JPH11339383A - Sensorless motor control device and sensorless motor rotary driving control retrying method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve retrying quickly when the number of rotations of a motor does not reach accuracy of the target number of rotations even though a fixed time elapses in a normal rotation state after forced rotation of a sensorless motor. SOLUTION: When a sensorless motor is successfully subjected to forced rotation and made in a normal rotation state, after waiting for a time T1, the number of rotations detected by a rotation detector 11 is stored in a memory 16 at the prescribed period in the order of time series for a time T2, after that, when a CPU 17 detects abnormality in which the number of rotations is not in accuracy of the target number of rotations from a system of the number of rotations stored in the memory 16, that is, history of temporal variation of the number of rotations, gain of a control system of the motor is adjusted based on the history, and retrying of a rotation driving control of a sensorless motor in a normal rotation state by a control system is performed in this state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sensorless motor control device for controlling the rotation of a sensorless motor for rotating a disk medium represented by a magnetic disk or the like at a high speed, and a sensorless motor rotation control applied to the device. Retry method.

[0002]

2. Description of the Related Art In order to drive and control a sensorless motor (spindle motor) for rotating a disk medium such as a magnetic disk or an optical disk at a high speed within an error range of a target rotation speed, that is, within a target rotation speed accuracy, the motor must be driven. The rotation speed (number of rotations) must be detected. To detect the rotation speed of the sensorless motor, it is common to use a back electromotive force generated between three (U, V, W) motor coils. However, the back electromotive force of the motor cannot be detected unless the rotation speed reaches a certain level. Therefore, when the motor is started, the rotation control based on the back electromotive force cannot be performed, and the motor is driven by the forced rotation until the motor enters a steady rotation state where the back electromotive force can be detected. Therefore, a device for stabilizing the forced rotation drive at the time of starting the motor is required.

Japanese Patent Laid-Open Publication No. Hei 6-98554 discloses a sensorless motor in which a single-phase excitation phase switching time is controlled based on a preset low acceleration curve in a forced rotation drive at the time of starting the sensorless motor. 2. Description of the Related Art A sensorless motor control technique (hereinafter, referred to as a prior art) capable of stabilizing a forced rotation drive of a motor and, as a result, realizing a reliable start of the motor has been proposed.

[0004] However, even when a steady rotation state in which the back electromotive force can be measured due to the forced rotation drive at the time of startup, the rotation speed may not reach the target rotation speed accuracy even after a certain period of time has elapsed for some reason. In such a case, conventionally, the motor is once stopped and then driven again by forcible rotation to accelerate to the target rotational speed accuracy when the motor enters a steady rotational state. However, unless the cause of the failure to reach the target speed accuracy is resolved, the motor speed will not reach the target speed accuracy again, and the motor will be stopped and retried many times. The time is significantly longer.

[0005]

The above prior art relates to a starting method until the back electromotive force required for detecting the rotation speed of the sensorless motor reaches a measurable rotation speed (steady rotation state). However, no consideration has been given to motor control in a steady rotation state in which back electromotive force can be measured by forced rotation drive at the time of startup.

For this reason, conventionally, when the target rotational speed accuracy does not reach the target rotational speed accuracy even after a certain period of time has elapsed for some reason in the steady rotational state after the forced rotational drive, the motor is stopped and the forced rotational operation is performed again. There is a problem that the drive retry is repeatedly performed, and the motor start-up time becomes longer.

The inventor of the present invention has found that the above factors are caused by changes in the characteristics of components (loop filter, charge pump circuit, driver IC, etc.) of the sensorless motor control device due to environmental changes, aging, etc. It came to be recognized that there was a deviation from the optimum value.

[0008] The present invention has been made in view of the above circumstances, and an object thereof is to provide a sensorless motor in a steady rotation state after forcible rotation even if a predetermined time has not passed within a target rotation speed accuracy. It is an object of the present invention to provide a sensorless motor control device and method capable of adjusting the gain of a control system and retrying with an optimum gain to quickly reach the target rotational speed accuracy.

[0009]

SUMMARY OF THE INVENTION The present invention detects an abnormality in which the rotation speed of a sensorless motor does not converge within a target rotation speed accuracy within a predetermined time by a rotation drive control in a steady rotation state after a forced rotation drive of a sensorless motor. Abnormality detecting means, a gain adjusting means for adjusting a gain of a control system (feedback control system) in accordance with the abnormality detection of the abnormality detecting means, and the control in a state where the gain of the control system is adjusted by the gain adjusting means. Retry control means for re-executing the rotation drive control in the steady rotation state by the system.

As described above, in the above configuration, when the rotation speed of the sensorless motor does not fall within the target rotation speed accuracy within a predetermined time in the steady rotation state after the forced rotation of the sensorless motor, the factors such as temperature, humidity, etc. Focusing on the fact that it is highly likely that the gain of the control system has changed due to an environmental change or a change with time, the gain is adjusted, and the rotational drive control in the steady rotation state is performed in the state after the gain adjustment. Is performed, it is possible to quickly reach the rotation speed of the sensorless motor within the target rotation speed accuracy.

Here, there is provided a rotation speed time change recording means for recording a history of the time change of the rotation speed of the sensorless motor in the steady rotation state, and the rotation speed of the sensorless motor in the steady rotation state within a predetermined time is set to the target rotation speed. If the accuracy does not fall within the numerical accuracy, the gain of the control system is adjusted based on the history of the time change of the rotation speed recorded in the rotation speed time change recording means, so that the gain adjustment amount is appropriately adjusted. Can be determined.

In such a configuration, the rotation speed of the sensorless motor repeats overshoot and undershoot with respect to the target rotation speed accuracy based on the history of the time change of the rotation speed (that is, the time change pattern of the rotation speed). Is displayed, it can be determined that the gain of the control system is too large than the optimum gain, and therefore, the gain may be adjusted in a direction to decrease the gain. In addition, when the history of the time change of the rotation speed indicates that the target rotation speed accuracy is never entered, it is possible to determine that the response of the feedback control is slow and the gain of the control system is too smaller than the optimum gain. Therefore, the gain may be adjusted in a direction to increase the gain.
Further, the adjustment amount can be easily and accurately determined from the history of the time change of the rotation speed. The simplest determination method is, if the gain is too large, for example, based on the difference between the maximum rotation speed and the target rotation speed of the first overshoot portion after the first fixed time has elapsed from the steady rotation state. If the gain is too small, the determination is made based on the difference between the target rotation speed and the rotation speed at the time when the predetermined time has further elapsed after the first fixed time has elapsed.

The control system generally includes a rotation detecting means for detecting the rotation speed of the sensorless motor, a comparison means for comparing the rotation speed detected by the rotation detection means with a target rotation speed, and a comparison result of the comparison means. Current control means for controlling the current supplied to the sensorless motor in accordance with the following, a motor drive means for driving the motor by supplying the current controlled by the current control means to the sensorless motor, and Since the filter including the resistor and the capacitor for determining the response is provided, the determined gain is reflected on at least one of the gain of the current control unit, the gain of the motor driving unit, and the value of the resistance or the capacitor of the filter. Then, the gain of the control system may be adjusted.

In addition, if the history of the time change of the rotation speed of the sensorless motor is not recorded, and if the rotation speed of the sensorless motor does not fall within the target rotation speed accuracy within a certain time in the steady rotation state, the control system The gain may be increased / decreased by, for example, a fixed value regardless of the time change of the rotation speed. Here, if the gain of the control system deviates from the optimum value due to environmental changes or the like, there is a high probability that the capacity of the capacitor as a component of the current control means (charge pump circuit) and the filter decreases and the gain increases. ,
By adjusting the gain first, the possibility of success in the first retry can be increased.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a sensorless motor control device according to one embodiment of the present invention. Here, a sensorless motor control device mounted on a magnetic disk device is assumed.

In FIG. 1, reference numeral 10 denotes a sensorless motor control device. The sensorless motor control device 10 includes a rotation detector 11, a control unit 12, a charge pump circuit 13, a loop filter 14, a driver 15, a memory 16, a CPU
17, a register unit 18, and a timing output unit 19.

The rotation detector 11 measures the back electromotive force generated in the three-phase motor coils 20-1 to 20-3 of the sensorless motor (spindle motor), and determines the rotation speed (rotation speed) of the sensorless motor from the back electromotive force. ) Is detected.

The control unit 12 compares the rotation speed detected by the rotation detector 11 with the target rotation speed, and outputs a control signal corresponding to the difference (for example, proportional). The charge pump circuit 13 controls a control signal (and a gain) from the control unit 12.
Based on the sensorless motor (motor coils 20-1 to 2)
Control the current supplied to 0-3).

The loop filter 14 is a filter circuit including a resistor and a capacitor for determining the response of the driver 15, and converts a current output from the charge pump circuit 13 into a voltage.

A driver (motor driver) 15 applies a current determined by the output voltage (and gain) of the loop filter 14 at a timing corresponding to a phase switching timing signal from a timing output device 19 to generate a motor coil 20-i (i = 1 to 1).
Supply to 3).

The rotation detector 11, the control unit 12, the charge pump circuit 13, the loop filter 14, and the driver 15 (and the timing output unit 19) constitute a control system (control loop) of the sensorless motor control device 10.

The memory 16 is used to store the number of rotations of the sensorless motor detected by the rotation detector 11 in a chronological sequence in a fixed period (T) for a fixed time (T2). The CPU (microprocessor) 17 controls the rotation of the sensorless motor by controlling each unit in the sensorless motor control device 10. In particular, the CPU 17 determines the optimum gain of the control system from the sequence of the rotation speed stored in the memory 16, that is, the time change pattern of the rotation speed. In addition,
The CPU 17 also controls the entire magnetic disk drive.

The register section 18 is used to hold a parameter (gain parameter) for adjusting the gain of the control system determined by the CPU 17. Here, the gain in the charge pump circuit 13, that is, the amount of current supplied from the charge pump circuit 13 to the loop filter 14 according to the control signal from the control unit 12 is determined by the gain parameter set in the register unit 18. For determining the amount of current supplied from the driver 15 to the motor coil 20-i according to the output voltage of the loop filter 14, that is, the value of the capacitor or resistance of the loop filter 14, and the gain of the driver 15, Are respectively determined.

The timing output device 19 includes the rotation detector 11
Determine the phase switching timing of the sensorless motor according to the rotation state of the sensorless motor indicated by the detection result,
A corresponding phase switching timing signal is output to the driver 15.

Next, a sensorless motor rotation control operation by the sensorless motor control device 10 having the configuration of FIG. 1 will be described with reference to a flowchart of FIG. First CPU
Reference numeral 17 denotes a rotation speed at which the back electromotive force is generated in the motor coil 20-i of the sensorless motor when the power of the magnetic disk drive is turned on, and the rotation detector 11 can detect the back electromotive force. Up to this point, the operation is started by forced rotation (step S1). The forced rotation here is realized by setting a certain acceleration with respect to the rotation of the sensorless motor and performing phase switching at a time determined from the acceleration.

When the rotation detector 11 can detect the back electromotive force, that is, when the rotation detector 11 can detect the rotation speed of the sensorless motor, the CPU
17 determines that the forced rotation has been successful (step S
2) Going out of the forced rotation loop, the rotation detector 11,
The control system of the control unit 12, the charge pump circuit 13, the loop filter 14, and the driver 15 controls the rotation speed of the sensorless motor at the steady rotation (step S3).

The torque applied to the rotating part (rotor) of the sensorless motor is proportional to the current flowing through the motor coil 20-i. Therefore, the rotation speed (rotation speed) can be controlled by the amount of current supplied to the motor coil 20-i.
This amount of current is controlled by the above control system as follows.

When the back electromotive force can be detected, the rotation detector 11 detects the number of revolutions of the sensorless motor from the back electromotive force and outputs the detection result to the control unit 12. The control unit 12 compares the actual rotation speed of the sensorless motor detected by the rotation detector 11 with the target rotation speed, and outputs a control signal proportional to the difference to the charge pump circuit 13.

The charge pump circuit 13 supplies a current corresponding to a control signal from the control unit 12 (and a current gain parameter set in the register unit 18) to the loop filter 14. The current supplied to the loop filter 14 is converted into a voltage with a time constant determined by the values of the resistor and the capacitor constituting the filter 14.

The driver 15 outputs a current corresponding to the output voltage of the loop filter 14 (and the current gain parameter set in the register 18) to the motor coil 20-i. The timing of the phase switching here is determined by the timing output unit 19 according to the number of rotations detected by the rotation detector 11.

The CPU 17 waits for the sensorless motor to be accelerated for a predetermined first fixed time T1 when it enters the steady rotation state, and thereafter, for a second fixed time T1.
During the period 2, the actual number of rotations of the sensorless motor detected by the rotation detector 11 is stored in the memory 16 in a time series at a constant period T (step S4). This allows time T2
Later, T2 / T rotation speed data (that is, a history of the time change of the rotation speed) is stored in the memory 16.

When the time T2 elapses, that is, when the time T1 + T2 elapses after the steady rotation state is reached, the CPU 17 stores a sequence of T2 / T rotation speed data (rotation speed sequence) stored in the memory 16 during the time T2. ), All the rotation speeds are within a predetermined range with respect to the target rotation speed,
That is, it is checked whether or not the accuracy is within the target rotational speed accuracy (step S5).

If the T2 / T rotation speeds stored in the memory 16 are all within the target rotation speed accuracy,
That is, if the actual rotation speed of the sensorless motor is within the target rotation speed accuracy for at least the time T2, C
The PU 17 determines that the rotation speed of the sensorless motor is stably within the target rotation speed accuracy, that is, that the acceleration is successful. Thus, the startup of the sensorless motor is completed (step S6), and thereafter, the control system of the sensorless motor control circuit 10 controls the sensorless motor to rotate while maintaining the target rotation speed.

On the other hand, T2 stored in the memory 16
If even one of the / T rotation speeds is out of the target rotation speed accuracy, the CPU 17 determines that the gain of the control system (control loop) has changed from the optimum value, and adjusts the gain of the control system to the optimum value. The gain is adjusted to adjust the value (step S
7).

When the gain of the control system changes from the optimum value, the actual rotation speed of the sensorless motor does not quickly converge within the target rotation speed accuracy. In this case, the pattern representing the time change of the rotation speed (rotation time change pattern) is as follows.
The rotation time change pattern B or C shown in FIG. 4 is obtained. The feature of the rotation speed time change pattern B is that the time change of the rotation speed repeatedly overshoots and undershoots with respect to the target rotation speed and does not quickly fall within the target rotation speed accuracy. In addition, the rotation time change pattern C
Is characterized in that the time change of the rotation speed does not quickly approach the target rotation speed. On the other hand, when the gain of the control system is the optimum value, the rotation speed time change pattern A shown in FIG. 4 is obtained, and the rotation speed of the sensorless motor quickly converges within the target rotation speed accuracy.

The time change of the rotation speed such as the rotation speed time change pattern B occurs when the gain of the control system is higher than the optimum value and therefore the sensitivity of the feedback control of the rotation speed is too high (response is too fast). I do. In addition, the time change of the rotation speed such as the rotation speed time change pattern C occurs when the gain of the control system is lower than the optimum value, and therefore, the sensitivity of the feedback control of the rotation speed is too low (response is too slow). .

Factors that change the gain of the control system include:
There are environmental changes such as temperature and humidity, and changes over time of circuit elements. On the other hand, factors that determine the gain in the control system of the sensorless motor control device 10 in FIG. 1 include a charge pump circuit 13, a loop filter 14, and a driver 15.

The CPU 17 performs the gain adjustment in step S7 as follows in accordance with the flowchart of FIG. First, the CPU 17 refers to a sequence of T2 / T rotation speeds stored in the memory 16 in chronological order at a constant period T during a time T2 after waiting for a time T1 after the steady state is reached, It is checked whether or not the rotation speed (data) exceeds the upper limit of the target rotation speed accuracy (step S11). That is, the CPU 17 checks whether or not the rotation speed of the sensorless motor has exceeded the upper limit of the target rotation speed accuracy during the time T2 in the steady state.

If the rotational speed series stored in the memory 16 includes (the data of) the rotational speed exceeding the upper limit of the target rotational speed accuracy, the CPU 17 sets the sensorless in the steady state. It is determined that the time change of the rotation speed of the motor repeats overshoot and undershoot as in the example of the rotation time change pattern B in FIG. 4, and therefore the gain of the control system is higher than the optimum value. I do.

In this case, the CPU 17 detects the maximum rotation speed of, for example, the first overshoot portion included in the rotation speed series in the memory 16, and determines the detected maximum rotation speed with respect to the target rotation speed (in the forward direction). Is calculated (steps S12 and S13).

In this embodiment, a non-volatile memory (not shown) such as a ROM for storing a control program for the CPU 17 stores an amount of deviation from the target rotation speed (forward /
Information (correspondence table) indicating the correspondence between the amount of shift in the negative direction) and the amount of decrease / increase of the gain is set in advance. Therefore, the CPU 17 refers to this correspondence table,
A reduction amount of the gain of the control system is determined from the calculated deviation amount (positive deviation amount), and the gain parameter value currently set in the register unit 18 is changed in a decreasing direction by a value corresponding to the determined reduction amount. (Step S14).

On the other hand, if the rotation speed series stored in the memory 16 does not include (the data of) the rotation speed exceeding the upper limit of the target rotation speed accuracy, the CPU 17
Is that during the time T2 in the steady state, the rotation speed of the sensorless motor never reaches the target rotation speed accuracy as in the example of the rotation time change pattern C in FIG. Judge as lower than the optimal value.

In this case, the CPU 17 determines the predetermined order n (1 ≦ n ≦ T2 / T) in the rotation speed series in the memory 16.
, That is, the time T1 +
The rotation speed after nT is detected, and the amount of deviation (in the negative direction) of the detected rotation speed from the target rotation speed is calculated (steps S15 and S16). Then, the CPU 17 determines the amount of increase in the gain of the control system from the calculated amount of deviation (the amount of deviation in the negative direction) by referring to the correspondence table, and stores a value corresponding to the determined amount of increase in the current register unit 18. The set gain parameter value is changed in the increasing direction (step S17).

When the gain parameter value of the register section 18 is changed and set in step S14 or S17, the gain adjustment processing (step S7) ends, and the process returns to step S3, where control is performed with the adjusted gain in a new steady state. The rotation speed control (retry) of the system is performed.

Here, by changing and setting the gain parameter value of the register section 18, the amount of current supplied from the charge pump circuit 13 to the loop filter 14 in accordance with the control signal from the control section 12 is determined. The gain for determining the amount of current supplied from the driver 15 to the motor coil 20-i is changed according to the gain, the value of the capacitor or the resistance of the loop filter 14, and the output voltage of the loop filter 14. Specifically, in the charge pump circuit 13, the range of the amount of current supplied to the loop filter 14, for example, 0 which can be expressed by 8 bits
The gain is adjusted by adjusting the current amount in the range of the current amount of ~ 255. Next, in the loop filter 14, the value of the capacitor or the resistance is varied to
The gain is adjusted by adjusting the time constant that determines the responsiveness of No. 5. Next, in the driver 15, the gain is adjusted by adjusting the range of the amount of current supplied to the motor coil 20-i (for example, the range of the amount of current from 0 to 255 that can be expressed by 8 bits).

In the above loop of steps S3, S4, S5, and S7, that is, in the rotation speed control while adjusting the gain of the control system, the rotation speed of the sensorless motor stabilizes to the target rotation speed accuracy within a fixed time T1 + T2. It is repeated until.

As described above, according to the present embodiment, if the target rotation speed cannot be stabilized quickly (within a certain period of time) in the steady rotation state of the sensorless motor, the gain of the control system deviates from the optimum value. Since there is a high possibility that the motor speed is high, the gain adjustment direction (increase or decrease) and the adjustment amount are determined based on the time change pattern (history) of the rotation speed in the steady rotation state to adjust the gain. By retrying with the optimum gain, the target rotational speed accuracy can be quickly stabilized. If the sensorless motor cannot be stabilized to the target rotation speed accuracy even after performing the retry a certain number of times due to other factors, it is preferable to perform an error process after terminating abnormally.

In the above-described embodiment, the rotation speed series representing the time change of the rotation speed in the steady rotation state is stored in the memory 1.
6, the case where the gain adjustment direction and the adjustment amount are determined from the rotation number time change pattern to perform the gain adjustment has been described, but the present invention is not limited to this.

For example, as shown in the flowchart of FIG. 5, the forcible rotation is successful and a steady rotation state is established (steps S21 to S23), and the rotation speed of the sensorless motor does not fall within the target rotation speed accuracy even after a certain period of time. In this case (step S24), until the number of retries reaches a predetermined number of times (step S26), the gain of the control system is adjusted in a direction of decreasing by a constant value (step S27).
It does not matter.

Taking the loop filter 14 as an example, the value (capacity) of the capacitor of the filter 14 decreases when the operating temperature environment changes from the standard temperature, and the gain of the control system increases. This is the same in the charge pump circuit 13. Therefore, when the gain does not fall within the target rotation speed accuracy in the steady rotation state, as in the examples of steps S26 and S27 described above, it is better to first perform the gain reduction in the normal direction after the gain adjustment. It is highly likely that the rotation speed falls within the target rotation speed accuracy.

However, even if the retry is performed a fixed number of times while adjusting the gain in the direction of decreasing the gain in step S27, there may be cases where the accuracy does not fall within the target rotational speed accuracy. In such a case, the retry may be performed while adjusting the gain of the control system in a direction of increasing the gain by a constant value (step S28). If it is not possible to stabilize the target rotational speed accuracy even if the retry is performed a fixed number of times while adjusting the gain in a direction to increase the gain, it is preferable to end the process abnormally and perform error processing.

However, in this modified example, since the time change of the rotational speed is not stored unlike the above-described embodiment, for example, the rotation detector 11 is used for the determination in step S24.
The rotation speed detected by the CPU 17 is controlled by the CPU 17 during the time T2.
Need to be monitored.

In the above embodiment, the charge pump circuit 1 is used to adjust the gain of the control system (control loop).
3, the gain of the loop filter 14 and the driver 15 have all been adjusted. However, the present invention is not limited to this, and at least one of the gains may be adjusted.

Although the above embodiment has been described with reference to a case where the present invention is applied to a sensorless motor control device mounted on a magnetic disk drive, the present invention relates to a sensorless motor control device which performs rotational drive control of a sensorless motor.
The present invention can be similarly applied to a sensorless motor control device mounted on a disk device other than a magnetic disk device such as an optical disk device.

[0055]

As described above in detail, according to the present invention, when the target rotational speed accuracy does not reach the target rotational speed accuracy even after a certain period of time in the steady rotation state after the forcible rotation of the sensorless motor, the control system is controlled. By adjusting the gain and retrying with the optimum gain, it is possible to quickly reach the target rotational speed accuracy

[Brief description of the drawings]

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

FIG. 2 is a flowchart for explaining a sensorless motor rotation control operation in the embodiment.

FIG. 3 is a flowchart illustrating a gain adjustment process in step S7 in FIG. 2;

FIG. 4 is a diagram illustrating an example of a temporal change pattern of the rotation speed of a sensorless motor that varies depending on the gain of a control system in a steady rotation state after forced rotation.

FIG. 5 is a flowchart illustrating a modification of the sensorless motor rotation control operation.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11 ... Rotation detector 12 ... Control part (comparison means) 13 ... Charge pump circuit (current control means) 14 ... Loop filter 15 ... Driver (motor drive means) 16 ... Memory (revolution number time change recording means) 17 ... CPU ( Abnormality detecting means, gain adjusting means, retry controlling means) 18 register section 19 timing output device 20-1 to 20-3 motor coil

Claims (6)

[Claims] 1. A sensorless motor control device for controlling the rotational drive of a sensorless motor by a feedback control system, wherein the rotational speed of the motor is controlled within a predetermined time by a rotational drive control in a steady rotational state after the forced rotational drive of the sensorless motor. Abnormality detection means for detecting an abnormality that does not converge within the target rotational speed accuracy; gain adjustment means for adjusting the gain of the control system in accordance with abnormality detection of the abnormality detection means; and gain of the control system by the gain adjustment means And a retry control means for re-executing the rotation drive control in the steady rotation state by the control system in a state where is adjusted. 2. A sensorless motor control device for performing rotational drive control of a sensorless motor by a feedback control system, wherein the rotational speed of the motor is controlled within a predetermined time in a rotational drive control in a steady rotational state after forcible rotational drive of the sensorless motor. Abnormality detection means for detecting an abnormality that does not converge within the target rotation speed accuracy; rotation speed time change recording means for recording a history of the time change of the rotation speed of the sensorless motor in the steady rotation state; and the abnormality detection means When an abnormality is detected, gain adjustment means for adjusting the gain of the control system based on the history of the time change of the rotation speed recorded in the rotation speed time change recording means, and the gain of the control system is adjusted by the gain adjustment means. In the adjusted state, the re-control device causes the control system to execute the rotational drive control in the steady-state rotation state again. Sensorless motor control apparatus characterized by comprising a control means. 3. A rotation detection means for detecting the rotation speed of the sensorless motor, a comparison means for comparing the rotation speed detected by the rotation detection device with a target rotation speed, and the sensorless motor according to a comparison result of the comparison means. Current control means for controlling the current supplied to the motor, motor drive means for driving the motor by supplying the current controlled by the current control means to the sensorless motor, and responsiveness of the motor drive means is determined. Feedback control system with a filter consisting of a resistor and a capacitor
In the sensorless motor control device for performing the rotation drive control of the sensorless motor, the rotation speed detected by the rotation detection unit in the rotation drive control in a steady rotation state after the forced rotation drive of the sensorless motor is a target rotation speed within a predetermined time. Abnormality detection means for detecting an abnormality that does not converge within accuracy, rotation number time change recording means for recording a history of a time change of the rotation number detected by the rotation detection means in the steady rotation state, and the abnormality detection At the time of detecting abnormality of the means, the optimum gain determining means for determining an optimum gain of the control system based on the time change history of the rotational speed recorded in the rotational speed time change recording means; The obtained optimum gain is used as the gain of the current control means, the gain of the motor drive means, and the resistance of the filter. Or a gain adjusting means for adjusting the gain of the control system by reflecting the gain on at least one of the values of the capacitor, and the steady state by the control system in a state where the gain of the control system is adjusted by the gain adjusting means. A sensorless motor control device comprising: retry control means for re-executing the rotation drive control in the rotation state. 4. A rotation detection means for detecting a rotation speed of the sensorless motor, a comparison means for comparing the rotation speed detected by the rotation detection means with a target rotation speed, and the sensorless motor according to a comparison result of the comparison means. Current control means for controlling the current supplied to the motor, motor drive means for driving the motor by supplying the current controlled by the current control means to the sensorless motor, and responsiveness of the motor drive means is determined. Feedback control system with a filter consisting of a resistor and a capacitor
In the sensorless motor control device that performs the rotational drive control of the sensorless motor, the rotational speed of the motor does not converge within the target rotational speed accuracy within a certain time in the rotational drive control in the steady rotational state after the forced rotational drive of the sensorless motor. Abnormality detecting means for detecting an abnormality, and adjusting at least one of a gain of the current control means, a gain of the motor driving means, and a value of a resistance or a capacitor of the filter in response to an abnormality detection of the abnormality detecting means. A gain adjusting means for adjusting the gain of the control system; and a retry control means for re-executing the rotation drive control in the steady rotation state by the control system in a state where the gain of the control system is adjusted by the gain adjusting means. And a sensorless motor control device. 5. A sensorless motor rotational drive control retry method applied to a sensorless motor control device that performs rotational drive control of a sensorless motor by a feedback control system, the method comprising: rotating the sensorless motor in a steady state after a forced rotational drive. The drive control detects an abnormality in which the rotation speed of the motor does not converge within the target rotation speed accuracy within a predetermined time, and adjusts the gain of the control system at the time of the abnormality detection to adjust the gain in the steady rotation state by the control system. A sensorless motor rotation drive control retry method characterized by retrying rotation drive control of a sensorless motor. 6. A sensorless motor rotation drive control retry method applied to a sensorless motor control device for performing rotation drive control of a sensorless motor by a feedback control system, comprising: a rotation in a steady rotation state after a forced rotation drive of the sensorless motor. The history of the time change of the rotation speed of the motor in the drive control is recorded, and the rotation speed of the motor is set to the target rotation speed within a certain time in the rotation drive control in the steady rotation state after the forced rotation drive of the sensorless motor. If an abnormality that does not converge within the accuracy is detected, the gain of the control system is adjusted based on the recorded history of the time change of the rotation speed, and the gain of the control system is adjusted in a state where the gain is adjusted. A sensor for retrying rotation control of the sensorless motor in the steady rotation state by a control system. Motorless drive control retry method.