JPH01110085A - Motor controller - Google Patents

Abstract

PURPOSE:To control a motor stably, by counting the number of sections to be detected of an encoder and switching power conduction to a stator coil when the count matches with a predetermined count. CONSTITUTION:Power is conducted in predetermined direction through one of two phase coils 2021, 2031. Magnetic pole of stator phase at power conducting side is facing with the magnetic pole of a rotor magnet, and reset signals 131, 132 are provided from an external controller 112 at this time point such that outputs from up/down counters 108, 111 are brought to zero. A positional information signal representing rotor position split into twelve sections with reference to a facing point between the rotor magnetic pole and the stator magnetic pole can be obtained through the operation, while furthermore rotor position can be known based on the outputs from the up/down counters 108, 111 thus enabling switching of power conduction to the coil. Since encoder signals are counted, power conduction timing can be switched accurately.

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention is applicable to office automation (Office automation) such as personal computers and word processor printers.
A) It relates to a control device for a motor used in equipment. [Prior Art] For example, in a brushless motor, a Hall element is usually used to detect the position of the magnetic pole of the rotor for controlling current flow, and an optical or magnetic encoder is used to detect the speed of the rotor. . [Problems to be Solved by the Invention] However, such brushless motors have the following problems. (1) It is necessary to align the stator magnetic poles and the Hall element. (2) If the energization is switched using the Hall element, the positions of the Hall element and the stator are uniquely determined, so the method of energizing the motor is fixed. For example, the so-called 180°
When performing energization control and when performing 90° energization control,
The position of the Hall element with respect to the magnetic poles of the stator is electrically 4.
Since the difference is 5°, in order to perform two types of energization control with one motor, the number of Hall elements must be doubled and placed at positions suitable for each energization control. For example, JP-A-62-193548, JP-A-62
- A stepping motor that controls energization using an encoder output is proposed in Publication No. 193549, but what is disclosed therein is only the structure of the motor itself in which an encoder is installed at a predetermined location, and the motor drive is not disclosed. Nothing is disclosed regarding control circuits, methods, etc.

[Means to solve the problem]

The present invention provides an encoder that is fixed to the shaft of a rotor and has an integer multiple of the number of magnetic poles of the rotor, and a counting means that counts the number of detected parts of the encoder as the rotor rotates at a predetermined location on the stator side. and means for switching the energization to the coils of the stator when the count value of the counting means matches a predetermined value. [Function 1] According to the present invention, an encoder having a detection portion having an integral multiple of the number of magnetic poles of the rotor is fixed to the glaze of the rotor, and the encoder is detected at a predetermined location on the stator side as the rotor rotates. By counting the number of parts, when the count value matches a predetermined value, energization to the coil of the stator is switched. [Embodiment] FIG. 1 is a diagram showing a motor drive control circuit according to the present invention. FIG. 2 is a perspective view showing a first embodiment of a motor according to the present invention, and FIG. 3 is a sectional view of the same motor. below,
The first embodiment will be described with reference to FIGS. 2 and 3. Reference numeral 201 is a step-rotatable motor with a built-in magnetic encoder. This motor 201 has a stator 204 having a structure in which two stators 202 and 203 having magnetic hollow rings are stacked one above the other. This stator 202.
The surface of 203 is made of a magnetic material, and magnetic pole pieces (stator 20
3, 205 and 206 are exemplified, and stator 202 is 20
7 and 208) are formed alternately at minute intervals, and a bobbin 210 on which a conductive wire 209 is wound in many turns is inserted into a hollow portion inside the bobbin 210. The magnetic pole pieces (205, 206, 207, 2011) are arranged and fixed in two stages, upper and lower, so as to face each other in the axial direction. Magnetic pole pieces (205, 206, 207, 2
08) is formed to be equal to the magnetic pole width (in the circumferential direction) of the magnet rotor 211. pole pieces 205 and 20
7 are formed by extending the magnetic portions of the lower surfaces of the stators 202 and 203 upward toward the inner periphery, and are also formed one-fourth of a pitch apart from each other. Pole pieces 206 and 208 also connect stators 202 and 20.
They are each formed by extending the magnetic material portions on the upper surface of No. 3 toward the inner periphery downward direction, and are also formed one-fourth of a pitch apart from each other. 212 and 213 are the stator 20, respectively.
This is a lead wire connected to the conductor wire No. 2,203. A cylindrical magnet rotor 211 is fixed to a rotating shaft 214 and rotates together with the rotating shaft 214. This magnet rotor 211 includes bearings 2 mounted on flanges 215 and 216 welded to stators 202 and 203, respectively.
17, 218, thereby rotatably disposed within the inner hollow portion of the stator 204. The magnet rotor 211 may be a plastic magnet or a sintered magnet, and any suitable magnet may be used. The magnetic pole pieces (205°, 206, 207 and 208) are provided on the outer periphery of the magnet rotor 211.
N and S magnetic poles are alternately radially aligned and magnetized to form multiple poles so as to face each other. The rotating shaft 214 is arranged to protrude from the lower end of the bearing 21B attached to the flange 216 welded to the stator 202, and N, S A magnetic encoder 219 with 288 magnetic poles alternately magnetized is attached. A magnetic sensor (MR element) 220 is configured to output A-phase and B-phase signals with an electrical phase shift of 901 at a location facing the magnetic pole portion 224 (periphery) of the magnetic encoder 219.
is installed. This magnetic sensor (MR element) 220 is connected to a fixed member 222
The output signal is sent to a control circuit (shown in the first figure) through a lead wire 223 soldered on a board 221. Reference numeral 225 denotes a metal cup-shaped magnetic encoder storage case fixed to the stator 202, and a fixing member 222 to which a magnetic sensor (MR element) 220 is fixed is attached to the bottom of the inner surface. In addition, this storage case 2
25 prevents dirt and dust from adhering to the magnetic pole part 224 of the magnetic encoder and the surface of the magnetic sensor (MR element) 220. The number of magnetic poles of the rotor 211 is 24, and the magnetic encoder 22
The number of magnetic poles in 4 is an integral multiple of 288 poles. Therefore, the number of encoder output pulses per rotor pole is 12 pulses. In this example, the rotation angle per pulse of the encoder output is 1.25 degrees/pulse (360 degrees/288 pulses), which is a sufficiently small value for the rotation angle of 15 degrees of one rotor pole. . In other words, even without any adjustment, the error in the position between the encoder output pulse and the rotor magnetic pole is at most ±
It is 0.625 degrees, which is about 4 degrees per rotor pole.
The error is 2%, which is a value that can be completely ignored. The relationship between the number of encoder output pulses and the number of rotor magnetic poles can be set within the allowable error range, and the number of encoder output pulses per one rotation of the rotor can be an integral multiple of the number of rotor magnetic poles.In general, ± An error of 12.5% is sufficient, and in that case, the number of pulses will be four times the number of rotor magnetic poles. In addition, when the number of rotor magnetic poles is as high as 100, such as in a hybrid step motor, and when the number of encoder output pulses and the number of rotor magnetic poles correspond one to one, as with conventional Hall elements or other encoders, Precise adjustment is required to align both sides. However, according to the present invention, by setting the number of output pulses of the encoder to 400 to 500, a motor having a hybrid step motor structure can be converted into a DC brushless motor without the above-mentioned alignment. This number of output pulses has a wavelength of 0.
．． With a magnetization pattern of 334 μm and a diameter of 26.6 mm (
This can be easily realized using a magnetic encoder (structured as shown in FIGS. 2 and 3) and a magnetoresistive element (MR element). FIG. 1 shows a control circuit for a motor configured as described above. In Figure 1, 220^ and 220B are in Figure 2 and 3.
Magnetoresistive element (MR element) indicated by 220 in the figure, 10
3 and 104 are differential amplifiers, 105 and 108 are comparators, 107 is an up-down clock generator that generates up and down clocks, 108 is an up-down counter, 109 is a motor drive signal generator, 110 is a motor drive circuit, 111 is a position detection counter, 112 is an external control device, 113 is a speed control reference signal generator, and 114 is a motor speed control device.
The operation of the drive circuit will be explained using this diagram. The MR element 220^ is as shown in FIG.
The element 220A is shown by a solid line, and the element 220B is shown by a dotted line,
Figure 4B shows only the ■ element 220^;
The same applies to 0B. ) Four magnetoresistive elements r1 to r4 are arranged along the magnetic pole array direction of the encoder 224, and the elements r1 to r4 are connected in a bridge type as shown in FIG. The four elements constituting the other MR element 220B are shown in FIG. 4A.
As shown by dotted lines in , the four elements "l" of the MR element 220A are
~ Place it in the middle of r4. In this embodiment, since the MR element is placed opposite to the magnetic encoder attached to the motor shaft, a waveform as shown in FIG. 5 is obtained in response to magnetic field fluctuations caused by the magnetic encoder as the motor rotates. The MR element has a magnetic encoder magnetization period of 17
Since the two are arranged with a phase shift of 8 cycles, if one (220^) has the waveform of 501 in Fig. 5, the other (
220B), a waveform whose phase is electrically shifted by 90° as shown in FIG. 5 502 is obtained. After these waveforms are amplified by the subsequent differential amplifiers 103 and 104,
503 (5) by comparators 105 and 106 in FIG.
01), 504 (corresponding to 502), and then the up/down clock generator 10
7 is input. This clock generator 107 includes two D-type flip-flops 801 and 602 as shown in FIG.
It consists of two input terminals 603 and 604 that input input signals A and B, and two output terminals 60 for up and down.
5.606, and generates an up clock or a dO clock depending on the phase between input signals A and B (details will be described later). FIG. 7 shows waveforms 603 and 604 of signals A and B and up-do
It is a diagram showing the relationship between wn output waveforms 605 and 606 (
(The two arrows in the figure indicate the flow of time in the up force direction or the down direction.) Now, in FIG. 7, the up force direction signal A,
If B is manually input to the clock generator 107, the seventh
Two waveforms shown in FIGS. 701 and 702 appear at the up-down output terminals. That is, a pulse corresponding to the cycle of the magnetic encoder appears only at the up terminal, and nothing is output to the do n terminal. Conversely, in Figure 7, down
When pulse signals A and B seen from the direction are input, 7
The waveforms shown at 03 and 704 are output to the up and do stomach n terminals. In other words, since the phase relationship of the signals output from the two MR elements is determined by the rotor's rotational direction (one of the two arrows in Figure 7), the output according to the rotational direction is used to generate up-down clocks. It is output from the device 107. These clock signals are input to two up-do counters 108 and 111. The up-down counter 108 is a 5-bit base 24 counter, counts up or down according to the input up clock signal 121 and down clock signal 122, and outputs obt, etc. 23 in decimal form to the output terminal as a binary 5-bit signal. (each signal is Bo, B+, Bz, B3, and B4), and the output of the counter 108 is input to the motor drive signal generator 109. As shown in FIG. 8, the motor drive signal generator 109 has four
one digital comparator 801.802.803. 804, clock generator 8050 rotation direction switch 806
゜It consists of a start/stop controller 807. Digital comparators 801 to 804 generate clock signals when the same data as a preset value is input. Therefore, each of the four digital comparators is given a binary number from 0 to 23 in decimal.
By setting with 5 bits, the up-down
Each pulse signal can be output when the kakunta 108 indicates a predetermined value. The output signals 808, 809, 810, 811 of the four digital comparators are sent to the clock generator 8.
05 is input. The clock generator 805 is the ninth clock generator. As shown in Figure 1O,
It is composed of two or four R-S flip-flops. Now, assuming that the clock generator is as shown in FIG. 9, the comparison values of each digital comparator 801 to 804 are a =
O (00000B'), b -6 (OOIIOB)
, c-12 (OIlooB), d-18 (1100
The following explanation assumes that 0B) is set. Signal 1301 in FIG. 13A is the input clock signal waveform (UP or DO) to up-do counter 108.
WN), and the number above the waveform indicates the counter count value (decimal).The count value (decimal) of the above settings
Digital comparator 8 when 0, 6, 12.18
Pulse output signals 808 to 811 output from 01.802.803.804 are input to corresponding terminals a to d of the clock generator in FIG. 9, respectively. At this time, signals 1302, 1303, 1304, 130 in FIG.
5, a lock signal is output. That is, these outputs are uniquely determined by the count value (decimal) from 0 to 23. This signal 1302.13G3, 1304.1305 is 2
Represents the energization signal to the phase coil 2021.2031,
They are represented by A, B, A, and B, respectively. This A, B, A, B
A signal is given to the motor drive circuit 110 to energize the coils 2021 and 2031. The A-phase coil 2031 is the up/down counter 108
When the clock input to the up/down counter 108 is 0.12, the current direction of the B-phase coil 2021 is switched when the clock input to the up/down counter 108 is 8.18. Focusing on one phase, the direction of energization changes every 12 pulses, in other words, the energization changes every 180 degrees in electrical angle. The timing of energization switching is based on the output value of the up/down counter 108 with reference to the positions of the rotor magnetic poles and the stator magnetic poles, and the speed control is as follows. That is, the rotor rotational speed signal 120 obtained based on the output signal from one magnetoresistive element 220B is compared with the signal 133 from the speed control reference signal generator 113,
The rotor speed is controlled to eliminate the difference between the two. When the rotor speed becomes slower than the set value (the value indicated by the speed control reference signal 133), the signal 134 from the comparator circuit 114 causes the phase compensation circuit 115. Voltage control circuit 11
6 in the motor drive circuit 110 through the coil 2021.6.
Increase the voltage applied to 2031 to speed up the rotation of the rotor.
Conversely, when the speed of the rotor becomes faster than the set value, the applied voltage is lowered to keep the rotor speed constant. By the way, the comparison value of the digital comparator can be set arbitrarily by the control signal 130 from the external control device 112. That is, in this embodiment, the encoder pulses are subdivided into 12 pulses per magnetic pole of the rotor, so that the energization timing can be changed from the normal energization timing. FIG. 13B shows a case where the energization timing is accelerated, and the phase is advanced compared to the normal energization timing (FIG. 13A). FIG. 13C shows a case where the energization timing is delayed, and the phase is delayed from the normal energization timing (FIG. 13A). By advancing or delaying the phase in this manner, optimal control can be performed when the speed is unstable due to rotor acceleration/deceleration, load fluctuations, etc. For example, the setting value of the comparator 801 is set to ax23. Same <
802 is b-5, same <803 is cmll, same is 80
4 as d-17, each comparator output 808 to 811
When inputted into the clock generator of Fig. 9, the result of Fig. 13B is
The clock generator 80 receives waveform signals whose phase is advanced by one pulse of the input clock as shown at 1307 to 1310.
5 as output signals 812 to 815. Similarly, set the comparator comparison values to axl and bM. cm13. If d is 19, then Figure 13 Cl312-1
Output signals 812 to 815 having a waveform whose phase is delayed by one pulse as shown in 315 are obtained. That is, the external signal 130
Four output signals 812 to 815 are obtained by the clock generator 805 whose phases arbitrarily correspond to the count value of the up-do evening counter. The output signal of the clock generator 805 can be changed by changing the internal configuration of the clock generator 805. For example, if the clock generator shown in FIG. 3410 is used,
For the input signals 808 to all of the clock generator,
As output signals 812 to 815, output signals having waveforms shown in FIGS. 14A, B, and C are obtained. As will be described later, the 9th
The waveform bang in FIG. 13 obtained by the clock generator shown in the figure is a signal for driving the step motor with two-phase excitation, and the waveform bang in FIG. 14 is a signal for driving with l-phase excitation. The output signals 812-815 of the clock generator are then
As shown in the figure, the one-rotation direction switch 80B that is input to the rotation direction switch 806 is composed of four multiplexers, and it distributes and outputs input signals according to the motor rotation direction instruction signal 129 from the external control device 112. . For example, the output signals 124 to 127 of each OR circuit are all set to 81gh by the signal 1213 from the external control device 112.
” state, the motor can be stopped. In FIG. 1, 110 indicates two stators 202 and 20.
Coil 2021.2031 (conductor 209
The motor drive circuit is a motor drive circuit for passing a current through the motor (consisting of the above), and in this example, it is a bipolar drive circuit. This motor drive circuit 1.10 rotates the motor forward or reverse based on output signals 124-12B from the motor drive signal generator 109. The up/down counter 111 is used to control the rotation speed of the motor, and based on the count information from this, the external control device 112 controls the motor drive signal generator 1G9, thereby controlling the rotation speed of the motor. controlled. Note that the rotor position can be known by counting the signal from the magnetic sensor (MR element) 220 with the up/down counters 108 and 111, but when the power is turned on (initial setting) before driving the motor, the rotor position is The outputs of the up/down counter 108 and Ill are set to 0, with the position where the magnetic poles of the stator and the stator are facing each other as an initial state. After this, even if the motor is stopped, this setting remains valid unless the power to the circuit is turned off. Specifically, one phase of the two-phase coils 2021 and 2031 is energized in a fixed direction. At this time, the magnetic poles of the stator phase on the energized side and the magnetic poles of the rotor magnet face each other, and at this point, the reset signal 131 and Gives 132. Through this operation, it is possible to obtain a position information signal in which the rotor position is subdivided into 1/12 based on the opposing point between the rotor magnetic pole and the stator magnetic pole, and furthermore, an up/down counter 1 can be obtained.
The position of the rotor can be known based on the output values of 08 and 111, and it is possible to switch the energization to the coils. Also, if the clock generator shown in Figure 10 is used,
The energization timing shown in FIG. 14 is obtained. 1st
In Figure 4A, 1401 is the encoder output waveform, 14
02.1403, 1404.1405 are two-phase coil 2
021.2031 represents the energized state, and each is A. It represents four characters: B, A, and B. In this case, the A phase is when the output of the up/down counter 108 is 0.6, 12.18, and the B phase is when the output of the up/down counter 108 is 0.6, 12.18.
8, 12.18, the energization and the direction of energization are switched. In this case, energization is switched every 90 degrees in terms of electrical angle. This energization method is similar to the one-phase excitation method of bipolar drive. Compared to the method of energizing every 180 degrees (FIG. 13) described above, the energizing time is shorter, so the current flowing through the coil is more concentrated, but the rotational torque obtained is about l/n. This is similar to the comparison between two-phase excitation and one-phase excitation of a normal motor, and can be used depending on driving conditions and the like. 9
Even in the case of energization every 0°, the phase of the energization timing described above can be changed in the same way (see FIGS. 14B and 14C). Note that, as shown in FIG. 12, four coils 1201.
1202, 1203, and 1204, and add the first
By applying four drive signals 124, 125, 126, 127 from the illustrated motor drive signal generator 109, the motor illustrated in FIGS. 2 and 3 can be driven unipolarly. The Il dynamic signal energization method is the same as the bipolar drive (FIG. 1). This can also be used depending on driving conditions and the like. As explained above, by detecting the rotor position using an encoder signal that is subdivided into 1/12 per pole compared to the number of rotor magnetic poles, rotor speed control becomes stable and optimal control can be performed. can. Moreover, since encoder signals are counted, the energization timing can be switched accurately. Furthermore, the rotational position of the rotor can be detected and the position can be controlled. According to the operation explanation above, the rotor position is determined by the encoder,
Monitoring is performed based on the combination of MR elements, and when the stator magnetic pole and rotor magnetic pole match, the excitation button is switched, so the original characteristics of a stepping motor are lost and DC motor characteristics are realized. By changing it, it can also operate as a stepping motor. That is, the drive circuit is shown in FIG.
This is the excitation button generator 1501. in the circuit of FIG. A signal switch 1502 is added. The excitation button generator 1501 generates excitation signals 1503, 1504, 1505, 15 for the two-phase stepping motor in synchronization with the drive clock signal 1507 from the external control device 112.
Outputs 06. Also, a rotation direction signal 1508 . from the external control device 112 . The excitation method switching signal 1509 allows switching of the direction of movement of the baton and output of one-phase and two-phase excitation batons. The 1-phase excitation button is 4 shown in Figure 14A.
The two-phase excitation button is similar to the four waveforms shown in FIG. 13A. The signal switch 1502 outputs the output signals 124, 125, 128 . j27 and output signals 1503 and 1504 from the excitation bang generator 1501
, 1505, 1508, that is, by selecting the former using the drive switching signal 1510 from the external control device 112, a DC motor-like operation can be realized, and by selecting the latter, a stepping motor operation can be realized. This also serves as an example of the initial setting of the motor counter described above. That is, the initial setting of the counter is performed by exciting one phase of a two-phase motor, but this can be easily achieved by setting the motor drive to stepping mode and selecting a one-phase excitation pattern. [Second Embodiment] FIG. 16 is a sectional view showing a second embodiment of the present invention. In the figure, 250 is a motor with a hybrid stepping motor structure with a built-in magnetic encoder, which has a rotating shaft 214 and 100 magnetic pole teeth on the circumference of a magnetic material that is fixed to the rotating shaft 214 and has magnets laminated thereon. The formed rotor 251 and the stator 25 having a magnetic pole tooth layer on the surface facing the rotor.
2, and a multiphase coil 253 placed outside this stator.
, a magnetic encoder 254 provided on the rotating shaft 214 and having a peripheral edge magnetized to 500 poles per rotation, and a magnetic sensor 220 that is the same as in the first embodiment and provided at a location facing the peripheral edge of this encoder 254. and a fixing member 222 for this sensor 220. By applying a drive control circuit as shown in Figure 1 to a motor with such a configuration, the number of output pulses and the number of rotor magnetic poles can be reduced to 1, unlike conventional Hall elements or other encoders.
There is no need for precise positioning of both sides as in the case of one-to-one correspondence, and it becomes possible to easily convert the hybrid steering motor into a DC brushless motor. [Other Examples] In the above embodiments, an encoder with a number of poles that is an integral multiple of the number of poles of the rotor magnet is attached to a motor with a PM type stepping motor structure or a motor with a hybrid type stepping motor structure. Although a motor has been described, the present invention can be applied even if the motor components are conventional brushless motors. As shown in FIG. 17, the rotating shaft 1706 has a disk plane 1
A rotor with a multi-pole magnetized magnet 1707 mounted on the rotor is fixed, a coil 1708 is arranged on the stator 1705 facing the rotor, and a magnetic encoder 1702 is mounted on the periphery of the rotor. . The stator 1705 has a magnetic sensor (
MR element) 1701 is arranged. 1709 is a bearing on the stator 1705. Such a configuration is a so-called flat brushless sensor. Further, FIG. 18 shows a so-called actor-rotor type brushless motor. The stator supports a shaft 1806 via a bearing 1809 and is provided with a stator core 1811 around which a multiphase coil 1808 is wound. A yoke 1804 is fixed to the shaft 1806, and a multipolar magnetized magnet 1807 is attached to the inner peripheral surface of the yoke 1804.
A multi-pole (more than magnet 1807) magnetized magnetic encoder 1802 is mounted on the outer peripheral surface of the stator, and a magnetic sensor (MR
Element) 1801 is placed. FIGS. 19, 20, and 21 show examples in which a photointerrupter is used instead of a magnetic sensor to detect rotation of the rotor. FIG. 19 is a perspective view, and FIGS. 20 and 21 are sectional views. This motor has a structure in which a photo interrupter 2004 is attached to a motor main body 2005, a slit disk 2002 is attached to a main body rotor shaft 2009, and a cover 2003 is further provided. The other configurations are the same as those shown in FIGS. 2 and 3. The number of slits in the slit disk 2002 is greater than the number of magnetic poles of the rotor. According to the photointerrupter, it is easy to obtain a signal with a greater number of pulses than the number of rotor magnetic poles per rotation, and it is also easy to obtain two signals having a phase difference of 90° in electrical angle. FIG. 20 shows a photo interrupter 2004 and a slit disk 2002. Attach the slit disc mount 2001 to one of the bearings 2
After installing the motor body 2005 with only 007 attached,
It has a structure in which a cover 2003 equipped with a bearing 2006 is attached to a main body 2005. FIG. 21 shows a photo interrupter 2004 and a slit disk 2002. This structure is such that the cover 2003 is attached after the slit disk attachment 2001 is attached to the motor body 2005. These may be selected depending on the method of manufacturing the motor. Further, FIG. 22 shows a second embodiment showing still another embodiment of the present invention.
As shown in Figures 2B and 2C, the structure of the motor body 2209 is the same as that shown in Figures 2 and 3;
An encoder 2205 is attached to the lower end of the rotor via a disk-shaped fixture 2204, and the encoder 2205 is made of a multi-pole magnet magnetized to a number greater than the number of magnetic poles of the rotor.
A substrate 2207 made of a flexible material and provided with two conductors 2201 and 2202 as shown in FIG. This board 2207 is the case 22
08, and the case 2208 is attached to the motor body 22.
Install it on 09. As shown in FIG. 22A, conductor 220
1.2202 constitutes a continuous rectangular coil pattern, and each rectangle al, a2 . ...an and bl. b2. ...The pitch of bn does not belong. According to such a configuration, two conductors 2201°220
An encoder signal with a phase difference of 90" in electrical angle is obtained from both ends of each of the two. The principle of signal generation is the same as that of a normal FG, and the number of rectangles is determined so that the magnitude of the signal voltage is desired. The number of magnetic poles of the encoder 2205 can be adjusted to the same number of poles as the desired number of signal pulses.As explained above, 1. The rotor position detection element such as a Hall element can be omitted. The number of parts is reduced. 2. There is no need to align the position detection element and the stator magnetic poles during assembly. Also, there is no need to align the encoder magnetic poles and the rotor magnetic poles. 3. Acceleration, deceleration, low speed rotation , It is possible to switch the coil energization to the optimum value according to the load situation, so you can bring out the full performance of the motor. 4. The direction of rotation can be detected. 5. Even though it is a DC brushless motor, it works just like a step motor. 180° energization, 90° energization, in other words, 2-phase energization, 1-phase energization, and 1-2-phase energization can be arbitrarily switched and applied. 6. For example, in a motor with a hybrid step motor structure, the number of rotor magnetic poles can be changed. When set to 100, multipolar magnetization (5
Based on the rotor rotation detection signal obtained using a magnetic encoder (00 pulses/round or more) and an MR element sensor,
By controlling the rotation, it is possible to convert a hybrid step motor into a DC brushless motor without the need for the above-mentioned positioning, which was virtually impossible due to the need for precise positioning of the sensor. [Effects of the Invention] As explained above, according to the present invention, with a simple configuration,
The motor can be controlled stably.

[Brief explanation of the drawing]

FIG. 1 is a circuit diagram of a motor control system according to each embodiment of the present invention, FIG. 2 is a perspective view of a first embodiment of a motor according to the present invention, FIG. 3 is a sectional view of the same embodiment, and FIG. 4 A is a diagram showing the relationship between the MR element and the encoder in the same embodiment, Figure 4B is an equivalent circuit diagram of the MR element, Figure 5 is a diagram showing the output signal of the MR element, and Figure 6 is an up/down clock. The circuit diagram of the generator, Figure 7 is a diagram showing the input and output signals of the generator, Figure 8 is the circuit diagram of the motor drive signal generator, Figure 9 is the circuit diagram of the 1110° clock generator, and Figure 10. is the circuit diagram of the 90° clock generator, Figure 11 is the circuit diagram of the start/stop control device, Figure 12 is the motor anypolar drive circuit diagram, and Figures 13 and 14 are the up/down counter output and energization switching signal. FIG. 15 is a switching circuit diagram between continuous drive and step drive; FIG. 16 is a cross-sectional view of a second embodiment of the motor according to the present invention; FIG. 17 is a main 18 is a sectional view of a fourth embodiment of the motor according to the invention; FIG. 19 is a perspective view of a fifth embodiment of the motor according to the invention; 20 and 21 are cross-sectional views of the fifth embodiment, and the second
FIG. 2(d) is a diagram showing an outline of the rotation detection element in the sixth embodiment of the motor according to the present invention, and FIG. 22(d) is a perspective view of the encoder portion of the sixth embodiment. 1-1.1-2.- MR element, 1-8... Up-down counter, 1101.802, 803.1104, axis digital comparator, 1-17.1-18, 212, 213...
- Coil, 211... Rotor, 202.203... Stator. Figure 2 #Glossy PM type Q face Figure 3 Figure 4 A Figure 4 B Figure 8 ω Figure 11 Figure 12 Figure 15 Figure 16 Figure 17 Figure 18 Fumi no 1: Broiled Photo Interrupter @Omigonko Figure 19 Figure 20 Figure 21

Claims (1)

[Scope of Claims] An encoder that is fixed to the shaft of a rotor and has an integer multiple of the number of magnetic poles of the rotor, and the number of detected parts of the encoder as the rotor rotates at a predetermined location on the stator side. What is claimed is: 1. A motor control device comprising: a counting means for counting; and means for switching energization to the coils of the stator when the count value of the counting means matches a predetermined value.