JPH01218397A - Motor controller - Google Patents

Abstract

PURPOSE:To stabilize up or down clock to be supplied to counting means, and to prevent a motor from running away or erroneously operating by synchronizing up/down clock generating means with the clock of an external counter. CONSTITUTION:An UP-DOWN clock generator 107 has an external clock terminal 601, two input terminals 602, 604 for inputting input signals A, B, and two output terminals 608, 609 for UP and DOWN clocks, and generates the UP or DOWN clock synchronized with the external clock signal by a phase between the input signals A and B. The frequency of the external lock signal is altered, or the outputs of shift registers 612, 613 are fetched from other terminal, thereby arbitrarily setting the pulse width of the UP-DOWN clock signal.

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 motor control device used in equipment.

[Conventional technology]

An encoder having an integral multiple of the number of magnetic poles of the rotor, and a counting means for counting the number of detected parts of the encoder as the rotor rotates at a predetermined location on the stator side, and the count value of the counting means is set to a predetermined value. Conventionally, the up/down (UP-DOWN) clock generator of the motor control device, which switches the energization to the stator coil when the value matches the value, is a differentiator circuit or a monostable multi-channel clock generator, as shown by reference numeral 17 in FIG. It was constructed using a one-shot circuit consisting of a vibrator, and generated an UP clock or a DOWN clock from encoder signals A and B. [Problems to be Solved by the Invention] However, such a tlP-D'OWN clock generation circuit used in a conventional device has the following problems. (1) T: Easy to pick up noise from the viewing circuit. For this reason, the value of the IIP-DOWN counter, which controls the position of the motor's rotor, reaches a value that causes the motor to run out of control. (2) A resistor and capacitor are required for setting the time constant, which takes up space on the board. (3) There are variations in pulse width, which tends to cause malfunctions. SUMMARY OF THE INVENTION An object of the present invention is to solve these problems and provide a motor control device that is compact and operates stably. [Means for Solving the Problems] To this end, the present invention provides an encoder that is fixed to the shaft of a rotor and has a number of detected parts that are an integral multiple of the number of magnetic poles of the rotor, and an encoder that is fixed to the shaft of a rotor and has a number of detected parts of the encoder that is an integral multiple of the number of magnetic poles of the rotor. a counting means for counting, a means for switching the energization to the stator coil when the count value of the counting means matches a predetermined value, and a means for switching the energization to the stator coil when the count value of the counting means matches a predetermined value; The present invention is characterized by comprising up/down clock generation means that can set the pulse width of the supplied up/down clock pulse. [Function J] According to the present invention, the up/down clock generation means can be synchronized with the clock of the external counter and the pulse width can be appropriately set, so the up or down clock supplied to the counting means is stabilized and the motor Runaway and malfunction can be prevented. [Embodiment J] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. (First Embodiment) FIGS. 1 to 15 show a first embodiment of the present invention. First, FIG. 1 is a drive control circuit diagram of a motor according to the present embodiment, and FIGS. 2 and 3 are a perspective view and a cross-sectional view, respectively, showing a configuration example of the motor according to the first embodiment of the present invention. be. In FIGS. 2 and 3, reference numeral 201 is a motor capable of stepwise rotation and has a built-in magnetic encoder. This motor 201 has a stator 204 having a structure in which two stators 202.2'03 having magnetic hollow rings are stacked one above the other. The surfaces of the stators 202 and 203 are made of a magnetic material, and the inner periphery has N and S parts arranged alternately in the circumferential direction.
(In the stator 203, 2 magnetic pole pieces are used to form magnetic poles.
05.206 for example, 207.20 for stator 202
8) are formed alternately at minute intervals, and a conductive wire 209 is wound in a hollow part inside the bobbin 2 with many turns.
10 is inserted. The magnetic pole pieces (205, 206, 207, 208) are arranged and fixed in two stages, upper and lower, so as to face each other in the axial direction. Magnetic pole piece (205, 206, 207, 208)
The width is equal to the circumferential magnetic pole width of the magnet rotor 211. The magnetic pole pieces 205 and 207 are each formed by extending the magnetic material portions on the lower surfaces of the stators 202 and 203 toward the inner periphery upward, and are spaced apart from each other by 4.
They are formed with a difference of one-tenth of a pitch. Also, the magnetic pole piece 206
and 208 are formed by extending the magnetic portions of the upper surfaces of the stators 202 and 203 toward the inner periphery downward direction, and are also formed to be shifted by a quarter pitch from each other. 212 and 213 are stators 202 and 20, respectively.
This is the lead wire connected to the conductor wire No. 3. The cylindrical magnet rotor 211 rotates 11 [b21
4 and are designed to rotate together. This magnet rotor 211 is supported by bearings 217 and 218 attached to flanges 215 and 216 welded to stators 202 and 203, respectively.
It is rotatably arranged in the inner hollow part of 04. The magnet rotor 211 may be a plastic magnet or a sintered magnet, and any suitable magnet may be used. On the outer periphery of this magnet rotor 211 are magnetic pole pieces (205, 206, 207 and 208).
) N and S magnetic poles are alternately radially aligned and magnetized to form multiple poles. The rotating shaft 214 is arranged to protrude from the lower end of a bearing 218 attached to a flange 216 welded to the stator 202, and N and S are provided at minute intervals around the entire circumference of the protruding portion of the rotating shaft 214. 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 90° 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 the control circuit shown in the first diagram via a lead wire 223 soldered on the board 221. 225 is 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, the magnetic pole part 224 and the magnetic sensor (MR element) 2 inside this storage case 225
This prevents dirt and dust from adhering to the surface of the 20. In this embodiment, the number of magnetic poles of the magnet rotor 211 is 24.
The number of magnetic poles of the magnetic encoder 219 is an integral multiple of 288 poles. Therefore, the number of encoder output pulses per rotor pole is 12. 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 with respect to the rotation angle of 15 [poles of the rotor]. . In other words, even without any adjustment, the error in the position M between the encoder output pulse and the rotor magnetic pole will be ± 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 may be set within a permissible error range, and the number of encoder output pulses per rotation of the rotor may be an integral multiple of the number of rotor magnetic poles. Generally, it is sufficient if the error is ±12.5%, 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 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. However, according to this embodiment, by setting the number of encoder output pulses to 400 to 500, the motor having the hybrid step motor structure can function like a DC brushless motor without the above-mentioned alignment. This number of output pulses can be easily produced using a magnetic encoder with a magnetization pattern of wavelength 0.334 μm and a diameter of 26.6 mm (structured as shown in Figures 2 and 3) and a magnetoresistive element (MR element). can be realized. FIG. 1 shows an example of the configuration of a motor control circuit configured as described above. In Figure 1, 220^ and 220B are the second
Magnetoresistive element (MR element) indicated by 220 in the figure and FIG. 3, 103 and 104 are differential amplifiers, 105°1
06 is a comparator, 107 is an up/down clock generator that generates the IIP clock/DOWN clock according to this embodiment, and 108 is an up/down (UP-DOWN)
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, 114
is the motor speed controller. The operation of the drive circuit will be explained with reference to this figure. As shown in FIG. 4(A), the MR element 220A includes four magnetoresistive elements along the magnetic pole arrangement direction of the magnetic pole part 224.
1 to 4. In the figure, the MR element 220
^ is shown by a solid line, and 220B is shown by a dotted line. Elements 1 to 4 are connected in a bridge configuration as shown in Figure 4 (B), and generate an output voltage according to changes in the external magnetic field. Although only MR element 2208 is shown, the same applies to MR element 220B.As shown by dotted lines in FIG. In this embodiment, the MR element is placed facing the magnetic encoder attached to the motor shaft. A waveform as shown in Fig. 5 is obtained.Since two MR elements are arranged with a phase shift of 178 periods with respect to the magnetization period of the magnetic encoder, one MR element 2208 is indicated by the symbol 501 in Fig. 5. If the waveform is shown, the other M
As shown by reference numeral 502 in FIG. 5, the R element 220B provides a waveform whose phase is electrically shifted by 90 degrees. These waveforms are amplified by differential amplifiers 103 and 104 in the next stage, and then converted into signals 503 (corresponding to waveform 501) and 504 in FIG. 5 by comparators 105 and 106.
The waveform is shaped into a square wave shown in (corresponding to waveform 502),
Next, it is input to the tlP-DOWN clock generator 107. The UP-DOWN clock generator 107 according to this embodiment is configured as shown in FIG.
1. Two input terminals 602 for manually inputting input signals A and B,
It has two output terminals 608 and 609 for UP clock and DOWN clock, and is synchronized with an external clock signal by the phase between input signals A and B (details will be described later).
Generates JP clock or DOWN clock. Figure 7 shows the external clock No. 8 601 (the pulse width is drawn larger than the actual one in the figure), the waveforms of signals A and B 602, 604, and the υP-DOWN output waveform 608/6.
09 is a diagram showing the relationship of 09. Note that the two arrows in the figure indicate the flow of time in the up direction or down direction. The UP-DOWN clock signal is generated at the same point on the encoder regardless of the direction of rotation. A clock is generated at the rising edge of the signal A in the IIP direction, and at the falling edge in the DOWN direction. The shift register 612 in FIG. 6 detects the rising edge of the A signal in synchronization with an external clock signal, and the shift register 613 detects the falling edge of the A signal in synchronization with the external clock signal, and outputs the clock signal to the output terminal QA. A signal is output (signal 6068, 606B). However, in the case of the UP force direction, only the shift register 612 operates, ll0
In the case of the WN direction, the external clock signal is sent to the flip-flops 610 and 6 so that only the shift register 613 operates.
Controlled by 11. The shift registers 612.6-13 corresponding to the rotational direction operate in synchronization with an external clock signal, and shift signals 607A, 607 are sent from other output terminals QC.
Output B. Next, QA and Q in the next stage flip-flop
UP or DO by taking the difference in the rising edge of the C signal
Obtain WN clock signals 608 and 609. Since these clock signals are synchronized with the external clock signal 601, the UP-DOWN clock signal can be changed by changing the frequency of the external clock signal or by taking out the output of the shift register 612 and 613 from other terminals. The pulse width of the signal can be set arbitrarily. However, in order to accurately extract the UP or DOWN clock signal when the motor is vibrating and repeats forward and reverse rotation, the pulse width should be from several μsec to several hundred μsec.
It is desirable that it be c. Also, shift registers 612, 6
13 detects the rise and fall of the A signal in synchronization with the external clock, so there is a delay of up to the clock width. In order to eliminate the influence of this error, it is highly desirable to set the clock width as described above. That is, in FIG. 7, when signals A and B in the LIP direction are input to the clock generator 107, the two waveforms indicated by symbols 608 and 609 (left half of FIG. Appears on the output terminal. That is, t
Pulses corresponding to the surroundings of the magnetic encoder appear only at the ap terminal, and nothing is output to the DOWN terminal. vice versa,
Pulse signals A and B seen from the DOWN direction in Fig. 7
When input by hand, a waveform indicated by the symbol 8011.809 (left half of FIG. 7) is output to the IJP and DOWN terminals. In other words, the phase relationship of the signals output from the two MR elements is determined by the rotational direction of the rotor to be one of the two arrows in FIG. 7, so the output corresponding to the rotational direction is used to generate the IIP-DOWN clock. It is output from the device 107. The UP-DOWN clock generator described above does not include any resistors, capacitors, etc. in the circuit and can be configured only with logic circuits, so it can be realized in an extremely small space by forming a dedicated IC, for example. Furthermore, since it is less susceptible to external environmental changes, stable clock output can be obtained. Next, the UP-DOWN clock signal is 2 (7) U
P-DOWN counters 108 and 111 are input manually. The UP-DOWN counter 108 is a 5-bit base 2
4 counter, and the human-powered uP clock signal 121
Alternatively, count up or down using the DOWN clock signal 122, and convert the numerical value corresponding to "0" to °23" in decimal representation into a 5-bit signal in binary representation (each signal is 80.Bl. B2, 83.B4). ) to the output terminal. The output of the counter 108 is input to the motor drive signal generator 109. As shown in FIG.
Four digital comparators 801, 802, 803° 804, clock generator 8051 rotation direction switch 806
゜It consists of a start/stop controller 807. The start/stop controller 807 is configured, for example, as shown in FIG.
) signal and each of signals 816-819.
It has R circuits 1101 to 1104. Digital comparators 801 to 804 generate clock signals when the same data as a preset value is manually input. Therefore, IIP-DO
Each pulse signal is output when the WN counter 108 indicates a predetermined value. Output signals of four digital comparators 808.809
. 810.811 is input to clock generator 805. Figures 1θ and 11 show two examples of the configuration of the clock generator 805. As shown in these figures, the clock generator 805 is composed of two or four R-S flip-flops. has been done. Now, assume that the clock generator 805 is shown in FIG. 9, and the comparison values of each digital comparator 801 to 804 are a=o
(=00000B), b=6 (=00110B)
, c=12 (=01100B), d118 (=
The explanation will be based on the assumption that it is set as The operation of clock generator 805 will be explained with reference to FIG. 12(A). Signal 1301 in the figure is UP-DOII
The input clock signal waveform (uP or DOWN) to the IN counter 108 is shown, and the number above the waveform shows the count value (decimal) of the counter. Count value (decimal) of the above settings “0”, “6”, “12”, “18”
Digital comparator 801.802.803 when
．． Pulse output signals 808 to 811 output from 804
are the respective corresponding a of the clock generator shown in the first diagram.
- Input to d terminal. At this time, the signal 8 from the four output terminals of the two S flip-flops 901 and 902
12. As 813, 814, 815, Fig. 12 (A)
1302, 1303, 1304, and 1305, a lock signal is output. That is, these outputs are “
It is uniquely determined by the count value (decimal) from 0" to "23". These signals 1302.1303, 1304.1305 are 2
Represents the energization signal to the phase coil 2021.2031,
A each. B, τ, expressed in hundreds. These A, B, τ, and 100 signals are given to the motor drive circuit 110, and the coils 2021 and 2031 are energized. The A-phase coil 2031 is the UP-DOWN counter 10
When the input clock to 8 is “θ” and “12”, the B-phase coil 2021
The energizing direction cannot be switched when the human clock to the terminal is "6" or "18". Focusing on the l-phase, the direction of energization is switched every 12 pulses, in other words, the energization is switched every 180 degrees in electrical angle. The timing of energization switching is determined by the UP-DOIIIN counter 1 based on the positions of the rotor magnetic poles and the stator magnetic poles.
The speed control mode is as follows. That is, the rotor rotational speed signal 120 obtained based on the output signal from one of the magnetoresistive elements 220B is compared with the signal 133 from the speed control reference signal generator 113, and the rotor is adjusted so as to eliminate the difference between the two. Control speed. 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 1t4 causes the phase compensation circuit 115. Voltage control circuit 1
Coil 2021 in motor drive circuit 110 via 16
．． The applied voltage to 2031 is increased to speed up the rotation of the rotor, and conversely, when the speed 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.
Can be set to That is, in this embodiment, since the encoder pulses are subdivided into 12 pulses per magnetic pole of the rotor, the energization timing can be changed from the normal energization timing. FIG. 12(B) shows a case where the energization timing is accelerated, and the phase is advanced than the normal energization timing (FIG. 12(A)). FIG. 12(C) shows a case where the energization timing is delayed, and the phase is delayed from the normal energization timing (FIG. 12(8)). 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. 1 For example, if the setting value of the digital comparator 801 is a=23
, the same <802 as b=5, the same <803 as C=11, the same <804 as d=17, and each comparator output 808
.about.811 is manually inputted to the clock generator 805 in FIG. 1θ, the output of the clock generator 805 is a signal with a waveform whose phase is advanced by one pulse of the manual clock as shown at 1307 to 1310 in FIG. 12(B). Signal 812~8!5
obtained as. Similarly, the comparison value of the comparator is a=1
．． b=7. c=13. If d=19, Fig. 12 (C
) Output signals 812 to 815 having waveforms whose phase is delayed by one pulse are obtained as indicated by reference numerals 1312 to 1315. That is, four output signals 8 of phases corresponding to the count value of the UP-DOWN counter are arbitrarily generated by the external signal 130.
12 to 815 are obtained by clock generator 805. The output signal button of clock generator 805 can be changed by changing the internal configuration of clock generator 805. For example, if the clock generator 805 has the configuration shown in FIG. 11, based on the input clock signal 1401, the input signals 808 to 1111 of the clock generator 805 are outputted as output signals 812 to 815 as shown in FIG. 13 (^),
Output signals with waveform patterns shown in (It) and (C) (indicated by symbols 1402-1405, 1407-1410 and 1412-1415, respectively) are obtained. As will be explained later, the waveform pattern in Figure 12 obtained by the clock generator in Figure 1θ is a signal for driving the step motor with two-phase excitation, and the waveform pattern in Figure 13 is for driving with l-phase excitation. This is the signal. Next, the output signals 812-815 of the clock generator are
As shown in the figure, the rotation direction switch 806 is manually operated. The rotation direction switching device 806 is composed of four multiplexers, and outputs the human power signals by distributing them according to the motor rotation direction instruction signal 129 from the external control device 112. For example, an OR circuit 1101 provided in the start/stop controller 807 may be
~1104 output signals 124 to 127 are all “High”
The motor can be stopped by bringing it into the "h" state. In FIG. 1, 110 indicates two stators 202°
Coil 2021.203 consisting of conductor 209 provided in 3
1, which is a bipolar drive circuit in this example. This motor drive circuit 1
10 is the output signal 1 from the motor drive signal generator 109
The motor is rotated forward or reverse based on steps 24 to 126. In addition, the signal from the magnetic sensor (MR element) 220 is UP
- The rotor position can be known by counting with the DOWN counters 108 and 111, but the position where the rotor's magnetic poles and the stator's magnetic poles are facing each other when the power is turned on (initial setting) before driving the motor As the initial state, IIP-DOIIN counters 108 and 111
Set the output to “0”. After this, even if the motor is stopped, this setting remains valid as long as the power to the circuit is not 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 external control device 1
Reset signals 131 and 132 from 12 are provided. Through this operation, it is possible to obtain a position information signal in which the position of the rotor is subdivided into 1/12 based on the opposing point between the rotor magnetic pole and the stator magnetic pole, and further: IIP-DO
The position of the rotor can be known based on the output values of the WN counters 108 and 111, and it becomes possible to switch the energization to the coils. Furthermore, if the clock generator 805 shown in FIG. 11 is used, the energization timings shown in FIGS. 13(A) to 13(C) can be obtained. Figure 13 (A) Smell”C1140
1 is encoder output waveform, 11102, 1403.14
04° 1405 represents the energized state of the two-phase coils 2021 and 2031, and represents four signals A, B, A, and B, respectively. In this case, the A phase is UP-DOWN counter 1
When the output of the IIP-DOWN counter 108 is "0", "6", "12", "18", and for the B phase, the output of the IIP-DOWN counter 108 is "0". When the output of the IIP-DOWN counter 108 is "6', "12", 18" In this case, the energization is switched every 90" in electrical angle. This energization method is similar to the one-phase excitation force type of bipolar drive. Compared to the already explained energization method for each iao° (FIG. 12), the energization time is shorter, so the current flowing through the coil is more concentrated, but the rotational torque obtained is about 17 J'T. 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. The above-mentioned change in the phase of the energization timing can be performed in the same way in 901 energization (see Figure i (B).
), see (C)). Note that, as shown in FIG. 14, 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 drive signal energization method used 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 magnetic poles of the rotor, rotor speed control can be stabilized 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 poles and rotor magnetic poles match, the excitation button is switched, so the original step motor characteristics are lost and D
Although C motor characteristics are realized, operation as a step motor is also possible by changing the drive circuit. That is, FIG. 15 shows its drive circuit, which is the circuit of FIG. 1 plus an excitation button generator 1501. Signal switch 1
502 has been added. An excitation button generator 1501 generates excitation signals 1503, 1504, 1505, and 1506 for two-phase step motors in synchronization with a drive clock signal 1507 from an external control device 112.
Output. In addition, the direction of movement of the bang can be switched and the one-phase and two-phase excitation patterns can be output by the rotation direction signal 1508 and excitation method switching signal 1509 of the external control device 112. The one-phase excitation pattern is similar to the four waveforms shown in FIG. 13(A), and the two-phase excitation pattern is similar to the four waveforms shown in FIG. 12(A). (No. 8 switch 1502 outputs output signals 124, 125, 126, 127 from motor drive signal generator 1θ9 and output signals 1503, 150 from excitation button generator 1501.
4. Switch between 1505 and 1506. That is,
External control device rIll! By selecting the former using the drive switching signal 1510 from 2, a DC motor-like operation can be realized, and by selecting the latter, a step motor-like 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 using one phase of a two-phase motor as an example, but this can be easily realized by setting the motor drive to stepping mode and selecting the one-phase excitation button. (Second Embodiment) FIG. 16 shows a second embodiment of the present invention. In the first embodiment, the UP-DOWN clock generator 107 synchronizes with an unspecified external clock 601 and generates the uP or DOWN clock 121 .
However, in this embodiment, the external control device 112 generates the synchronization signal 16 for up/down clock generation.
01 should be given. The synchronization signal 1601 is operated by the external control device 112 in synchronization with a predetermined clock signal, and can be extracted by internally dividing No. 8 to an appropriate lock width and outputting it. , position detection up/down counter 1
11 is UP clock 121, DOWN clock 1
22, the rotation amount of the motor can be counted, and the data can be transferred to an external control device via the signal line 1g02. In this embodiment, UP and DOWN clocks 121,
122 is synchronized with the external control device through an external clock, the position detection counter is also synchronized with the same signal, facilitating signal processing. [Effects of the Invention J As explained above, according to the present invention, stable operation and
Furthermore, a compact motor control circuit can be realized.

[Brief explanation of the drawing]

FIG. 1 is a circuit diagram of a motor control device according to a first embodiment of the present invention, and FIGS. 2 and 3 are a perspective view and a sectional view, respectively, showing an example of the configuration of a motor applicable to this embodiment. , FIG. 4(A) is a diagram showing the relationship between the MR element and the encoder in this example, FIG. 4(B) is an equivalent circuit diagram of the MR element according to this example,
. Fig. 5 is a waveform diagram showing the output signal of the MR element, Fig. 6 is a circuit diagram showing an example of the configuration of the UP-DOWN clock generator of this embodiment, and Fig. 7 is the human output signal of the same generator. Fig. 8 is a circuit diagram showing an example of the configuration of the motor drive No. 3 generator, Fig. 9 is a circuit diagram showing an example of the configuration of the start-stop control device, and Fig. 10 is the circuit diagram of the 180° clock generator. Figure 11 is a circuit diagram showing a configuration example of a 90" clock generator. Figures 12 and 13 are υP-1) OWN corresponding to Figures 1O and 11, respectively. A timing chart showing the relationship between the counter output and the energization switching signal, Fig. 14 is a unipolar drive circuit diagram of the motor, Fig. 15 is a circuit diagram showing a configuration example of a switching circuit between continuous drive and step drive, and Fig. 16 220.22 is a circuit diagram showing a second embodiment of the present invention, and FIG. 17 is a circuit diagram showing a tlP-DOWN clock generator according to a conventional example.
OA, 220B・-MR element, 107...up/down clock generator, 108.111-IJP・-DOW
N counter, 109... Motor drive signal generator, 112... External control device, 801.802.803.804... Digital comparator, 212.213, 2021.2031-... Coil, 211 axis/rotor , 202.203...Stator. Figure 2 Figure 3 Figure 4 (B) Figure 11 Figure 15 Figure 17

Claims (1)

[Claims] 1) An encoder that is fixed to the shaft of a rotor and has a detected part that is an integral multiple of the number of magnetic poles of the rotor, and a counter that counts the number of detected parts of the encoder as the rotor rotates. means for switching the energization to the coil of the stator when the count value of the counting means matches a predetermined value; A motor control device comprising up/down clock generation means capable of setting the pulse width of the up/down clock pulses to be supplied.