normally operated, and the determination 401
Return to.

When the motor 11 cannot be started and the result of the determination 415 is YES, the excitation switching of the motor 11 is stopped at that point (process 415).
The process proceeds to process 412, and the low speed start process is started.

Further, when the motor speed is changed in the normal operation state and the result of the judgment 418 is NO, the high level values of the control signals SS1 to SS6 are set to the operation position of the position signal SP at that time. Is set to the level corresponding to (process 418) and the process returns to the determination 401.

In this way, in this embodiment, when the rear wheel 4 is rotating at the time of starting, the motor 11 is started at the starting speed corresponding to the rotating speed, so that the electric bicycle 1 is driven. Appropriate startup according to the situation can be performed. Further, since the drive current of the motor 11 in that case is set to a small value, it is possible to reduce the impact given to the vehicle body when the starting fails.

By the way, in the above-described embodiment, the case where the three-phase sensorless brushless motor is used as the motor has been described, but the present invention is similarly applied to the case where the sensorless brushless motor having the other number of phases is used. can do.

Further, in the above-mentioned embodiment, regarding the activation of the sensorless brushless motor mounted on the electric bicycle,
Although the present invention is applied, the present invention can be similarly applied to the case of starting a sensorless brushless motor mounted on another device.

[0107]

[0108]

As described above, according to the present invention,
When the load is rotating, a high-speed start operation is performed, and when the load is not rotating, a low-speed start operation is performed, so that the motor can be started appropriately according to the rotation state of the load. The effect is that the time can be shortened.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing an electric bicycle according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a motor control device according to an embodiment of the present invention.

FIG. 3 is an operation waveform diagram for explaining an operation during normal operation.

4 is a flowchart showing an example of processing of a motor drive control unit of the apparatus shown in FIG.

FIG. 5 is a graph diagram for explaining an operation at the time of startup according to the processing example of FIG.

FIG. 6 is a flowchart showing another example of processing of a motor drive control unit of the apparatus shown in FIG.

7 is a graph diagram for explaining an example of an operation at the time of startup according to the processing example of FIG.

8 is a graph diagram for explaining another example of the operation at the time of startup according to the processing example of FIG.

FIG. 9 is a block diagram showing a motor control device according to another embodiment of the present invention.

10 is a flowchart showing an example of processing of a motor drive control unit of the apparatus shown in FIG.

11 is a graph diagram for explaining an example of an operation at the time of startup according to the processing example of FIG.

12 is a graph diagram for explaining another example of the operation at the time of startup according to the processing example of FIG.

13 is a flowchart showing another example of the processing of the motor drive control unit of the apparatus shown in FIG.

[Explanation of symbols]

11 motor 11u, 11v, 11w armature coil 11r rotor 20 battery 21 Switching device 22, 23, 24 comparator 25 gate circuit 26 OR circuit 27 Motor drive controller 28 Start-up determination unit 30 pulse generator 31 Speed detector

Continuation of front page (56) Reference JP-A-4-101696 (JP, A) JP-A-6-141588 (JP, A) JP-A-5-284781 (JP, A) JP-A-4-304190 (JP , A) JP 5-310176 (JP, A) JP 5-276788 (JP, A) JP 62-230392 (JP, A) JP 61-52194 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) H02P 6/20

Claims (2)

(57) [Claims] 1. A motor starter for starting a sensorless brushless motor having an armature coil with a neutral point ungrounded Y connection, the speed detecting means for detecting a rotation speed of a load, and the speed detecting means at the time of starting. When the detected value of is larger than a predetermined value, the armature coil is excited and switched in a predetermined high-speed cycle and in a predetermined start-up pattern, and at the time of start-up, the detected value of the speed detection means is equal to or less than a predetermined value. In the case of, the motor starter is provided with a motor drive control means for switching the excitation of the armature coil in a predetermined low-speed cycle and in a predetermined start-up pattern. 2. A motor starter for starting a sensorless brushless motor having an armature coil with a neutral point ungrounded Y connection, the speed detecting means for detecting a rotation speed of a load, and the speed detecting means at the time of starting. When the detected value of is greater than the predetermined value, the armature coil is excited and switched in a cycle corresponding to the detected value of the speed detection means and in a predetermined start-up pattern, while the start-up speed detection is performed. A motor starting device comprising motor drive control means for switching the excitation of the armature coil in a predetermined low-speed cycle and in a predetermined start-up pattern when the detected value of the means is less than or equal to a predetermined value.