JP4725109B2 - Brushless motor - Google Patents
Brushless motor Download PDFInfo
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- JP4725109B2 JP4725109B2 JP2005004794A JP2005004794A JP4725109B2 JP 4725109 B2 JP4725109 B2 JP 4725109B2 JP 2005004794 A JP2005004794 A JP 2005004794A JP 2005004794 A JP2005004794 A JP 2005004794A JP 4725109 B2 JP4725109 B2 JP 4725109B2
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Description
本発明は、一般産業用途などに使用されるブラシレスモータの磁極検出手段に関する。 The present invention relates to a magnetic pole detection means of a brushless motor used for general industrial applications.
従来、ブラシレスモータの回転位置を検出する手段はマグネットの回転位置に応じた信号を発生する磁気センサの出力論理によってモータの位置を検出する方式や、高度な制御精度が求められる場合は光学式エンコーダなどのセンサを用いてCS信号の論理とエンコーダが検出した位置情報を併用してモータの回転位置を検出する方式が用いられている。 Conventionally, the means for detecting the rotational position of a brushless motor is a method of detecting the position of the motor by the output logic of a magnetic sensor that generates a signal corresponding to the rotational position of the magnet, or an optical encoder when a high degree of control accuracy is required A method of detecting the rotational position of the motor by using the logic of the CS signal and the position information detected by the encoder using a sensor such as the above is used.
一般に磁気センサとしてはホール素子が多く用いられ、マグネットの磁束を感知してロータの磁極位置検出を行っている。これまで磁気センサを使用した位置制御方式として磁極信号のアナログ値を補正する方式が提案されている(例えば、特許文献1参照)。
解決しようとする問題点は、ブラシレスモータのロータマグネットやセンサマグネットの着磁ピッチや磁束ばらつき、およびホール素子などの磁気センサ自身の特性や取付け位置のばらつきによって検出誤差が存在するため、ロータ磁極位置の検出精度に限界があることである。 The problem to be solved is that there are detection errors due to variations in the magnetizing pitch and magnetic flux of the rotor magnet and sensor magnet of the brushless motor, and the characteristics and mounting position of the magnetic sensor itself such as the Hall element. There is a limit to the detection accuracy of.
図4に示すとおり磁気センサ21,磁気センサ22,磁気センサ23は、ロータマグネット2の外周に配置されており、ロータマグネット2の回転に応じて互いに位相差がほぼ120°である3相の正弦波状信号を出力し、これらの信号はオペアンプ85からオペアンプ87と抵抗器71から抵抗器79からなる演算増幅回路4によって増幅され、ロータ磁極位置検出のための情報として用いられる。 As shown in FIG. 4, the magnetic sensor 21, the magnetic sensor 22, and the magnetic sensor 23 are arranged on the outer periphery of the rotor magnet 2, and have a three-phase sine that has a phase difference of approximately 120 ° according to the rotation of the rotor magnet 2. A wave signal is output, and these signals are amplified by the operational amplifier circuit 4 including the operational amplifier 85 to the operational amplifier 87 and the resistor 71 to the resistor 79, and are used as information for detecting the rotor magnetic pole position.
しかしながら、実際にはロータマグネットの着磁精度や磁気センサの取付け位置などにばらつきがあるため、ロータマグネットが一回転したときに磁気センサが出力する4周期の正弦波状信号の振幅や位相は、図5に示すようにばらついていた。 However, since the magnetizing accuracy of the rotor magnet, the mounting position of the magnetic sensor, etc. actually vary, the amplitude and phase of the four-cycle sine wave signal output by the magnetic sensor when the rotor magnet makes one revolution are shown in FIG. As shown in FIG.
この磁気センサの源信号のばらつきを上位制御回路の演算処理などで補正することは困難であるため、磁気センサの出力信号の情報を元に高精度なモータ制御を行う上述の方式では、磁気センサ出力信号のばらつきを低減することは非常に重要な課題である。 Since it is difficult to correct the variation in the source signal of the magnetic sensor by the arithmetic processing of the host control circuit, the above-described method for performing high-precision motor control based on the information of the output signal of the magnetic sensor Reducing output signal variation is a very important issue.
本発明は上記の課題を解決するもので、ロータマグネットの着磁ピッチ誤差や磁気センサの取付け誤差などの影響を低減し、ロータの磁極位置検出精度を向上させて、高精度なモータ制御が可能なブラシレスモータを提供することを目的とする。 The present invention solves the above-mentioned problems, reduces the influence of rotor magnet magnetization pitch error and magnetic sensor mounting error, etc., improves the magnetic pole position detection accuracy of the rotor, and enables high-precision motor control. An object is to provide a simple brushless motor.
上記の課題を解決するために本発明は、磁気センサにより検出したロータマグネットの磁極位置に応じてステータ巻線に通電するモータにおいて、少なくとも2つの磁気センサの出力信号を平均化してステータ巻線1相分の磁極位置を検出する磁極検出手段を備えたブラシレスモータであり、1相につき少なくとも2つの磁気センサの出力信号が互いに同位相となるように配置し、それら磁気センサの出力信号を演算増幅回路に入力して平均値を求め、位置情報として使用することにより、正弦波信号の位相、振幅ばらつきの影響を低減し、より高精度なモータ制御を実現する。 In order to solve the above-described problems, the present invention provides a stator winding 1 that averages output signals of at least two magnetic sensors in a motor that energizes the stator winding in accordance with the magnetic pole position of the rotor magnet detected by the magnetic sensor. This is a brushless motor equipped with magnetic pole detection means for detecting the magnetic pole position of the phase, and arranged so that the output signals of at least two magnetic sensors are in phase with each other, and the output signals of these magnetic sensors are arithmetically amplified. By inputting to the circuit and calculating the average value and using it as position information, the influence of phase and amplitude variations of the sine wave signal is reduced, and more accurate motor control is realized.
本発明のブラシレスモータによれば、一回転当たりのロータマグネットの着磁ピッチや磁束ばらつき、およびホール素子などの磁気センサ自身の特性や取付け位置のばらつきなどの影響がすべて平均化され、ばらつきの少ない信号が得られるため、その信号情報を元に精度の良い回転位置検出を行い高精度なモータ制御が可能となる。 According to the brushless motor of the present invention, the influences such as the magnetizing pitch and magnetic flux variation of the rotor magnet per rotation, and the characteristics of the magnetic sensor itself such as the Hall element and the variation of the mounting position are all averaged, and the variation is small. Since a signal is obtained, highly accurate motor control can be performed by accurately detecting the rotational position based on the signal information.
磁気センサにより検出したロータマグネットの磁極位置に応じてステータ巻線に通電するモータにおいて、少なくとも2つの磁気センサの出力信号を平均化してステータ巻線1相分の磁極位置を検出する磁極検出手段を備えたブラシレスモータで、磁気センサの出力を平均した値で出力する演算増幅回路を有し、磁気センサが出力する同位相の正弦波状出力信号を加算および増幅する。また、ロータマグネットの磁極数が4の整数倍のとき、2つの磁気センサを機械角で180度離れた位置に配置する。 In a motor that energizes the stator winding in accordance with the magnetic pole position of the rotor magnet detected by the magnetic sensor, magnetic pole detection means for detecting the magnetic pole position for one phase of the stator winding by averaging the output signals of at least two magnetic sensors The brushless motor provided has an operational amplification circuit that outputs an average value of the output of the magnetic sensor, and adds and amplifies the in-phase sinusoidal output signal output from the magnetic sensor. When the number of magnetic poles of the rotor magnet is an integral multiple of 4, the two magnetic sensors are arranged at positions separated by 180 degrees in mechanical angle.
図1は、本発明の磁極検出手段のブロック構成図である。図1において、配線基板1に搭載した6個の磁気センサ31から磁気センサ36は、同心円上で機械角180°離れた2個を一組として、それぞれ同位相検出手段11から同位相検出手段13を構成している。 FIG. 1 is a block diagram of the magnetic pole detection means of the present invention. In FIG. 1, six magnetic sensors 31 to 36 mounted on the wiring board 1 are a set of two concentric circles separated by a mechanical angle of 180 °, and the same phase detection means 11 to the same phase detection means 13. Is configured.
同位相検出手段11から同位相検出手段13により、ロータマグネット3外周の磁束変化を検知し、各同位相検出手段の出力は演算増幅回路5に入力されて、後述する加算による平均化処理が行われた後、上位制御装置10へと送られロータ磁極位置を検出する。 A change in magnetic flux around the rotor magnet 3 is detected by the in-phase detection means 11 to the in-phase detection means 13, and the output of each in-phase detection means is input to the operational amplification circuit 5, and an averaging process described later is performed. After that, it is sent to the host controller 10 to detect the rotor magnetic pole position.
ここで、本発明の磁極検出手段を搭載したブラシレスモータについて説明する。図2において、ロータマグネット3は、外周面をほぼ均等に8極着磁しており、磁気センサ31から磁気センサ36が出力する正弦波状出力信号は、電気角360°×4=1440°でモータ1回転(360°)となる。 Here, a brushless motor equipped with the magnetic pole detection means of the present invention will be described. In FIG. 2, the rotor magnet 3 is magnetized on the outer peripheral surface almost uniformly with eight poles, and the sine wave output signal output from the magnetic sensor 31 from the magnetic sensor 31 is an electric angle of 360 ° × 4 = 1440 °. One rotation (360 °).
同位相検出手段11を構成する磁気センサ31と磁気センサ32は、ロータマグネット3を挟んで互いに向かい合う位置(機械角180°)に配置しており、ロータマグネット3の回転位置に応じて互いに同位相となる正弦波状信号を出力する。すなわち、磁極数を4の整数倍(実施例1では2)にすることで、機械角で180°離れた磁極を同極にすることができ、同位相の正弦波状信号を得ることができる。 The magnetic sensor 31 and the magnetic sensor 32 constituting the same phase detection means 11 are arranged at positions facing each other (mechanical angle 180 °) across the rotor magnet 3, and are in phase with each other according to the rotational position of the rotor magnet 3. A sine wave signal is output. That is, by making the number of magnetic poles an integral multiple of 4 (2 in the first embodiment), magnetic poles that are 180 degrees apart in mechanical angle can be made the same polarity, and a sinusoidal signal having the same phase can be obtained.
同位相検出手段12を構成する磁気センサ33と磁気センサ34、同位相検出手段13を構成する磁気センサ35と磁気センサ36についても、上記と同様に同位相の正弦波状信号を出力する位置に配置する。各同位相検出手段は、互いに位相差が120°になるように配置しており、検出した3相の正弦波状信号に基づき3相ステータ巻線(図示せず)の通電電流を制御する点は従来と同じである。 The magnetic sensor 33 and the magnetic sensor 34 constituting the same phase detecting means 12 and the magnetic sensor 35 and the magnetic sensor 36 constituting the same phase detecting means 13 are also arranged at positions where the same phase sine wave signal is output as described above. To do. The in-phase detection means are arranged so that the phase difference between them is 120 °, and the point of controlling the energization current of a three-phase stator winding (not shown) based on the detected three-phase sinusoidal signal is as follows. Same as before.
上述した同位相の正弦波状信号は演算増幅回路5に入力され、加算および適当な重み付けがなされ、誤差が平均化によって低減された精度のよい1相分の正弦波状信号となる。演算増幅回路5は、オペアンプ61からオペアンプ63と、抵抗器41から抵抗器58で構成され、増幅率や各信号の重み付けは抵抗値の調節によって設定可能である。 The above-mentioned sinusoidal signal having the same phase is input to the operational amplifier circuit 5, added and appropriately weighted, and becomes a sinusoidal signal for one phase with high accuracy with errors reduced by averaging. The operational amplifier circuit 5 is composed of an operational amplifier 61 to an operational amplifier 63 and a resistor 41 to a resistor 58, and an amplification factor and weighting of each signal can be set by adjusting a resistance value.
図2において、電圧V1から電圧V4は第1相の磁気センサ31および磁気センサ32の出力電圧を示している。ここで磁気センサ31と磁気センサ32は互いに同位相の電圧を出力するのでV1=V3、V2=V4と考えられる。この関係と基準電圧V5、抵抗器
41から抵抗器44および抵抗器53の抵抗値によってオペアンプ61の正入力端子電圧V6が求まり、最終的にオペアンプ61の出力電圧V7は、式1で求まる。
In FIG. 2, voltages V <b> 1 to V <b> 4 indicate output voltages of the first phase magnetic sensor 31 and the magnetic sensor 32. Here, since the magnetic sensor 31 and the magnetic sensor 32 output voltages having the same phase, it is considered that V1 = V3 and V2 = V4. The positive input terminal voltage V6 of the operational amplifier 61 is obtained from this relationship, the reference voltage V5, and the resistance values of the resistors 41 to 44 and the resistor 53. Finally, the output voltage V7 of the operational amplifier 61 is obtained from Equation 1.
なお、実施例1では、各相に対して2個の磁気センサを機械角で180°に配置して、磁気センサの取付け誤差の影響を低減したが、電気角360°の整数倍としても同位相の正弦波状信号が得られる。この場合、磁気センサの取付け誤差の影響が出やすくなる。また、磁気センサを1相当たり3個以上配置してそれらの平均値を求めることも可能であるが高価となる。またロータマグネットではなく、磁極位置検出のために設けられたセンサマグネットなどの磁束を検知する構成にすることも可能である。また120°位相差の3相正弦波信号のうち1相は他の2相信号に基づき演算で求めることができるため、演算増幅回路5の1相分を省略することも可能である。 In the first embodiment, two magnetic sensors are arranged at 180 ° in mechanical angle for each phase to reduce the influence of the mounting error of the magnetic sensor. A phase sinusoidal signal is obtained. In this case, the influence of the mounting error of the magnetic sensor is likely to occur. In addition, it is possible to arrange three or more magnetic sensors per phase and obtain the average value thereof, but this is expensive. Further, it is possible to adopt a configuration in which a magnetic flux is detected not by the rotor magnet but by a sensor magnet or the like provided for detecting the magnetic pole position. In addition, since one phase of the three-phase sine wave signal having a phase difference of 120 ° can be obtained by calculation based on the other two-phase signals, one phase of the operational amplifier circuit 5 can be omitted.
本発明のブラシレスモータは、産業用途などのモータ制御の高精度化に有用である。 The brushless motor of the present invention is useful for increasing the accuracy of motor control for industrial applications.
1 配線基板
3 ロータマグネット
5 演算増幅回路
11、12、13 同位相検出部
31、32、33、34、35、36 磁気センサ
DESCRIPTION OF SYMBOLS 1 Wiring board 3 Rotor magnet 5 Operation amplification circuit 11, 12, 13 In-phase detection part 31, 32, 33, 34, 35, 36 Magnetic sensor
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JP2005004794A JP4725109B2 (en) | 2005-01-12 | 2005-01-12 | Brushless motor |
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JP4725109B2 true JP4725109B2 (en) | 2011-07-13 |
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GB2483177B (en) * | 2011-10-19 | 2013-10-02 | Protean Electric Ltd | An electric motor or generator |
GB2581250B (en) * | 2018-12-10 | 2022-10-26 | Agave Semiconductor Llc | Position corrected commutation of brushless direct current motors |
JP7291104B2 (en) * | 2020-06-18 | 2023-06-14 | オリエンタルモーター株式会社 | Three-phase brushless motor and method for detecting rotational position of three-phase brushless motor |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05276783A (en) * | 1992-03-23 | 1993-10-22 | Matsushita Electric Ind Co Ltd | Speed signal detector for motor |
JP2000050673A (en) * | 1998-07-31 | 2000-02-18 | Sanyo Electric Co Ltd | Motor drive circuit |
JP2003329751A (en) * | 2002-05-15 | 2003-11-19 | Kayaba Ind Co Ltd | Magnetic flux detector |
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2005
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05276783A (en) * | 1992-03-23 | 1993-10-22 | Matsushita Electric Ind Co Ltd | Speed signal detector for motor |
JP2000050673A (en) * | 1998-07-31 | 2000-02-18 | Sanyo Electric Co Ltd | Motor drive circuit |
JP2003329751A (en) * | 2002-05-15 | 2003-11-19 | Kayaba Ind Co Ltd | Magnetic flux detector |
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