JPH07322674A - Method and apparatus for controlling commutatorless motor - Google Patents

Abstract

PURPOSE:To smooth the rotation during one rotation of a commutatorless motor and to obtain a control apparatus at a low cost. CONSTITUTION:One rotation of a rotor 1a is divided into a plurality of sections in a time computing part 10 by detected position signals A1, B1 and C1. The average speed of the sections is computed by an average-section-time-value computing part 11. The rate of the difference between the section time and the average speed with respect to the average speed during one rotation is computed in a computing part 12 for the changing rate of the time difference based on the time of each section and the average speed. The changing rate is computed by a time-change-computing part 13 for the rate of the time difference and inputted into a fuzzy controller 14 and fuzzy operation is performed. In the fuzzy operation, the values for increasing and decreasing the voltages, which are applied on armature windings A, B and C, are computed. The applied voltage can be changed during one rotation of the armature windings A, B and C so that the rotating speed in each section becomes the constant value with a main controller 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control technology for a non-commutator motor (brushless motor) used in a compressor of an air conditioner, and more particularly to a control method for a non-commutator motor for smoothing rotation. It is a thing.

[0002]

2. Description of the Related Art When this non-commutator motor is used as a motor for a compressor, for example, a control device shown in FIG. 19 is required. In FIG. 19, this control device includes an AC / DC converter 3 for converting the commercial power supply 2 into a DC power in order to drive the commutatorless motor (for example, a three-phase four-pole brushless motor) 1 with the commercial power supply 2. A switching circuit 4 for switching the converted DC power source and applying it to the non-rectifier motor 1, a position detection circuit 5 for detecting the position of the rotor 1a of the non-rectifier motor 1, and a rotation control of the non-rectifier motor 1. The control signal is output, and the rotation speed of the non-commutator motor 1 is detected based on the detected position (position detection signals A1, B1, C1) of the rotor 1a, and the rotation speed of the non-commutator motor 1 is detected. Control unit (microcomputer) 6 that outputs a chopping signal for adjusting and controlling the target rotation, and a chopping signal that chops the control signal (for example, H level) by the chopping signal. Ping circuit 7
And the drive circuit 8 for turning on / off the transistor of the switching circuit 4 by the chopped control signal.
It has and.

In the control device for the above-mentioned commutatorless motor,
The position of the rotor of the non-commutator motor is detected, and signals of the detected positions (position detection signals A1, B1, C
Based on 1), the energization of the plurality of armature windings A, B, C of the same commutator motor is switched, that is, the applied voltage is switched, and the applied voltage is varied to rotate the rotor of the same commutator motor. Control the rotation.

The voltage applied to the plurality of armature windings A, B, C of the non-rectifier motor 1 is the microcomputer 6
Also changes depending on the on / off ratio (on time) of the chopping signal, that is, the rotation speed of the non-commutator motor 1 also changes depending on the on / off ratio.

Therefore, the rotation speed of the non-rectifier motor 1 is calculated based on the position detection signal, and when the calculated rotation speed is slightly different from the target rotation speed, the on / off ratio of the chopping signal can be varied to obtain the same value. The rotation speed of the commutatorless motor 1 can be controlled to the target rotation speed.

[0006]

By the way, as shown in FIG. 20, when the non-commutator motor 1 is used as a compressor motor of an air conditioner, the compressor sucks refrigerant, compresses it, and discharges it. The load of the commutatorless electric motor 1 becomes the heaviest during the compression in one cycle of the suction, compression and discharge, and the lightest at the moment when the compressed refrigerant is discharged.

Therefore, the rotation speed of the non-commutator electric motor 1 is slow when the sucked refrigerant is compressed, becomes the slowest just before the compressed refrigerant is discharged, and becomes the highest when the compressed refrigerant is discharged.

That is, during one cycle of the compressor (rotor 1
In each section (during one rotation of a), for example, in 12 sections, the rotation speed becomes non-uniform in each of the 12 sections, the rotation is not smooth, and vibration and noise are instantaneously generated. This is because the voltage applied for each section during one rotation that is variable by the chopping signal output from the control unit 6 shown in FIG.
V). The unit in the upper row of Table 2 below is ms, and the unit in the lower row is V.

[0009]

[Table 2] Therefore, for example, if a special mechanism or a special circuit is added to the commutatorless motor 1, it is possible to eliminate the above factors of vibration and noise generation, but a special mechanism or circuit is adopted. As a result, the cost becomes high, and a new mechanism or circuit may cause a problem in terms of quality.

The present invention has been made in view of the above problems, and an object thereof is to make it possible to smoothly rotate a commutatorless motor without adding a new mechanism or circuit, and thus to generate vibration or noise. It is an object of the present invention to provide a control method for a non-commutator motor that can be suppressed and can be manufactured at low cost.

[0011]

In order to achieve the above object, the present invention detects the position of a rotor of a commutatorless motor and, based on the detected position signal (position detection signal), Rotation speed of the commutator motor is controlled by switching the energization to multiple armature windings to control the rotation of the rotor of the same commutator motor and by varying the voltage applied to each armature winding. A method for controlling a commutator-less motor for controlling a motor, wherein one cycle (one rotation) of the rotor is divided into a plurality of sections, and the torque unevenness amount in each of the divided sections is detected, while the torque unevenness amount is detected. Of the torque unevenness amount and the change ratio of the torque unevenness amount are input, and the correction amount of the voltage applied to each armature winding is fuzzy calculated according to a predetermined control rule and a membership function.
The gist is that the voltage applied to each armature winding of the non-rectifier motor is corrected for each section based on the fuzzy calculation result so that the rotation speed in each section becomes constant.

[0012]

With the above means, one cycle (one rotation) of the rotor of the non-rectifier motor is divided into a plurality of sections based on the position detection signal of the rotor, and the rotor rotates in each section. The speed is calculated, and the average value of the rotation speed in each section is calculated. The ratio of the difference between the rotational speed and the average value to the average value during one rotation (torque unevenness amount) is calculated, and the temporal change ratio (change ratio of the torque unevenness amount) of the same ratio is calculated. It is used as an input for calculation.

In this fuzzy calculation, the amount of torque unevenness (the ratio of the difference between the rotation speed and the average value in the section to the average value during one rotation) is large in the negative direction, and the change ratio of the torque unevenness (the rotation speed in the section As the ratio of the difference from the average value with respect to the average value during one rotation over time) increases in the negative direction,
An increase / decrease value that makes the voltage applied to each armature winding larger is obtained.

On the contrary, the amount of torque unevenness (the ratio of the difference between the rotation speed and the average value of the section to the average value during one rotation) is large in the positive direction, and the rate of change of the torque unevenness (the rotation speed and the average value of the section). The larger the positive change in the ratio of the difference between and to the average value during one rotation) is in the positive direction, the larger the increase / decrease value that makes the voltage applied to each armature winding smaller.

As described above, the rotational speed in each section becomes an average value by changing the rate of varying the voltage applied to the armature winding according to the torque unevenness in each section and the change rate of the torque unevenness. Since the voltage applied to each armature winding of the non-commutator electric motor is changed for each section, the rotation of the non-commutator electric motor becomes smooth.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A control method and apparatus for a non-rectifier motor according to the present invention uses a signal (position detection signal) for detecting the position of a rotor of a non-rectifier motor to make one cycle (one rotation) of the rotor.
Is divided into a plurality of sections, the rotation speed of the rotor in this divided section is detected, the average speed of this rotation speed is calculated, and the average speed during one rotation of the difference between the rotation speed and the average speed in each section is calculated. To the average speed during one rotation, the temporal change rate (change rate of the torque unevenness) is calculated, and the torque unevenness and the change in the torque unevenness are calculated. Enter the ratio 1,
2, the increase / decrease value of the rotation speed in each section is fuzzy calculated according to a predetermined membership function and control rule.

Based on the result of this fuzzy calculation, the voltage applied to the armature winding is corrected, and even if the load of the non-commutator motor changes, the rotation speed in each section can be maintained at the average speed, that is, the torque unevenness can be maintained. Suppress and smooth the rotation.

Therefore, the controller of the non-commutator motor according to the present invention has the structure shown in FIG. In the figure, the same parts as those in FIG.

In FIG. 1, this control device divides one revolution of the rotor 1a of the non-commutator motor 1 based on the position detection signals A1, B1 and C1 from the position detector 5 into a plurality of divisions. The time calculation unit 10 of each section T (x) for calculating the time of each section (corresponding to the rotation speed in each section)
And based on the calculated time T (x) of each section, 1
The average value calculation unit 11 of each section time for calculating the average time (corresponding to the average speed; hereinafter referred to as the average speed) Ta of each section during rotation, the calculated section time T (x) and the average speed Ta. Of the difference between the average speed during one rotation (corresponding to the amount of torque unevenness) (T (x) -Ta) / Ta, and a time difference ratio calculating unit 12 and each section time T thereof.
The change rate of the change rate of the difference between (x) and the average speed Ta with respect to the average speed during one rotation with respect to time (corresponding to the change rate of the torque unevenness amount) ((T (x) -Ta) / Ta) / dt For calculating the time difference, the time change rate output unit 13, the change rate (T (x) -Ta) / Ta, and the time change rate ((T (x) -Ta) / a) / dt input. 1 and 2, the fuzzy operation is performed based on the control rules of Table 1 below and the membership functions shown in FIGS.
A fuzzy control 14 for calculating a value for increasing / decreasing the rotation speed of a, and an increase / decrease value for the voltage applied to the plurality of armature windings A, B, C of the non-rectifier motor 1 based on the calculated increase / decrease value. In addition to the increase / decrease value calculation unit 15 of the applied voltage in each section for calculating ΔVα and the control unit (microcomputer) 6 function shown in FIG. 19, each of the commutatorless electric motors 1 based on the calculated increase / decrease value ΔVα. Main controller 16 for correcting and controlling the voltage applied to the armature windings A, B, C
It has and.

[0020]

[Table 1] 2 to 4, X, Y, and Z are predetermined coefficients, PL is large in the positive direction, PM is medium in the positive direction, and P is medium.
S is small in the positive direction, ZO is zero, NL is large in the negative direction, NM is medium in the negative direction, and NS is small in the negative direction. The time calculation unit 10 for each section and the average value calculation unit 11 for each section time are a part of the functions of the main controller 16, and the time difference ratio calculation unit 1 is further included.
2, a temporal change rate calculation unit 13 of the time difference, a fuzzy controller 14, an applied voltage increase / decrease value calculation unit 1 for each section
5 and the main controller 16 are the respective functions of the control unit (microcomputer) 17 corresponding to the control unit 6 shown in FIG.

Next, the operation and control method of the controller for a non-rectifier motor having the above-described structure will be described with reference to FIGS. 2 to 4, which are schematic diagrams of membership functions, FIGS. 5 to 16 are motor operation diagrams, and FIG.
Also, a detailed description will be given with reference to the time chart of FIG.

First, the main controller 16 outputs a predetermined control signal (for example, a PWM signal) and a chopping signal in order to make the non-commutator electric motor 1 a predetermined number of revolutions, and controls the rotation of the non-commutator electric motor 1 as in the conventional case. . At this time,
The position detection circuit 5 detects the position of the rotor 1a of the commutatorless motor 1 and detects the position detection signals A1, B1, C1 (see FIG. 17).
(Shown in (a) to (c)) is the main controller 16
Output to. The position of the rotor 1a of the non-commutator motor 1 may be detected by using a Hall element provided inside the non-commutator motor 1.

Then, the main controller 16 takes in the position detection signals A1, B1 and C1 and controls the energization of the armature windings A, B and C of the non-rectifier motor 1 on the basis of the position detection signals. It outputs a signal and also outputs a chopping signal for varying the voltage applied to each armature winding A, B, C.

On the other hand, the position detection signals A1, B1, C1 from the position detection circuit 5 are input to the time calculation section 10 of each section, and the time calculation section 10 of each section fetches the position detection signals A1, B1 ,. Rotor 1 of non-commutator motor 1 by C1
One cycle of a is divided into a plurality of sections, and the rotation speed of the rotor 1a in each section is calculated.

For example, when the commutatorless motor 1 is a three-phase four-pole motor, the position detection circuit 5 causes the position detection signals A1 and B to be detected.
1, C1, and the main controller 16 detects the positions of the twelve kinds of rotors 1a shown in FIGS. 5 to 16 based on the rising and falling of the position detection signals A1, B1, C1. The time calculation unit 10 of each section of the main controller 16 sets one cycle of the rotor 1a to 12
The time T (x) (T1 to T12) of each divided section is calculated. The position of the rotor 1a shown in FIGS. 5 to 16 is also at the timing shown by arrows a to l in FIG. The average value calculation unit 11 for each section time, which has input the times T1 to T12 of each section, calculates the average speed Ta of each section.
To calculate.

In this way, the respective times T1 to T12 and the average speed Ta of the sections calculated by the main controller 16 are input to the time difference ratio calculating unit 12 and the time difference time change ratio calculating unit 13.

The time difference ratio calculating unit 12 determines the time T of each section.
The difference (T (x) -Ta) between (x) and the average speed Ta is calculated, and the ratio (T (x) -Ta) / Ta of the difference to the average speed Ta during one rotation is calculated. That is, a torque equivalent to the amount of torque unevenness of the rotor 1a in each section can be obtained.

As with the change rate calculating section 12, the time change rate of time difference calculating section 13 is the rate (T (x) of the difference between each section time T (x) and the average speed Ta with respect to the average speed Ta during one rotation. ) -Ta) / Ta, and the ratio ((T (x) -Ta) Ta) / dt at which the ratio changes is calculated. That is, a value corresponding to the change rate of the torque unevenness amount of the rotor 1a in each section is obtained.

The calculated ratio (T (x) -Ta) /
Ta and the change rate of the same rate ((T (x) -Ta) T
a) / dt is input to the fuzzy controller 14 as input 1 and input 2. The fuzzy controller 14 is shown in FIG.
Or defined by the membership function shown in FIG. 4, and fuzzy calculation is performed according to the control rules shown in Table 1. As an example, IF (T (x) -Ta) / Ta = NL AND
((T (x) -Ta) / Ta) / dt = NL THE
Fuzzy operation is performed by the formula of increase / decrease value of N section time = PL.

Specifically, the ratio (T1-Ta) of the difference (T1-Ta) between the time T1 and the average speed Ta in the section between the points a and b shown in FIG. 18A to the average speed Ta during one revolution (T1- Ta) / Ta is extremely large in the negative direction, and its ratio ((T1-Ta) / Ta temporal change rate (change ratio) ((T1-Ta) / Ta) / dt is extremely large in the negative direction). It can be said that the speed of the section is extremely large in the positive direction with respect to the average speed during one rotation, and the difference between the rotation speed and the average speed of the section is extremely large in the positive direction. This is because it tends to be large and large.

Then, in the fuzzy calculation, a large increase / decrease value in the negative direction is calculated so that the section time approaches the average speed. In other words, the increase / decrease value for greatly reducing the voltage applied to the non-rectifier motor 1 in the section is calculated so that the rotation speed in the section approaches the average speed during one rotation and torque unevenness is eliminated. Become.

Further, the difference between the time T8 and the average speed Ta (T1−T1) between the time points h and i shown in FIG.
Ratio of Ta) to the average speed Ta during one rotation (T1-
Ta) / Ta is extremely large in the positive direction, and its ratio ((T1−Ta) / Ta temporal change rate (change rate)
When ((T1-Ta) / Ta) / dt is extremely large in the positive direction, the speed of the section is extremely large in the negative direction with respect to the average speed during one rotation, and the rotation speed and the average speed of the section are It can be said that the difference is extremely large in the negative direction. That is, the torque in that section is extremely small and tends to be small.

Then, in the fuzzy calculation, a large increase / decrease value is calculated in the positive direction so that the section time approaches the average speed. In other words, the increase / decrease value for greatly increasing the voltage applied to the non-rectifier motor 1 in the section is calculated so that the rotation speed in the section approaches the average speed during one rotation and torque unevenness is eliminated. Become.

The increase / decrease value calculator 15 for the applied voltage in each section, to which the increase / decrease value calculated in this way is input, is applied to each armature winding A, B, C of the non-rectifier motor 1 in that section. An increase / decrease value ΔVα for increasing / decreasing the voltage is calculated. The calculated increase / decrease value ΔVα is input to the main controller 16, and the main controller 16 changes the increase / decrease value ΔVα.
Based on each of the armature windings A, B, C of the commutatorless motor 1.
The control signal for increasing / decreasing the applied voltage is output (the on / off ratio of the chopping signal is changed).

Here, in the conventional case, the non-commutator motor 1
The voltage applied to each winding A, B, C of the same commutator motor 1 is a constant value (for example, 100 V) during one cycle (during one rotation) of the rotor 1a (see FIG. 18B). ). Therefore, when the non-commutator electric motor 1 is used as a motor of a compressor, the rotation speed of the rotor 1a is different at the time of refrigerant suction, compression and discharge operations, that is, the rotation speed in a predetermined section is different.

However, in the present invention, the commutatorless motor 1
During one cycle of the rotor 1a, the difference between the times T1 to T12 and the average speed in each section and the change rate of the difference between the times are input, and a fuzzy operation is performed according to a predetermined control rule and a membership function. The variable ratio of the voltage applied to each armature winding A, B, C of the non-rectifier motor 1 is changed for each section based on the calculation result. The variable ratio of the applied voltage is determined by the main controller 16
It can be changed depending on the on / off ratio (on time) of the chopping signal output from.

As described above, when the time of each section during one revolution of the non-rectifier motor 1 is in the state shown in FIG. 18 (a), the time T1 is an average value (for example, between the points a and b). 1 ms) (the rotation time is larger on the negative side of the average value), that is, the rotation speed in that section is faster. In this case, the voltage applied to the armature windings A, B, C of the non-rectifier motor 1 is set to a value lower by the predetermined value ΔVα so that the rotation time T1 in that section becomes the average speed.

As described above, by lowering the variable ratio of the voltage applied to the armature windings A, B and C, the rotation time T1 in that section can be made extremely close to the average speed of about 1 ms, That is, the rotation speed can be corrected to be slow.

In the section between time points h and i, the rotation time T8 is much longer than the average speed (the rotation time is larger than the average value in the positive direction), that is, the rotation speed in that section is extremely slow. In this case, the same processing as described above is performed, and the voltage applied to the armature windings A, B, C of the non-commutator motor 1 is increased by the predetermined value ΔVα so that the rotation time T6 in that section becomes the average speed. And

In this way, by increasing the variable ratio of the voltage applied to the armature windings A, B and C to an extremely large level,
The rotation time T6 in that section can be set to an average speed of approximately 1 ms, that is, the rotation speed can be corrected to be slightly faster.

Similarly, every time the commutatorless motor 1 rotates, the rotation time of each section in one cycle (one rotation) becomes an average value, in other words, the rotation speed of each section becomes an average value. So that the armature windings A, B, C of the non-commutator motor 1
The variable ratio of the voltage applied to can be changed.

As a result, the rotation time in each section can be made approximately the average speed, and, for example, the commutatorless motor 1
When is used as a compressor motor, fluctuations in the rotational speed during one cycle of refrigerant suction, compression, and discharge operations are eliminated (torque unevenness is suppressed), and vibration and noise can be suppressed.

Since the control method described above is realized by software of the control unit (microcomputer) 16, it is not necessary to add a special mechanism or a special circuit to the non-rectifier motor 1. There is no problem in terms of high cost and quality.

[0044]

As described above, according to the control method and apparatus for a non-commutator motor of the present invention, one cycle (one rotation) of the rotor is detected by the position detection signal of the rotor of the non-commutator motor. It is divided into a plurality of sections, the time and the average speed in the divided sections are detected, and the ratio of the difference between the time and the average speed in each section to the average speed during one rotation is calculated and set as the input 1, while the The time change rate of the time difference rate is calculated and used as input 2, fuzzy calculation is performed according to a predetermined control rule and membership function, and the voltage applied to a plurality of armature windings of the non-commutator motor based on this fuzzy calculation result. Is corrected so that the rotation speed in each section becomes a constant value. When used as a compressor motor of an air conditioner with varying load, one cycle of refrigerant suction, compression and discharge Even when the load fluctuates, that is, when torque unevenness occurs, the rotation speed of each section during one rotation of the commutator motor is always equalized regardless of whether the rotation speed is low or high. It is possible,
That is, smooth rotation can be achieved, and eventually vibration and noise of the air conditioner can be suppressed.

Further, according to the present invention, since it can be realized by a microcomputer, it is not necessary to add a new mechanism or circuit, it is inexpensive in terms of cost, and a new problem occurs in terms of quality. It has the effect of never happening.

[Brief description of drawings]

FIG. 1 is a schematic block diagram of a controller for a commutatorless motor showing an embodiment of the present invention.

FIG. 2 is a schematic diagram of a membership function for fuzzy calculation applied to the control device shown in FIG.

FIG. 3 is a schematic diagram of a membership function for fuzzy calculation applied to the control device shown in FIG.

4 is a schematic diagram of a membership function for fuzzy calculation applied to the control device shown in FIG.

5 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

FIG. 6 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1.

7 is a schematic diagram of a non-commutator motor for explaining the operation of the control device shown in FIG.

8 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

9 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

10 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

11 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

12 is a schematic diagram of a non-commutator motor for explaining the operation of the control device shown in FIG.

13 is a schematic diagram of a non-commutator motor for explaining the operation of the control device shown in FIG.

14 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

15 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG.

16 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG.

FIG. 17 is a schematic time chart diagram for explaining the operation of the control device shown in FIG. 1.

FIG. 18 is a schematic time chart diagram for explaining the operation of the control device shown in FIG. 1.

FIG. 19 is a schematic block diagram of a conventional controller for a commutatorless motor.

[Fig. 20] Fig. 20 is a schematic diagram for explaining an operation when a non-rectifier electric motor is used as a compressor.

[Explanation of symbols]

 1 non-commutator motor (brushless motor) 1a rotor 2 AC power supply (commercial) 3 AC / DC converter 4 switching circuit 5 position detection circuit 6,17 control unit (microcomputer) 7 chopping circuit 8 drive circuit 10 for each section Time calculation unit 11 Average value calculation unit for each section time 12 Time difference ratio calculation unit 13 Time change ratio time change ratio calculation unit 14 Fuzzy controller 15 Applied voltage increase / decrease value calculation unit for each section 16 Main controller A, B, C Armature winding A1, B1, C1 Position detection signal

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location H02P 6/16 H02P 6/02 341 N

Claims (4)

[Claims] 1. A position of a rotor of a non-commutator motor is detected, and energization is switched to a plurality of armature windings of the same commutator motor based on the detected position signal (position detection signal). A method of controlling a non-commutator motor, wherein the rotation of the rotor of the same commutator motor is controlled, and the rotation speed of the rotor is controlled by varying the voltage applied to each armature winding. 1 cycle (1 rotation) of the rotor is divided into multiple sections,
While detecting the torque unevenness amount in each of the divided sections, the change ratio of the torque unevenness amount is detected, and the torque unevenness amount and the change ratio of the torque unevenness amount are input, and according to a predetermined control rule and a membership function. The amount of correction of the voltage applied to each armature winding is fuzzy calculated, and the voltage applied to each armature winding of the non-rectifier motor is corrected based on the fuzzy calculation result so that the rotation speed in each section is constant. A method for controlling a commutatorless motor, which is characterized in that 2. A position of a rotor of a non-commutator motor is detected, and energization is switched to a plurality of armature windings of the same commutator motor based on the detected position signal (position detection signal). A method of controlling a non-commutator motor, wherein the rotation of the rotor of the same commutator motor is controlled, and the rotation speed of the rotor is controlled by varying the voltage applied to each armature winding. One cycle (one rotation) of the rotor by the position detection signal
Is divided into a plurality of sections, the rotation speed of the rotor in each of the divided sections is detected, an average value of the rotation speed is calculated, and one rotation of the difference between the rotation speed and the average value in each section is performed. While calculating the ratio to the average value in
A temporal change rate of the same rate is calculated, and the calculated rate and the time rate of change of the same rate are input as inputs 1 and 2, and a fuzzy operation is performed according to a predetermined control rule and a membership function. A method for controlling a non-commutator motor, wherein the voltage applied to each armature winding of the non-commutator motor is corrected so that the rotation speed in each section is constant. 3. The position of the rotor of the non-commutator motor is detected, and energization switching to a plurality of armature windings of the same commutator motor is performed based on the detected position signal (position detection signal). A method of controlling a non-commutator motor, wherein the rotation of the rotor of the same commutator motor is controlled, and the rotation speed of the rotor is controlled by varying the voltage applied to each armature winding. One cycle (one rotation) of the rotor by the position detection signal
Is divided into a plurality of sections, the rotation speed of the rotor in each of the divided sections is detected, an average value of the rotation speed is calculated, and one rotation of the difference between the rotation speed and the average value in each section is performed. While calculating the ratio to the average value in
The same rate of change over time is calculated, and the calculated rate and the rate of change over time of the same rate are used as inputs 1 and 2, and the input 1 is increased in the negative direction by a predetermined control rule and membership function. The larger the input 2 in the negative direction, the larger the increase / decrease value of the rotation speed in each section in the positive direction, and the larger the input 1 in the positive direction and the larger the input 2 in the positive direction are the rotation speeds in the respective sections. A fuzzy operation for increasing the increase / decrease value in the negative direction is performed, and the voltage applied to each armature winding of the non-rectifier motor is corrected based on the fuzzy operation result so that the rotation speed in each section becomes constant. A method for controlling a non-commutator motor, which is characterized in that 4. The position of the rotor of the non-commutator motor is detected, and the energization of a plurality of armature windings of the same commutator motor is switched based on the detected position signal (position detection signal). A control device for a non-commutator motor for performing rotation control of a rotor of the same commutator motor, and varying the voltage applied to each armature winding to control the number of revolutions of the rotor. One cycle (one rotation) of the rotor by the position detection signal
Is divided into a plurality of sections, means for calculating the time in each of the divided sections, means for calculating an average time of each section in one cycle based on the calculated time, time of the calculated section and average time Means for calculating the difference between the calculated time difference and the average time during one rotation, and
A means for calculating the difference between the calculated time and the average time, and a means for calculating the temporal change ratio of the ratio of the calculated time difference to the average time during one rotation, and the calculated ratio and the time of the same ratio. A fuzzy controller that calculates the increase / decrease value for correcting the rotation speed of the rotor according to a predetermined control rule and a membership function, and each armature winding according to at least the position detection signal. And a main controller that corrects the applied voltage based on the calculated increase / decrease value, so that the rotation speed of the rotor becomes constant. Control device.