JP6058339B2 - Motor control device, motor control device control method, and motor control device control program - Google Patents

Description

  The present invention relates to a motor control device, a control method for the motor control device, and a control program for the motor control device, and in particular, a motor control device that controls a drive unit that supplies drive power to the motor based on position information obtained from the motor. The present invention relates to a motor control device control method and a motor control device control program.

  It is required to reduce vibration and noise generated when the motor is driven. For example, in Patent Document 1 below, in an electric motor that is used in an air conditioner compressor or the like and has a large load torque fluctuation during one rotation of the rotor of the electric motor, according to the torque command amount, the piping temperature, and the outside air temperature. It describes that the target rotational speed is changed. By performing such control, the electric motor avoids operation in a low speed region, prevents vibration and noise of the motor, and prevents step-out.

  Japanese Patent Application Laid-Open No. 2004-228561 describes a method for controlling the pressing force of an actuator driven by a motor by comparing the count number of drive pulses with the actual count number of rotation of the motor. Such a control method is intended to prevent the stepping motor from stepping out and returning to once, so as not to cause a malfunction due to stepping out.

  In addition, the following Patent Documents 3 to 5 disclose a configuration for suppressing fluctuations in rotation of the motor and a configuration for preventing step-out.

JP2011-188628A JP 2006-280065 A JP 2003-284391 A Japanese Patent Laid-Open No. 2003-070282 Japanese Patent Laid-Open No. 2002-010689

  A specific example of the configuration of the conventional motor control device as described above will be described below.

  FIG. 6 is a diagram illustrating a configuration example of a conventional motor control device.

  As shown in FIG. 6, a conventional motor control device 810 is used for a motor drive device 801 that drives a motor 50. In the motor drive device 801, the drive unit 40 supplies drive power to the motor 50 based on the power supplied from the power supply unit 30. The motor control device 810 outputs a drive signal S87 to the drive unit 40 based on the reference clock signal S1 and the position information signal S2 of the motor 50.

  The motor control device 810 includes, for example, a change timing generation unit 81, a division unit 82, an electrical angle information generation unit 83, a drive control unit 84, and an output phase switching unit 86. The change timing generation unit 81 generates a change timing signal based on the position information signal S2. The division unit 82 divides the period of the change timing signal and outputs a division result signal S4. The electrical angle information generation unit 83 outputs an electrical angle signal S5 based on the change timing signal, the division result signal S4, and the reference clock signal S1. The drive control unit 84 generates and outputs a drive control signal S6 based on the electrical angle signal S5 and the reference clock signal S1. The output phase switching unit 86 switches the drive control signal S6 at an appropriate timing and outputs the drive signal S87. Thereby, the output phase switching unit 86 switches the output phase of the motor 50 driven by the driving unit 40.

  By the way, in the motor drive device 801 as described above, the change timing of the rotation position of the motor 50 may be accelerated by the change in the rotation speed of the motor 50. At this time, in the conventional configuration, since the output phase is switched by sequential control based on the cycle information of the motor 50, the state where the control logic for the drive unit 40 is inappropriate may continue.

  FIG. 7 is a timing chart showing an example of the relationship between the signal elements in the conventional motor drive device.

  In FIG. 7, the change timing signal, the state relating to the position of the motor 50, the division result signal S4, the electrical angle signal S5, and the electrical angle count value of the drive control unit 84 are arranged in order from the top. As shown in FIG. 7, in the conventional motor driving device, for example, when the electric angle signal S <b> 5 is input when the change timing of the motor 50 is input earlier by −T due to the change in the rotation speed of the motor 50. In the same manner as described above, the state update regarding the position of the motor 50 is performed. As a result, the state of the output phase switching unit 86 is switched from the state before the motor speed change to the next state. That is, when the change timing of the position information signal S <b> 2 changes due to a change in the motor rotation speed, the electrical angle information generation unit 83 subsequent to the change timing detection unit 81 is updated to a new output from the division unit 82. Then, control is performed based on the rotational position until then until the count of the electrical angle signal S5 expires, regardless of the rotational position of the motor being changed, and the motor 50 continues to rotate with the position shifted. Will do. At that time, the continuity of the output signal of the electrical angle count value is lost, and the output signal of the motor control device 810 is disturbed. This may cause vibration and noise. Further, when the change in the rotation speed of the motor 50 is large, a step-out may occur.

  The present invention has been made to solve such a problem, and more reliably, a motor control device and a motor control capable of suppressing vibration and noise during motor driving and preventing motor step-out. It is an object of the present invention to provide a device control method and a motor control device control program.

In order to achieve the above object, according to one aspect of the present invention, the control state corresponding to the rotational position of the motor is sequentially updated according to the rotational position of the motor detected by the motor, and the motor is driven while switching a plurality of output phases. The motor control device that performs the control operation of the drive unit that supplies electric power outputs a drive control signal corresponding to the count value of the electrical angle according to the electrical angle signal corresponding to the electrical angle that sequentially changes as the motor rotates. A drive control unit that outputs a drive signal for controlling the drive unit so that the motor is driven with an output phase corresponding to the drive control signal, and a rotational position of the motor detected from each phase of the motor based on the position information signal corresponding to a change timing generator outputting a change timing signal corresponding to the change timing of the rotational position of the motor, it detects a change timing signal mode Detects the rotational position of the motor, based on the position detection result based on the change timing signal, outputs a position setting signal based on the output phase corresponding to the associated in advance with the next rotation position to the detected rotational position of the motor When the position setting signal is output from the position setting unit, the output unit outputs a drive signal so that the motor is driven in an output phase corresponding to the position setting signal.

Preferably, when the change timing signal is output from the change timing generation unit , the position setting unit detects the change timing signal and detects the rotation position of the motor, and the detection result of the change timing detection circuit. And a position setting circuit for outputting a position setting signal accordingly .

Preferably, the position setting circuit, when the rotational position of the motor is detected by a change timing detection circuit, and outputs a position setting signal.

Preferably, the position setting circuit is further in response to an electrical angle signal, and outputs a position setting signal.

  Preferably, all or part of the motor control device is packaged as an integrated circuit device.

According to another aspect of the present invention, a drive that sequentially updates the control state corresponding to the rotational position of the motor according to the rotational position of the motor detected by the motor, and supplies driving power to the motor while switching a plurality of output phases. In the control method of the motor control device that performs the control operation of the unit, the motor control device controls the drive control corresponding to the count value of the electrical angle according to the electrical angle signal corresponding to the electrical angle that sequentially shifts with the rotation of the motor A drive control unit that outputs a signal, an output unit that outputs a drive signal for controlling the drive unit so that the motor is driven in an output phase corresponding to the drive control signal, and a motor detected from each phase of the motor A change timing generation unit that outputs a change timing signal corresponding to the change timing of the rotation position of the motor based on the position information signal corresponding to the rotation position of the motor. Control method is adapted to detect the rotational position of the motor by detecting a change timing signal, based on the position detection result based on the change timing signal, the detected associated beforehand next rotational position of the rotational position of the motor A position setting step that outputs a position setting signal based on the output phase corresponding to the output phase, and when the position setting signal is output in the position setting step, the output unit is configured to drive the motor in the output phase corresponding to the position setting signal. And an output step of outputting a drive signal from.

According to still another aspect of the present invention, the control state corresponding to the rotational position of the motor is sequentially updated according to the rotational position of the motor detected by the motor, and driving power is supplied to the motor while switching a plurality of output phases. In the control program of the motor control device that performs the control operation of the drive unit, the motor control device drives the drive corresponding to the count value of the electrical angle according to the electrical angle signal corresponding to the electrical angle that sequentially shifts with the rotation of the motor. Detected from each phase of the motor, a drive control unit that outputs a control signal, an output unit that outputs a drive signal for controlling the drive unit so that the motor is driven at an output phase corresponding to the drive control signal A change timing generation unit that outputs a change timing signal corresponding to a change timing of the rotation position of the motor based on a position information signal corresponding to the rotation position of the motor; Control program over motor control device detects the rotational position of the motor by detecting a change timing signal, based on the position detection result based on the change timing signal, previously associated to the detected rotational position of the motor A position setting step that outputs a position setting signal based on the output phase corresponding to the next rotational position, and when the position setting signal is output in the position setting step, the motor is driven in the output phase corresponding to the position setting signal. And causing the computer to execute an output step of outputting a drive signal from the output unit.

  According to these inventions, the position setting relating to the rotational position of the motor is performed again according to the change in the rotational position of the motor, and a drive signal for controlling the drive unit is output based on the position setting. Therefore, it is possible to provide a motor control device, a motor control device control method, and a motor control device control program that can suppress vibration and noise during motor driving and can prevent motor step-out.

It is a block diagram which shows the structure of the motor control apparatus in one of embodiment of this invention. It is a figure explaining the control logic of the position setting signal controlled by a motor control apparatus. It is a timing chart which shows an example of the relationship of each signal element in this Embodiment. It is an example of the state transition diagram of the control state of the motor by a motor control apparatus. FIG. 6 is a state transition diagram according to a modified example of the control state of the motor by the motor control device. It is a figure which shows the structural example of the conventional motor control apparatus. It is a timing chart which shows an example of the relationship of each signal element in the conventional motor drive device.

  Hereinafter, a motor control device according to one embodiment of the present invention will be described.

  The motor control device controls the motor. The motor control device is provided and used in a motor drive device, for example. The motor drive device supplies drive power from the drive unit to the motor based on the power supplied from the power source to drive the motor. In the motor drive device, the drive of the motor is controlled by controlling the drive unit by the motor control device.

  [Embodiment]

  FIG. 1 is a block diagram showing a configuration of a motor control device according to one embodiment of the present invention.

  As shown in FIG. 1, the motor drive device 1 includes a motor control device 10, a power supply unit 30, a drive unit 40, and a motor 50. The power supply unit 30 is a converter that converts electric power supplied from the external AC power supply 20 to the motor driving device 1 and outputs the converted electric power. The drive unit 40 is, for example, an inverter. The drive unit 40 supplies drive power to the motor 50 using the power output from the power supply unit 30. The motor control device 10 outputs a drive signal (drive pulse) S7 to the drive unit 40. The drive unit 40 supplies drive power to the motor 50 based on the drive signal S7. Thereby, the motor control device 10 controls the motor 50 to drive the motor 50.

  In the present embodiment, the motor 50 is, for example, a three-phase motor. The drive unit 40 has a configuration of a three-phase inverter using three pairs of switching elements (a general description is omitted here). The switching element is, for example, a field effect transistor (FET). For convenience, the six switching elements used in the driving unit 40 may be referred to as switching elements Q1 to Q6. The drive signal S7 includes six signals (first to sixth drive signals) for operating the switching elements Q1 to Q6. The drive unit 40 drives the motor 50 by, for example, a 180-degree energization method according to the drive signal S7. In addition, the structure of the drive part 40, the kind of motor 50, and the electricity supply system of the motor 50 are not limited to this.

  The motor control device 10 receives a reference clock signal S1 and a position information signal S2 output from the motor 50 and corresponding to the rotational position of the motor 50. The motor control device 10 controls the motor 50 based on these input signals.

  The reference clock signal S1 is a pulse signal having a frequency sufficiently higher than the frequency of the drive signal S7 supplied to the drive unit 40, for example. The reference clock signal S1 is set to about several MHz to several tens of MHz, for example. The reference clock signal S <b> 1 is a signal that serves as a reference for control of the motor control device 10.

  In the present embodiment, the motor 50 outputs a position information signal S2 such as a hall signal to the motor control device 10 as the position information detected by the motor 50. An FG signal (not shown) is generated by decoding the position information signal S2 indicating the rotational position of the motor detected from each of the U, V, and W phases of the motor 50.

  The motor control device 10 includes a change timing generation unit 11, a division unit 12, an electrical angle information generation unit 13, and a drive control unit 14. The reference clock signal S <b> 1 is input to the units 11 to 14 of the motor control device 10. In the present embodiment, the motor control device 10 is provided with a position setting unit 15 and an output phase switching unit (an example of an output unit) 16. The motor control device 10 operates in synchronization with the reference clock signal S1, and controls the motor 50 as described later.

  The change timing generation unit 11 receives the position information signal S2. The change timing generator 11 generates and outputs a change timing signal S3 based on the position information signal S2. The change timing signal S3 is, for example, a pulse signal that outputs high for a predetermined period when the level of the FG signal generated from the position information signal S2 changes from high to low or from low to high. In other words, the change timing generation unit 11 detects the rising edge and the falling edge of the FG signal based on the position information signal S2, and outputs the change timing signal S3. The change timing signal S3 is information corresponding to the change timing of the rotational position of the motor 50.

  In addition to the reference clock signal S1, the division unit 12 receives the change timing signal S3 output from the change timing generation unit 11. For example, the division unit 12 synchronizes with the reference clock signal S1 by a predetermined divisor (for example, 12), for example, the period of the change timing signal S3 (a period of 1/2 of the period of the FG signal) or the period of the FG signal. Performs division by. In other words, the division unit 12 performs division on the position information signal S2. Based on the division result, a division result signal S4 is generated and output. The division result signal S4 is a signal corresponding to the period of the electrical angle. The division result signal S4 is a signal that is a source of the drive signal S7 output from the motor control device 10 to the drive unit 40.

  The electrical angle information generation unit 13 receives the reference clock signal S1 and the division result signal S4 output from the division unit 12. The electrical angle information generation unit 13 includes, for example, a counting circuit and a logic output circuit configured using a shift register or the like. The electrical angle information generation unit 13 counts the division result signal S4 in synchronization with the reference clock signal S1 and outputs an electrical angle signal S5. The reference clock signal S1 is not counted in the electrical angle information generation unit 13, but is used as a reference timing for synchronizing the operation of the components of the electrical angle information generation unit 13 with the reference clock S1. The electrical angle signal S5 is an electrical angle transition timing pulse corresponding to the timing at which the electrical angle of the motor 50 is updated, and is a signal that is the source of the drive signal S7.

  In addition to the reference clock signal S1, the drive control unit 14 receives the electrical angle signal S5 output from the electrical angle information generation unit 13. In FIG. 1, the electrical angle signal S5 is input to the position setting unit 15 in addition to the drive control unit 14 (broken line arrow), but may or may not be input. Here, a case where no input is made will be described.

  The drive control unit 14 includes, for example, a duty ratio selection circuit and a modulation circuit. The duty ratio selection circuit selects and determines the modulation rate of PWM modulation (that is, the duty ratio of PWM modulation) according to the electrical angle signal S5. The selection of the duty ratio is performed based on, for example, preset information indicating the correspondence between the electrical angle value and the modulation factor. The modulation circuit performs PWM modulation based on the determined modulation rate, and generates a drive control signal S6 in synchronization with the reference clock signal S1. The drive control signal S6 is, for example, a PWM signal. The generated drive control signal S6 is output to the output phase switching unit 16. That is, the drive control unit 14 outputs the drive control signal S6 based on the electrical angle signal S5 in synchronization with the reference clock signal S1.

  Note that the waveform for driving the motor 50 is, for example, a sine wave, but is not limited thereto. For example, the drive waveform of the motor 50 may be a trapezoidal wave, a triangular wave, or an asymmetrical waveform.

  The output phase switching unit 16 outputs a drive signal S7 based on the drive control signal S6. That is, the output phase switching unit 16 outputs a drive signal S7 corresponding to an appropriate output phase so that the phase to be driven is driven in the motor 50 according to the rotational position of the motor 50 detected by the motor 50. Output. When the drive signal S7 is output from the output phase switching unit 16 to the drive unit 40, the drive unit 40 turns on the one corresponding to the drive signal S7 among the switching elements Q1 to Q6 (H (high)), and the motor 50 is supplied with driving power. The output phase corresponding to the drive signal S7 is switched appropriately and sequentially by the output phase switching unit 16, so that the output phase of the driving power supplied to the motor 50 is switched and the motor 50 is driven.

  Here, in the present embodiment, when the position setting signal S9 is input from the position setting unit 15, the output phase switching unit 16 restarts the drive signal S7 based on the position setting signal S9. That is, the output phase switching unit 16 outputs the drive signal S7 based on the position corresponding to the position setting signal S9. The output phase switching unit 16 outputs the drive signal S7 based on the position setting signal S9 corresponding to the position information of the motor 50 in this way, whereby the driving of the switching elements Q1 to Q6 of the drive unit 40 is restarted. .

  [Description of Position Setting Unit 15]

  As shown in FIG. 1, the position setting unit 15 includes a change timing detection circuit 151 and a position setting circuit 152. The change timing detection circuit 151 receives the change timing signal S3 output from the change timing generation unit 11. The change timing detection circuit 151 detects the change timing signal S3, generates a position setting command signal S8, and outputs it. The position setting command signal S8 is input to the position setting circuit 152. When the position setting command signal S8 is input, the position setting circuit 152 generates a position setting signal S9 and outputs the position setting signal S9 to the output phase switching unit 16.

  The position setting unit 15 redoes the position detection of the motor 50 and the position setting based on the change timing signal S3. That is, the change timing detection circuit 151 detects the change timing signal S3, thereby detecting the position of the motor 50. Then, the position setting circuit 152 sets the position of the motor 50 in accordance with the position detection result of the change timing detection circuit 151, that is, the position setting command signal S8. That is, the output phase of driving the switching elements Q1 to Q6 by the drive unit 40 is restarted.

  FIG. 2 is a diagram illustrating the control logic of the position setting signal S9 controlled by the motor control device 10.

  In a three-phase motor such as the motor 50, there are six combinations of Hall signals of each phase (U, V, W) detected as the motor 50 rotates, that is, combinations of the positions of the motor 50 in total.

  As shown in FIG. 2, six positions (rotational positions) can be defined for the motor 50 based on the position information signal S2 (position 1 to position 6). Each of the six positions (position 1 to position 6) of the motor 50 corresponds to six output phases having different combinations of H (high) among the switching elements Q1 to Q6. The position setting unit 15 outputs a position setting signal S9 based on the output phase corresponding to the position of the motor 50 among the six output phases. When the position of the motor 50 changes, the output phase switching unit 16 outputs a drive signal S7 based on the output phase corresponding to the changed position in accordance with the input drive control signal S6 and the position setting signal S9. The drive unit 40 drives the motor 50 while switching the six output phases in accordance with the drive signal S7.

  [Description of an example of the relationship between each signal element]

  FIG. 3 is a timing chart showing an example of the relationship between the signal elements in the present embodiment.

  In FIG. 3, from the upper stage, the position information signal S2, the FG signal, the change timing signal S3, the state relating to the position of the motor 50, the division result signal S4, the electrical angle signal S5, and the drive of each phase of the motor 50 The electrical angle count values of the control unit 14 are arranged in order.

  As shown in FIG. 3, in the present embodiment, the change timing generation unit 11 detects the rising and falling edges of the FG signal decoded from the position information signal S2 of each phase of U, V, and W. The change timing generator 11 outputs the change timing signal S3 at the detected rise and fall timings. Therefore, the change timing signal S3 is output every half cycle of the FG signal. In other words, the change timing generation unit 11 measures the half cycle of the FG signal and holds the result. The change timing signal S3 is not managed in synchronization with the reference clock signal S1.

  The division unit 12 divides (divides) the half cycle of the FG signal into a time corresponding to a predetermined electrical angle. For example, the half cycle of the FG signal is divided into 12 (corresponding to 5 degrees in electrical angle). Then, the division unit 12 outputs the division result as a division result signal S4. The division unit 12 performs division of the period of the change timing signal S3 in synchronization with the reference clock signal S1, for example, using a counter and a shift register. For example, counting of the reference clock signal S1 is started after the change timing signal S3 is input, and the count value is reset every time the count value reaches a predetermined divisor. For example, in the example shown in FIG. 3, the interval between two pulses of the change timing signal S3 (one cycle of the change timing signal S3) is divided into N periods, and the number of divisions corresponding to the divided periods is divided. A result signal S4 is output. The division result signal S4 is, for example, a positive pulse signal, but may be a signal that inverts logic in accordance with the passage of a predetermined period.

  The division unit 12 is not limited to such a configuration. For example, the division unit 12 may output the division result signal S4 after correcting the remainder when a remainder occurs in the division. The number of divisions is not limited to 12 divisions corresponding to 5 degrees of electrical angle, and can be set as appropriate. Further, the period to be divided is not limited to the half cycle of the FG signal. Division may be performed by using the rising and falling timings of the position information signal S2 and the FG signal instead of the change timing signal S3.

  The electrical angle information generation unit 13 counts the number of pulses of the division result signal S4 output in this way using the change timing signal S3 as a trigger. This counting result becomes transition information of a predetermined electrical angle. That is, the number of pulses of the division result signal S4 is information corresponding to the electrical angle that sequentially changes as the motor rotates. Then, the electrical angle information generation unit 13 generates one or more electrical angle signals S5 corresponding to the counting result, and sequentially outputs the electrical angle signals S5 in synchronization with the reference clock signal S1. That is, the electrical angle information generation unit 13 outputs an electrical angle signal S5 having electrical angle information with the change timing signal S3 as a trigger.

  For example, the drive control unit 14 counts the electrical angle in accordance with the electrical angle signal S5. Then, the drive control unit 14 determines the modulation rate of the PWM modulation according to the count value.

  Here, when the change timing detection circuit 151 detects the change timing signal S3, the position setting circuit 152 performs position setting. In other words, in the present embodiment, each time the change timing signal S3 is detected, the position detection of the motor 50 and the position setting are performed again.

  For example, as shown in FIG. 3, when the change timing signal S3 is input at a certain timing, the state relating to the position of the motor 50 is assumed to be the state X. Thereafter, an electrical angle signal is output, and the state is automatically updated (state X + 1, state X + 2,...) Every time the electrical angle count value increases (every time the electrical angle advances by 5 degrees). The output phase switching unit 16 outputs a drive signal S7 so that the motor 50 is driven with an output phase corresponding to the state. When the next change timing signal S3 is input, the position setting signal S9 is output from the position setting unit 15. Then, in the output phase switching unit 16, the state is reset to the state immediately before that, that is, the state Y next to the state where control has been performed so far. When the state is reset, the motor 50 is driven with an output phase corresponding to the reset state.

  Here, the change timing of the motor 50 may be earlier than usual due to a change in the rotation speed of the motor 50. For example, even when the input of the change timing signal S3 is advanced by time −T at a certain timing (indicated by a broken line arrow in FIG. 3), in the present embodiment, at the timing when the change timing signal S3 is input. Position setting is redone. For example, as shown in FIG. 3, when the motor 50 is accelerated from the state X to the state X + 9 and the change timing signal S3 is output earlier than usual, for example, when the motor 50 is accelerated. Is assumed. In this case, when the position setting signal S9 is sent from the position setting unit 15, the state is reset to the state Y corresponding to the state X + 9 so far. That is, the position setting unit 15 resets the position setting, and the position of the motor 50 serving as a reference from which the output phase switching unit 16 outputs the drive signal S7 is set from the position corresponding to the state X + 9 to the position corresponding to the state Y. Is done. As a result, the drive signal S7 based on the output phase corresponding to the position after setting is output from the output phase switching unit 16, and the motor 50 is output in the output phase corresponding to the state of the motor 50 even after the change timing is advanced. Is driven.

  FIG. 4 is an example of a state transition diagram of the control state of the motor 50 by the motor control device 10.

  As shown in FIG. 4, each time the electric angle signal S5 is generated in the state where the motor 50 is driven (that is, every time the counter that performs counting in the dividing unit 12 makes one round), the position is sent by one. It is done. That is, from “position 1” to “position 2 (S12)”, from “position 2” to “position 3 (S13)”, from “position 3” to “position 4 (S14)”, from “position 4” to “position 4” “Position 5 (S15)” is changed from “Position 5” to “Position 6 (S16)”, “Position 6” to “Position 1 (S11)”, and so on.

  Here, when the first change timing signal S3a is generated after the “initialization (S02)” is performed at the time of starting the motor 50, the position setting unit 15 detects the position and sets the position of the motor 50. Performed (S10). If the detected position is “position 1”, for example, “position 2 (S12)” is set as the next position. When the position detected based on the first change timing signal S3a is “position 2”, the next position is set to “position 3 (S13)”. The same applies when “Position 1 (S11)”, “Position 4 (S14)”, “Position 5 (S15)”, and “Position 6 (S16)” are set. Thus, the next position setting is performed according to the “position” of the motor 50 detected at that time.

  Further, it is assumed that the change timing signal S3b is generated along with the rotation operation of the motor 50 in all states (S01) when the motor 50 is driven after the change timing signal S3a is generated. In this case, the position setting unit 15 detects the change timing signal S3b, and performs position detection and position setting again (S10). That is, when the change timing signal S3b is detected, the “position” at that time is detected as described above, and the next “position” is set accordingly.

Thus, the position setting unit 15 resets the position by outputting the position setting signal S9. The output phase switching unit 16 selects and outputs the drive signal S7 having the optimum control logic based on the position setting signal S9. In other words, the output phase switching unit 16 outputs the drive signal S7 based on the redoed position setting. As a result, the motor 50 is driven in the output phase corresponding to the position setting signal S9.

  In all states (S01), when the drive of the motor 50 is reset, the control state is “initialized” (S02), and position detection and position setting are performed again from that state (S10).

  [Explanation about the effect of this embodiment]

  As described above, in the conventional motor drive device, even when the change timing of the position information of the motor 50 is advanced by -T due to the change in the rotation speed of the motor 50, the position is changed at the timing when the change timing signal S3 is input. Detection and position setting are not performed. For this reason, when the change timing signal S3 is input, the state update is performed independently as in the case where the electrical angle signal S5 is input, and the process proceeds to the next state. On the other hand, the switching of the output phase is performed by sequential control based on the output of the electrical angle signal S5 based on the period information before the period change of the FG signal accompanying the speed change occurs. In other words, the position detection and the position setting are not performed until the count of the electrical angle signal S5 expires regardless of the change timing of the position information, so the motor 50 rotates with the position shifted. Will continue. Therefore, conventionally, there is a problem in the accuracy of the motor control, and when the speed change is large, there is a possibility that a problem occurs in the followability or the motor 50 may step out.

  In contrast, in the present embodiment, when the change timing signal S3 is input, the position setting unit 15 performs position detection and position setting of the motor 50 again based on the change timing signal S3. That is, position detection is performed regardless of the output of the electrical angle information generation unit 13 based on the period before the change timing is changed, and position setting is performed based on the result. Thus, when the change timing signal S3 is input, the drive signal S7 is appropriately restarted by the output phase switching unit 16 even if the counting of the electrical angle signal S5 performed by the electrical angle information generation unit 13 is not yet completed. Then, the motor 50 is driven with an optimum output phase. Since the drive control of the drive unit 40 can be switched quickly and appropriately based on the drive signal S7 output from the output phase switching unit 16, the motor drive device 1 is reduced in vibration and noise. Therefore, the motor 50 can be prevented from being stepped out.

  [Others]

  In the above-described embodiment, when the motor 50 is being driven, the state is not automatically updated at the timing when the electrical angle signal S5 is output, and the position detection and the position setting are performed each time. May be specified.

  FIG. 5 is a state transition diagram according to a modified example of the control state of the motor 50 by the motor control device 10.

  In FIG. 5, operations other than when the electrical angle signal S5 is output when the motor is driven are the same as those in FIG. 4 of the above-described embodiment. In this modified example, it is assumed that the electrical angle signal S5 is input to the position setting unit 15 as well as the drive control unit 14, as indicated by a broken line arrow in FIG.

  As shown in FIG. 5, in this modification, the position setting unit 15 receives the electrical angle signal S5 when the “position” of the motor 50 is any one of “positions 1 to 6”. Then, position detection and position setting are performed again. As a result, similarly to the case where the change timing signal S3 (change timing signal S3a, change timing signal S3b) is input, the next position is set according to the position of the motor 50 at that time, and the output phase is optimized. Is done. Also by such a control method, the generation level of vibration and noise during driving of the motor 50 can be lowered as described above.

  In the motor control device, the configuration other than the position setting unit is not limited to the above.

  The motor control device may be configured by packaging all or some of the components as one or a plurality of integrated circuit devices. By using such an integrated circuit device, downsizing and low power consumption of the device can be promoted.

  The method of supplying power to the motor drive device is not limited to the above. For example, DC power may be supplied to the motor driving device. The configuration of the power supply unit is not limited to the above, and an appropriate one may be used according to the type and size of the supplied power, the configuration of the drive unit, and the like.

  The type of motor is not limited. Moreover, the structure will not be limited if a drive part can drive a motor.

  The processing in the above embodiment may be performed by software or by using a hardware circuit.

  A program for executing the processing in the above-described embodiment can be provided, or the program can be recorded on a recording medium such as a CD-ROM, a flexible disk, a hard disk, a ROM, a RAM, or a memory card and provided to the user. It may be. The program may be downloaded to the apparatus via a communication line such as the Internet. The processing described in the text in the above flowchart is executed by the CPU according to the program.

  The above embodiment should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 Motor drive device 10 Motor control device 11 Change timing production | generation part 12 Division part 13 Electrical angle information generation part 14 Drive control part 15 Position setting part 16 Output phase switching part (an example of an output part)
20 AC power supply 30 Power supply unit 40 Drive unit 50 Motor 151 Change timing detection circuit 152 Position setting circuit S1 Reference clock signal S2 Position information signal S3 Change timing signal S3a Change timing signal S3b Change timing signal S4 Division result signal S5 Electrical angle signal S6 Drive Control signal S7 Drive signal S8 Position setting command signal S9 Position setting signal

Claims (7)

The control state corresponding to the rotation position of the motor is sequentially updated according to the rotation position of the motor detected by the motor, and the control operation of the drive unit that supplies the drive power to the motor is performed while switching a plurality of output phases. A motor control device,
A drive control unit that outputs a drive control signal corresponding to a count value of the electrical angle in response to an electrical angle signal corresponding to an electrical angle that sequentially changes with the rotation of the motor;
An output unit that outputs a drive signal for controlling the drive unit such that the motor is driven at an output phase corresponding to the drive control signal;
A change timing generation unit that outputs a change timing signal corresponding to a change timing of the rotation position of the motor, based on a position information signal detected from each phase of the motor and corresponding to the rotation position of the motor;
The rotation timing of the motor is detected by detecting the change timing signal, and at the next rotation position previously associated with the detected rotation position of the motor based on the position detection result based on the change timing signal. A position setting unit that outputs a position setting signal based on the corresponding output phase ,
When the position setting signal is output from the position setting unit, the output unit outputs the drive signal so that the motor is driven at an output phase corresponding to the position setting signal. The position setting unit includes:
A change timing detection circuit that detects the change timing signal and detects the rotational position of the motor when the change timing signal is output from the change timing generation unit;
The motor control device according to claim 1, further comprising: a position setting circuit that outputs the position setting signal according to a detection result of the change timing detection circuit. Wherein the position setting circuit, when the rotational position of the motor is detected by the change in timing detection circuit, and outputs the position setting signal, the motor control device according to claim 2.   The motor control device according to claim 1, wherein the position setting unit further outputs the position setting signal according to the electrical angle signal.   5. The motor control device according to claim 1, wherein all or a part of the motor control device is packaged as an integrated circuit device. 6. The control state corresponding to the rotation position of the motor is sequentially updated according to the rotation position of the motor detected by the motor, and the control operation of the drive unit that supplies the drive power to the motor is performed while switching a plurality of output phases. A control method for a motor control device, comprising:
The motor control device
A drive control unit that outputs a drive control signal corresponding to a count value of the electrical angle in response to an electrical angle signal corresponding to an electrical angle that sequentially changes with the rotation of the motor;
An output unit that outputs a drive signal for controlling the drive unit such that the motor is driven at an output phase corresponding to the drive control signal;
A change timing generation unit that outputs a change timing signal corresponding to a change timing of the rotation position of the motor based on a position information signal detected from each phase of the motor and corresponding to the rotation position of the motor;
The control method of the motor control device is:
The rotation timing of the motor is detected by detecting the change timing signal, and at the next rotation position previously associated with the detected rotation position of the motor based on the position detection result based on the change timing signal. A position setting step for outputting a position setting signal based on the corresponding output phase ;
An output step for outputting the drive signal from the output unit so that the motor is driven in an output phase corresponding to the position setting signal when the position setting signal is output in the position setting step; Control method of motor control device. The control state corresponding to the rotation position of the motor is sequentially updated according to the rotation position of the motor detected by the motor, and the control operation of the drive unit that supplies the drive power to the motor is performed while switching a plurality of output phases. A control program for a motor control device,
The motor control device
A drive control unit that outputs a drive control signal corresponding to a count value of the electrical angle in response to an electrical angle signal corresponding to an electrical angle that sequentially changes with the rotation of the motor;
An output unit that outputs a drive signal for controlling the drive unit such that the motor is driven at an output phase corresponding to the drive control signal;
A change timing generation unit that outputs a change timing signal corresponding to a change timing of the rotation position of the motor based on a position information signal detected from each phase of the motor and corresponding to the rotation position of the motor;
The control program of the motor control device is
The rotation timing of the motor is detected by detecting the change timing signal, and at the next rotation position previously associated with the detected rotation position of the motor based on the position detection result based on the change timing signal. A position setting step for outputting a position setting signal based on the corresponding output phase ;
An output step of outputting the drive signal from the output unit to the computer so that the motor is driven in an output phase corresponding to the position setting signal when the position setting signal is output in the position setting step; A motor control device control program to be executed.

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