JP5930264B2 - Driving device and driving method for two-phase brushless motor - Google Patents

Description

  The present invention detects a counter electromotive voltage of a stator coil, estimates a relative position between the stator coil and a magnet rotor, sets a conduction angle based on the detected position, and drives a two-phase brushless motor. And a driving method.

  A conventional general two-phase brushless motor includes a magnet rotor including a permanent magnet that is rotatably supported by a rotating shaft and has N-pole and S-pole poles alternately arranged in the rotation direction, and a two-phase connected coil. A stator coil composed of a group, a Hall element that detects the position of the magnetic pole, a differential amplifier that performs differential amplification using the output signal of the Hall element as an input, and a phase difference between the stator coils based on the output signal of the differential amplifier. And a drive circuit that outputs different drive currents.

However, the two-phase brushless motor driving apparatus as described above has a problem that it is difficult to reduce the size and the cost due to the Hall element and the wiring accompanying it.
Therefore, a sensorless two-phase brushless motor driving device has been proposed in which a sensor means for detecting the position of a magnetic pole such as a Hall element is eliminated (Patent Document 1).
The two-phase brushless motor driving device includes a position detection circuit that measures a counter electromotive voltage generated from each stator coil and generates a signal representing a relative position between the stator coil and the magnet rotor. A timer is generated based on the signal representing the relative position, and the commutation timing of each element incorporated in the drive circuit is determined by this timer to set the energization angle of the stator coil.

In the two-phase brushless motor driving apparatus according to this conventional technique, two-phase full-wave driving is possible without using a Hall element and without using a sensor.
In the two-phase brushless motor driving apparatus according to this prior art, the phase difference between the currents supplied to the stator coils is set to 90 degrees (FIG. 2 (a) of cited document 1). Therefore, to see the zero crossing point of the counter electromotive voltage, the current supplied to one stator coil is cut off, the waveform of the counter electromotive voltage generated from the stator coil is examined, and then the phase is advanced to about 90 degrees. After a corresponding time has elapsed, the current supplied to the other stator coil is cut off, and the waveform of the counter electromotive voltage generated from the stator coil is examined. Then, after the rotational speed is stabilized, the energization angle is gradually increased by using the timer to increase the rotational output of the motor with respect to the supplied power, that is, the efficiency of the motor.

Japanese Unexamined Patent Publication No. 07-274582 Japanese Patent Laid-Open No. 06-253579

In the drive device for a two-phase brushless motor according to the prior art, in order to cut off the currents supplied to the two stator coils separately, a circuit that allows the currents to flow independently through the two stator coils is required. For this reason, the connection point between the stator coils is fixed at a neutral point potential (FIG. 1 of the cited document 1). For this reason, a power supply having a neutral point is required.
In order to increase the efficiency of the motor to the maximum, it is preferable to pass a current having a phase difference between the two stator coils. In this case, the zero crossing point of the counter electromotive voltage of both stator coils appears at the same time. So you need to detect it.

  Therefore, an object of the present invention is to improve efficiency by flowing a current having a phase difference between two stator coils, and to drive a two-phase brushless motor that can be applied to a DC power source having no neutral point. Is to provide.

Two-phase brushless motor driving device of the present invention for achieving the above object includes a switching circuit that performs energization of the at least two stator coils 2 phase connection, by controlling the switching circuit, each a control circuit for energizing the respective stator coils in current, and a comparator circuit, the control circuit, the zero crossing point after representing the relative positions of the stator coils and the magnet rotor, energization from the start of energization to the end conduction A timer time for determining an angle is set, and when the timer time elapses, the energization to the at least two stator coils is cut off at the same time, and the comparison circuit includes a counter electromotive voltage and a reference voltage that appear due to the interruption. And the control circuit detects the next zero crossing point based on the comparison result, Determining the period between these two zero-cross point, based on the determined period, it is to set the conduction angle in the next cycle of the stator coil.

The timer includes a first timer that sets a waiting time from the start of the zero crossing time to the start of energization of the stator coil, and a second timer that sets a drive time from the start of energization of the stator coil to the end of energization. The waiting time may be set by the first timer, and the driving time may be set by the second timer.
The driving method of the two-phase brushless motor according to the present invention is a method according to the invention that is substantially the same as the invention of the driving device of the two-phase brushless motor.

  As described above, according to the present invention, it is possible to make a brushless motor for a two-phase full-wave drive system without using a Hall element and without a sensor. In addition, the efficiency of the two-phase brushless motor is improved by setting the energization angle when a current having a phase difference flows through the two stator coils, and the two-phase brushless motor that can be driven with respect to a larger load with load resistance performance. A driving device and a driving method can be provided.

It is a principal part circuit diagram which shows the drive device of a two-phase brushless motor. 3 is a connection diagram of operational amplifiers 21 and 22. FIG. It is a block diagram showing the microcomputer 23 for energizing / cutting off transistors SW1 to SW4. Waveforms of alternating U-phase current UI and W-phase current WI, U-phase counter electromotive voltage Uin when U-phase current UI is interrupted, and W-phase counter-electromotive voltage Win when W-phase current WI is interrupted It is a graph in which a waveform is overlaid. It is the enlarged view which drew the waveform of U-phase current UI and the waveform of U-phase back electromotive voltage Uin at the time of interruption | blocking of U-phase current UI over 180 degree | times (period T). 3 is a flowchart for outlining a control procedure of the microcomputer 23; It is a block diagram which shows the process sequence of the microcomputer 23 for determining waiting time and drive time. It is the wave form diagram to which the numerical value of the waiting time and drive time when the efficiency of the two-phase brushless motor was the best was applied.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a principal circuit diagram showing a driving device for a two-phase brushless motor. In FIG. 1, 10 is an AC power source, and 11 is a rectifier circuit that rectifies AC and creates a DC power source. The rectifier circuit 11 does not necessarily require a neutral point output. Further, the switching circuit 12 is configured by the transistors SW1 to SW4. Furthermore, 13 and 14 are a U-phase stator coil and a W-phase stator coil that constitute a two-phase brushless motor. The arrangement of the U-phase stator coil 13 and the W-phase stator coil 14 is arbitrary, but in this embodiment, it is point-symmetric with respect to the rotation axis of the magnet rotor.

  One (U-phase) output of the switching circuit 12 is connected to the upper end of the U-phase stator coil 13, and the other (W-phase) output of the switching circuit 12 is connected to the lower end of the W-phase stator coil 14. 13 and the W-phase stator coil 14 are connected to each other in series. The U phase and the W phase are simply the same signal inverted, and the phases are shifted by 180 degrees.

  The direction in which the U-phase current UI flows in the U-phase stator coil 13 from top to bottom (from 13 to 14) is defined as the U + direction, and the direction in which the W-phase current WI flows in the W-phase stator coil 14 from W- The direction in which the W-phase current WI flows from the bottom to the top in the W-phase stator coil 14 is defined as the W + direction, and the direction in which the U-phase current UI flows in the U-phase stator coil 13 from the bottom to the U-direction It is defined as

  The U-phase counter electromotive voltage Uin of the switching circuit 12 is supplied to the comparison circuit 20 to detect the zero cross point based on the counter electromotive voltages of the U-phase and W-phase stator coils 13, 14. The voltage Win is supplied to the comparison circuit 20 in order to detect the zero crossing time point based on the counter electromotive voltages of the U-phase and W-phase stator coils 13 and 14. The comparison circuit 20 includes operational amplifiers 21 and 22.

  FIG. 2A is a connection diagram of the operational amplifier 21. The U-phase counter electromotive voltage Uin is supplied to the positive terminal of the operational amplifier 21, and a reference voltage for detecting the zero crossing point is supplied to the negative terminal of the operational amplifier 21. The voltage value of the reference voltage is set to a value equal to the DC voltage superimposed on the U-phase counter electromotive voltage Uin. If no DC voltage is on the U-phase counter electromotive voltage Uin, it is 0V. The output Uout of the operational amplifier 21 outputs a high level if the U-phase counter electromotive voltage Uin exceeds the reference voltage, and outputs a low level if the U-phase counter electromotive voltage Uin does not exceed the reference voltage. Therefore, by observing the time point when the output Uout of the operational amplifier 21 changes, the zero crossing time point of the U-phase counter electromotive voltage Uin can be detected.

  FIG. 2B is a connection diagram of the operational amplifier 22. The W-phase back electromotive voltage Win is supplied to the positive terminal of the operational amplifier 22, and a reference voltage for detecting the zero crossing point is supplied to the negative terminal of the operational amplifier 22. The output Wout of the operational amplifier 22 outputs a high level if the W-phase counter electromotive voltage Win exceeds the reference voltage, and outputs a low level if the W-phase counter electromotive voltage Win does not exceed the reference voltage. Therefore, by observing the time point when the output Wout of the operational amplifier 22 changes, the zero crossing time point of the W-phase counter electromotive voltage Win can be detected.

The zero crossing point detected by the operational amplifier 21 and the zero crossing point detected by the operational amplifier 22 are the same time because the U phase and the W phase are the same signal inverted.
FIG. 3 is a block diagram showing a microcomputer 23 composed of a CPU, a ROM, a RAM, and the like for conducting and blocking the transistors SW1 to SW4. The microcomputer 23 receives the output signals Uout and Wout of the operational amplifiers 21 and 22. The microcomputer 23 detects the zero-crossing time points of the U-phase counter electromotive voltage Uin and the W-phase counter electromotive voltage Win based on the time when the waveforms of the output signals Uout and Wout rise from low to high and from the high to low. To do. Then, a period T between adjacent zero crossing points is calculated. This time corresponds to a time (180 degrees) in which the magnet rotor makes a half rotation.

The microcomputer 23 determines the time for current to flow through the U-phase stator coil 13 and the W-phase stator coil 14 based on the period T between the zero-cross time and the zero-cross time, and based on the determined time, the transistors SW1 to SW4. To control.
FIG. 4 shows waveforms of U-phase current UI and W-phase current WI that flow alternately, a waveform of U-phase counter electromotive voltage Uin when the U-phase current UI is interrupted, and a W-phase inverse when the W-phase current WI is interrupted. It is the graph which drew and overlapped with the waveform of electromotive voltage Win. The time of zero crossing is filled in with black circles. FIG. 5 is an enlarged view of only the U phase in the graph of FIG. 4 and drawn over 180 degrees (period T). FIG. 6 is a flowchart for outlining the control procedure of the microcomputer 23. FIG. 7 is a block diagram showing a processing procedure of the microcomputer 23 for determining the waiting time and the driving time.

  The control procedure will be described below with reference to the graphs (FIGS. 4 and 5) using the flowchart (FIG. 6) and the block diagram (FIG. 7). The microcomputer 23 searches for the zero-crossing time during the period when the U-phase current UI is interrupted and the U-phase counter electromotive voltage Uin appears (step S1). If the zero-crossing time is detected, the microcomputer 23 starts the software timer 1 thereafter ( Step S2). The measurement time of the timer 1 is referred to as “waiting time”. The waiting time is set to 30 degrees which is 1/6 of the period T, for example. When the measurement time of the timer 1 is completed, a base signal is sent to the transistors SW2 and SW3 (step S3), and the software timer 2 is started (step S4). The measurement time of the timer 2 is referred to as “driving time”. The driving time is set to 120 degrees which is 2/3 of the period T by default, for example. During the time measurement by the timer 2, the base signals are supplied to the transistors SW2 and SW3, the U-phase stator coil 13 is driven by the current flowing in the U + direction, and the W-phase stator coil 14 is driven by the current flowing in the W− direction. .

When the measurement time of the timer 2 is completed, the base signals of the transistors SW2 and SW3 are cut off, and the transistors SW2 and SW3 are turned off (step S5).
Next, during the period in which the U-phase counter electromotive voltage Uin appears, the zero cross point is searched (step S6), and if the zero cross point is detected, the software timer 1 is started (step S7). The time from when the zero crossing point is searched until the zero crossing point is detected is called “search time”. When the zero crossing point is detected, the timer 1 is started. The measurement time of the timer 1 is 30 degrees (T / 6) as described above. When the measurement time of the timer 1 is completed, a base signal is sent to the transistors SW1 and SW4 (step S8), and the software timer 2 is started (step S9). The measurement time of the timer 2 is 120 degrees (2T / 3) as described above. During the time measurement by the timer 2, the base signals are supplied to the transistors SW1 and SW4, the U-phase stator coil 13 is driven by the current flowing in the U-direction, and the W-phase stator coil 14 is driven by the current flowing in the W + direction. . When the measurement time of the timer 2 is completed, the base signals of the transistors SW1 and SW4 are stopped, the transistors SW1 and SW4 are turned off (step S10), and the search time starts.

  These operations generate magnetic fields in the directions of “U +” and “W−”, and then generate magnetic fields in the directions of “U−” and “W +”. These alternating magnetic fields rotate the magnet rotor. To do. While the U-phase current UI and the W-phase current WI are cut off, the zero crossing point is detected and stored based on the back electromotive voltages generated in the U-phase stator coil 13 and the W-phase stator coil 14 (FIG. 7; Based on the detected zero crossing time point, a cycle T between adjacent zero crossing time points is calculated (block V2). Based on this period T, the energization time of the U-phase stator coil 13 and the W-phase stator coil 14 can be determined (block V3).

  At the start of the start of the two-phase brushless motor, the back electromotive voltage of the U-phase and W-phase stator coils 13 and 14 is not generated with a sufficient magnitude, so the correct angular position of the magnet rotor cannot be detected. The forced commutation is used in the same manner as the 120-degree conduction rectangular wave sensorless drive. That is, the transistors SW1 to SW4 are repeatedly turned on and off in a pattern having “waiting time” and “driving time” determined by default. As a result, the rotor starts rotating with low efficiency. At the start of start-up, the end time of the drive time becomes the time of the zero cross, and when the center of the drive time gradually moves naturally in the direction that coincides with the peak of the back electromotive voltage and the rotation is stabilized, the “drive” as shown in FIG. This is a pattern in which a zero crossing point occurs after the end of “time”. In this way, the motor is driven stably.

Note that the phase difference between the currents flowing through the stator coils is not necessarily 180 degrees.
Although the embodiments of the present invention have been described above, the embodiments of the present invention are not limited to the above-described embodiments, and various modifications can be made within the scope of the present invention.

  In the above-described embodiment, based on the period T, the “waiting time” that is the measurement time of the timer 1 is set to 30 degrees (T / 6), and the “driving time” that is the measurement time of the timer 2 is 120 degrees. (2T / 3) was set. Such numerical values of the waiting time and the driving time affect the efficiency and load resistance of the two-phase brushless motor, and therefore should be determined to be optimal values in consideration of the efficiency of the two-phase brushless motor.

In the inventor's experiment, as shown in FIG. 8, the numerical values that can be driven with respect to a larger load with load resistance performance were waiting time = 41.4 degrees and driving time = 1119.7 degrees. This numerical value is an optimum value obtained as a result of searching for a point where the maximum torque is generated in the used motor.
If the two-phase brushless motor need only be rotationally driven regardless of the efficiency and load resistance, the waiting time may be any value in the range of 0 to 90 degrees. The driving time can be selected by selecting any numerical value from a range where the lower limit is 0 degree and the upper limit is a numerical value obtained by subtracting the waiting time from 180 degrees.

DESCRIPTION OF SYMBOLS 10 ... AC power supply, 11 ... Rectifier circuit, SW1-SW4 ... Transistor, 12 ... Switching circuit, 13 ... U-phase stator coil, 14 ... W-phase stator coil, 20 ... Comparison circuit, 21, 22 ... Operational amplifier

Claims (3)

A switching circuit for performing energization of the at least two stator coils 2-phase connection,
By controlling the switching circuit, wherein each stator coil, and a control circuit for energizing current, respectively,
A comparison circuit,
The control circuit sets a timer time for determining an energization angle from the start of energization to the end of energization after the zero crossing time representing the relative position of each stator coil and the magnet rotor, and when the timer time has elapsed, The current to the two stator coils is cut off at the same time,
The comparison circuit compares a counter electromotive voltage that appears due to the interruption and a reference voltage.
The control circuit detects a next zero-crossing time point based on the comparison result, determines a cycle between the two zero-crossing points, and based on the determined cycle, a conduction angle in a next cycle of the stator coil. A drive device for a two-phase brushless motor. The timer is a second timer for setting an energization angle from energization start to energization end of the stator coil ,
The drive device for a two-phase brushless motor according to claim 1 , further comprising a first timer for setting a waiting time from the start of the zero crossing time to the start of energization of the stator coil. A current is passed through at least two stator coils connected in two phases by a switching circuit ,
A timer time for determining an energization angle from the start of energization to the end of energization after the zero crossing time representing the relative position of each stator coil and the magnet rotor is set, and when the timer time has elapsed, the at least two stator coils are Simultaneously shut off the energization,
By comparing the back electromotive voltage that appears due to the interruption and the reference voltage, the next zero crossing time point is detected,
A method for driving a two-phase brushless motor , wherein a period between these two zero-cross points is determined, and an energization angle in a next period of the stator coil is set based on the determined period .

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