JPS5863086A - Controlling device for motor - Google Patents

Abstract

PURPOSE:To miniaturize and integrate a motor controlling device conducting an electrically forced stoppage, by supplying a reverse-direction current to a driving coil to generate a reverse-rotation torque when the rotation of a motor stops, and by detecting a zero of the speed of rotation and thereby stopping the supply of the above current. CONSTITUTION:When a rotor is rotating, outputs delivered differentially from Hall element units 2 and 3 are impressed on current buffers 6 and 7, and they are converted there into currents, which are supplied to driving coil units 4 and 5, respectively. At the time of a forced stoppage, a negative-phase signal is supplied to the current buffer circuits 6 and 7 by means of a phase inversion switch 10, and thereby a torque in the reverse direction of rotation is generated for deceleration. At the time point whereat the speed of rotation turns zero, the phase inversion switch 10 is put in an open state by an output from a rotation detecting element circuit 11, thereby the drive in the reverse direction of rotation is stopped, and thus the forced stoppage is attained.

Description

[Detailed description of the invention] The invention relates to a forced stop device for a motor.
For conventional mechanical forced stop devices associated with IC (integrated circuit) motor control circuits.

The above-mentioned forced stop is performed purely electrically, and the forced stop device is integrated inside the IC of the control circuit to achieve miniaturization and IC implementation.

A conventional rotational forced stop system will be explained by taking the two-phase rotor shown in FIG. 1 as an example. In Fig. 1, in order to detect the rotational position of rotor l with a 91% IU rotor, it faces this rotor 1 and is located at 90 degrees with respect to the rotational axis of rotor l.
06t- Hall elements are provided in the Hall element parts 2 and 3, respectively. These Hall element parts 2
．． The differential output signals applied to the output terminals 3 are applied to current buffer circuits 6+7 via switch circuits 8, respectively. The switch circuit 8 controls the output signal from the Hall element section 2t3, and the opening and closing of the rotor 1 is controlled by the signal indicating whether or not the rotor 1 is to be rotated. The output from the current buffer circuit 6.7 rotates the rotor 1 by passing a current into the venue.

The mechanical stop device 9 stops the rotor 1 by mechanically holding down the rotor 1 upon generation of a rotation stop signal.

During rotation, differential output signals from the Hall element sections 2+3 are applied to the current buffer circuits 6-7, respectively.
The current output from the &Cff buffer circuit 6 and 7 flows through each drive coil portion 4I5t, causing the rotor 1 to rotate. now,
When a rotation stop signal that stops rotation is generated, the switch circuit 8 becomes open and prevents the differential output type signal output from the Hall element section 2#3 from being applied to each current buffer circuit 6-7. interrupt. At the same time, the mechanical stop device 1 holds down the rotor 1 and stops the rotation of the rotor 1.

However, this conventional forced stop device has the disadvantage that there is a limit to the miniaturization and quantification of the mechanical stop device 9, and that it requires adjustment of its position, etc. For this reason, it is difficult to use an IC for the control circuit. This is not suitable for the integration of accompanying equipment. The parts that can be integrated in FIG.
It is.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control device that performs an electrically forced stop, thereby realizing miniaturization, weight reduction, no adjustment, and integration of the device.

That is, the present invention supplies a current in the opposite direction to the drive coil when rotation is stopped to generate reverse rotation torque.

The device is characterized in that the current supply to the drive coil is stopped when the rotation stops.

The present invention will be explained in detail with reference to the drawings. The same functional parts are designated by the same numbers throughout the drawings.

FIG. 2 is a block diagram showing the principle of the invention.

The difference from FIG. 1 is that a phase inversion switch circuit 10 is provided instead of the switch circuit 8 for supplying the signal from the Hall element section 293 in positive and negative phases to the current buffer circuit 6 or 7. The reason is that a step 11 is provided to stop the rotation of the rotor l from the Hall element section 2-3. When the phase inversion switch circuit 10 becomes open, the output supply to the current buffer circuit 6.7 is prohibited. The phase reversing switch circuit 1O and the rotation detection circuit 11 are used to forcibly stop the circuit. Therefore, there is no need for an external stop device such as the mechanical stop device 9 as shown in FIG.

Next, the principle of operation will be explained using the timing chart of FIG. If the first rotor l is now rotating,
The differential outputs of the Hall element sections 2 and 3 are applied to the current buffer 697, converted into a W current, and the outputs of the respective current buffers 6#7 are applied to the drive coil section 415 as shown in FIG. a) Apply a current such as I (b). Assuming that the rotor 1 is driven in the forward rotation direction in this state, the currents flowing through the drive fill sections 4 and 5 are shown in the same figure (C).
, It is clear from Fleming's left-hand rule that when the phase is reversed as shown in (d), the rotor l is driven in the opposite direction of rotation.The present invention focuses on this point. i.e. 1
By using a signal arrangement that generates torque in the reverse rotation direction during forced stop, which is different from that during forward rotation, the phase reversal switch 1
0 is used to supply a reverse phase signal to the current/<277 circuit 697 to decelerate the rotation of the rotor 1. Then, when the rotation speed of one rotor 1 becomes zero, one rotation detection element circuit 1
The output from the rotor 1 causes the rotor 1 to open and stop the drive in the reverse rotation direction, resulting in a forced stop. Definitely stop. And again.

In FIG. 2, the blocks that can be integrated into an integrated circuit are the current buffer circuit 6.7, the phase inversion switch 10, and the rotation detection circuit 11, as shown by the dashed line 300, and therefore the device can be made smaller and lighter. Ru.

Next, a circuit diagram of a specific embodiment of the main blocks shown in FIG. 2 will be shown and the operation of the main block will be explained in more detail.

First, the phase inversion switch circuit 10 will be explained with reference to FIG. A differential output from the Hall element section 2 is supplied to each pace of a pair of transistors 17 and 18 whose emitters and electrodes are commonly connected.

Each pace of transistors 1B and 17 is connected to each pace of transistor pair 19 and 20, respectively, whose emitters are commonly connected. The collector of transistor 19 is commonly connected to the collector of transistor 17,
The collectors of transistors 18 and 20 are also commonly connected. The load of transistor pair 17+18 and 19t20 is diode 15. Transistor 13 and resistor 12s
14, and a transistor 17
The common collector of the terminal 19 becomes the output terminal 10a to the current buffer circuit 6. This output terminal lOa and ground 300
A resistor 16 is connected between the terminal and the terminal 0. The differentially connected transistor pairs 26+27, 28, and 29 are also connected in the same way, and an active load consisting of a diode 24+transistor 22 and a resistor 21*23 is connected as a load.
and the output terminal 10b to the current buffer circuit 7 is taken out from the collector of the transistor 26, 28,
A resistor 2 is connected between this output terminal lOb and the ground 3000.
5 is connected. Transistor pair 17*18 and 26
*27 common emitter connection points are commonly connected to each other, and diode 36% transistor 342 and resistor 3
It is connected to a constant current circuit consisting of 5+37.

A constant current source 40 and a transistor 3 are provided on the reference side of the constant current circuit.
8 collectors are connected. At the same time transistor 19+
20 and 28.29 are commonly connected tt, diode 3
2, connected to a constant current circuit consisting of a transistor 30 and a resistor 31s33.

A transmitter of a transistor 39 is connected to the reference side of the constant current circuit. The collector of the transistor 39 is connected to a constant current source 41, and the base is connected to the collector of transistors 48 and 49 (Qll) whose emitters are commonly connected to the anode of a diode 43 that provides base bias.The base of the transistor 49 is connected to a reference voltage source. 42.

The base of the transistor 48 is connected to a contact 52a of a switch 52 for performing one forced stop, and further connected to a negative power supply 2000 via a resistor 55.

Contact 52b of switch 52 goes to ground 3000, 52
c are respectively connected to the negative power supply 2000. The common emitters of the differentially connected transistors 48 and 49 are connected to a constant current circuit composed of a diode 51t transistor 46 and a resistor 47w50.The base of the transistor 46 is connected to the negative power supply 200 through a constant current source 410t'. connected to.

The preverter of the transistor 54 is connected in parallel to the diode 51 and the resistor 50, and the base of the transistor 54 is connected to the collector of the transistor 53. The emitter of the transistor 53 is connected to the negative power supply 2000, and the base thereof is connected to the output terminal 11a of the rotation detection circuit 11.

Furthermore, the base of the transistor 53 and the transistor 56
emitter of.

A negative power supply 2000 is connected through the collector.

The base of transistor 56 is connected to resistor 55.

Next, when the first rotor 1 rotates forward, the contact 521 of the switch 52
The operation will be described assuming that 1 is connected to the contact 528 and rt is connected to the contact 52b when stopped.

Now, during forward rotation, the switch 52 is connected to the negative power supply line 2000.
Since the transistors 38s39 are connected to Transistor pair 17*18 and 26*
27 is driven. At this time, the two transistor pairs 19+20 and 28t29, which are connected by a common emitter, do not operate as a constant current circuit consisting of the diode 32 and the transistor 30% resistor 31°33 because the transistor 39 is off. not driven by. Here, when the switch 52t' is switched to raise the contact point 52m to the ground level 3000 in order to force a stop, the rotor l is rotating in the forward direction, and as will become clear from the explanation below, the output terminal 11a of the rotation detection circuit is While the level is controlled to low level, transistors 53 and 54 are in an off state. Therefore, a constant current circuit consisting of diode 51, transistor 46 and resistor 47s50 operates to drive transistor 4Bt49 whose emitters are commonly connected.

At this time, since the base of transistor 48 is raised to the ground 2 in level 3000, transistor 49 turns on, and diodes 43 + 44 and resistor 45
A voltage is generated in the transistor 39, turning on the transistor 39. Due to this, the diode 32, the transistor 30 and the resistor 31
A current from a constant current source 41 flows into a constant current circuit consisting of s32, and a pair of transistors 19 whose common emitters are connected
．． 20 and 28.29. In addition, the switch 52
Since the voltage is raised to the ground line level 3000, a potential difference is generated at the resistor 55, and the transistor 38 is turned on. As a result, the constant current circuit consisting of the diode 36° transistor 34 and the resistor 35.37 is constructed by a pair of transistors connected to a common emitter so that the bias of the base of the transistor 34 becomes the negative power supply line 2000. 17+18 and 26.27 cannot be driven, and therefore transistors 17.18 and 26.27 do not operate as transistors.
By increasing the value to 00, the transistor pairs 17, 18 and 26*27 that were operating before the forced stop will no longer operate, and the transistor pair 19s20 and 28r2 will be replaced in place of 9.
9 will work. Also, transistors 17 and 2
The bases 0, 18, 19.26, 29.27 and 28 are commonly connected. Therefore, an active load consisting of diode 1st transistor 13 and resistor 12゜14 as well as resistor 161 and diode 24g transistor 2
The active load consisting of 2 and resistors 21+23 and the resistor 25 have two cases: 1. Transistor 17.18 operates and transistor 28.29 does not operate immediately before the forced stop, and transistor 28ν29 operates immediately after the forced stop and transistor 17.18 In this case, input signals having phases opposite to each other are applied.

As a result, at the time of 1 forced stop, the current waveform that was flowing through the drive coil section 4.5 until just before the forced stop (Fig. 3(a) I(b
)) is a current waveform with opposite phase (Figure 3 (C), (d))
According to Fleming's five-move rule, torque is generated in the opposite rotational direction and the rotor 1 is decelerated.

When the rotational speed is temporarily reduced to zero due to deceleration, the output terminal 11a of the rotation detection element 11 becomes high level, and the transistors 53 and 54 become conductive, as will be described later. 1 for this
: Therefore, the constant current circuit consisting of the diode 51, the transistor 46, and the resistors 50 and 47 stops operating because the base bias of the transistor 46 #1 becomes the ground level 3000. Therefore, the transistors 48 and 49 whose emitters are connected in common are not driven, and as a result, the transistor 39 is turned off and the diode 32 is turned off.
The constant current formed by the g transistor 30 and the resistors 31 and 32 cannot drive the transistors 19°20 and 28v29 whose emitters are commonly connected, and no torque is generated in the reverse direction. Further, at this time, the transistor 38 remains conductive. Therefore.

The rotor 1 stops as soon as the rotational speed becomes low.

To start up again, switch 52 is switched to connect from ground level 3000 to negative power supply level 2000. In this state, since the rotor 1 is in a stopped state, a high level is output from the output terminal 11a of the rotation detection circuit 11. However, since the base of transistor 560 is at the negative current source level 2000, it turns on, forcing transistor 53 to shut off. Therefore, transistors 53 and 54 are turned off, and a constant current circuit including a diode 51t transistor 46 and a resistor 47 + 50 drives a transistor 4ge49 whose emitters are commonly connected. In this state, the base of transistor 49 is biased with reference voltage 42 and the base of transistor 48 is at approximately the negative power supply level 2000, so that transistor 49 is not cut off and transistor 39 is also off. Further, the base bias of the transistor 38 is approximately at a negative power supply level, so that the transistor 38 is turned off. Therefore, by supplying current from the constant current source 40, the diode 36I
A constant current circuit consisting of transistor 34 and resistor 35 + 37 operates, and transistors 17 + 18 and 26
* 27 is driven and the rotor 1 rotates in the forward direction.

In other words, it will be restarted.

FIG. 4 also shows a specific circuit example of the Hall element sections 2 and 3. That is, in the Hall element section 2, the Hall element 58 is connected to the ground level 300 by the resistor 57 + 59.
A constant current is supplied by the zero and negative power supply lines 2000, and the output end 2a coming out from the Hall element 58 due to the magnetic flux density from the rotor 1 transmitted over the Hall element 58.
A short-hole voltage is generated between +2b and 2b due to the Hall effect. Similarly, in the hall confectionery 3, the hall element 61 has a resistor 60
．． 62, a constant current is supplied by the ground level 3000 and the negative power supply line 2000, and due to the magnetic flux density of the rotor l which is magnetized above the Hall element 61, the current flows between the output terminals 3a and 3b from the P Hall element 62. A p-Hall voltage is generated due to the Hall effect.

Next, a specific circuit example of the current buffer circuit 6t7 and the drive coil section 4v5 will be explained using FIG.

The output terminal 10a shown in the fourth line is connected to the non-inverting input of the amplifier 73 in the current buffer circuit 6 in FIG.
Its output is connected to the base of transistors 70 and 71. The emitters of transistors 70 and 71 are connected in common, and further connected to the inverting input of amplifier 73 for feedback. Transistor 70 The collector of is resistor 69
tl- to the positive power supply line 1000, and the collector of the transistor 71 is connected to the negative power supply line 2000 through a resistor 727. When blowing out current to the drive coil section 4, the transistor 70. Resistor 69.66 and goes through coil 63 to ground line 3000, and when sucking, resistor 66t transistor 71 resistor 72
A negative power supply line /20001f is fed through the coil 63. In addition, tran-distaff.

The collector of the transistor 67 is connected to the base of the transistor 67, and the collector of the transistor 71 is connected to the base of the transistor 68.
The collectors of transistors 67+68 are commonly connected to amplifier 73. Transistors 70, 71 and resistor 6
The current output from 9t 72 is amplified and supplied to the drive coil 4.

Current buffer circuit 7% has the same configuration, the output terminal 10b is connected to the non-inverting input of amplifier 84, its output is connected to the base of transistor 81882, and their commonly connected emitters are connected to the inverting input of amplifier 84. The return is almost impossible. The collector of the transistor 81 is connected to the positive power supply line 1000 through the resistor 8o, and the collector of the transistor 11:star 82 is connected to the negative power supply line 2000 through the resistor 83t. The base of the transistor 79 is connected to the collector of the transistor 81, and the base of the transistor 78 is connected to the collector of the transistor 82.
Currents output from 4I transistors 81 and 82 and resistors 8o and 83 are amplified and supplied to drive coil section 5.

Current is blown into and out of the drive coil 5 via the coil 74 and the resistor 77.

The drive coil sections 4 and 5 are driven by magnetic currents output from the current buffers 6 and 7 according to Fleming's left-hand rule. Resistance 64 + capacitor 65° in drive coil section 4 and resistance 75 in drive coil section 5. Capacitor 76 is for preventing resonance of coils 63 and 74, respectively.

Next, the rotation detection circuit 11 will be explained using FIG. Each second output terminal 2a of the Hall element section 2.3
*2b and 3a*3b signals are each in a differential output signal format. A signal applied from the Hall element section 2 is connected to a differentially connected transistor 89e90 driven by a constant current source 91. Transistor 89 * 90
Resistors 87 and 88 serving as a load are connected to the collectors of the resistors 87 and 88, and the other ends of the resistors 87 and 88 are commonly connected to the Gelandra 9.
I'll take it in 5. The collectors of the transistors 94 * 95 are connected to the load transistors 96 and 97, and further connected to the negative power supply line 2000 by cascading diodes 98 and 99.
connected to. The collector outputs of transistors 94°95 are the transistors 101*107+103 and 111.
and differential transistors 108*109 (D) which apply trigger pulses to seven lip-flop circuits consisting of resistors 102, 110, 100° and 106.

The area of the transistor 103 is the same as that of the transistor 11.
It is set larger than 1 so that a high level signal is output from the output terminal 11a even when there is no signal. The constant current source 114 is used as a reference constant current, and a constant current obtained by inverting this constant current by a transistor 1131105 and resistors 112-104 is supplied to the differential transistors 108*109. Transistor 94.95&'1
．． ) Runrasta 93. A constant current is supplied to the resistor 92.

A signal from the Hall element 3 is supplied to differentially connected transistors 128 and 129 which are driven by a constant current source 130. The collectors of the transistors 128 and 129 are connected to resistors 126 and 127, and the other ends of each resistor are commonly connected and connected to the ground line 3000 through diodes 124 and 125. Transistor 128*129
The collector output of is fed to a transistor 121r 122 forming another difference kh amplifier, which is driven by a constant IItN source 123. The collector of transistor 121 is connected to the emitter of transistor 105.

The collector output of the other transistor l 22 (2) is the transistor 120 + 118 * 115 and 119 117
? Transistor 108+ through the current inversion circuit of 116
109 base.

The signal waveforms of the output terminals 2aI2b and 3a t 3b of the output terminals 2aI2b and 3a t 3b of the Hall element sections 2 and 3 are as follows. 7(a), (b) and (C), (d).
become that way. Now, these output ends 2a+2b and 3a
t 3b is respectively ノ\I, LOW and LOW, HI”
At level (I), transistors 89 and 129 are on and transistors 90 and 128 are off. Therefore, transistor 94 is turned on and 95
is off. Transistor 97 is turned on by current supply from transistor 94, and transistor 96 is in an off state.

At this time, the transistor 121 is in the on state, so
It draws the emitter current of transistor 105, so transistors 108e109 do not operate.

Further, since transistor 109 is in an off state, transistors 115sl18 and 120 are also in an off state.

Since transistor 97 is on and transistor 96 is off,
The collector voltage of each transistor 96,97 is
As shown in FIG. 7(e) and (f), ZvF+
VBBIT and 2■F.

Here, sVF is the voltage drop across the diode 98.99.

VBB Id, ) is the voltage between the base and emitter of the transistor. This voltage is applied to the bases of transistors 108 * 109, but since these are inactive as mentioned above, there is no triggering to the flip-flops including transistors IO3, 111.

Next, according to the state of (■) <high, low, high and low level output terminals 2a + 2b + 3a and 3b
, the states of transistors 89=90194> and 95 do not change. However, the transistor 128s 1
The states of 291121 and 122 change and n
On, off, off and on state. Since the transistor 121 is turned off.

Transistors 105 and 108 and 109 are activated.
Sign. Then, since the voltage of transistor 1090 is higher than that of transistor 108, transistor 108 becomes conductive, triggering the flip-flop and turning on transistor 111. Therefore, the output terminal 11a is inverted to low level. Here, when the transistor 122 becomes conductive, the transistors 120, 115, and 118 become conductive and a current flows, but since that current is supplied to the collectors of both transistors 96*97, there is no change in the state of the transistors 96 and 97. .

In state (7), the output terminals 2a and 2b are at low and high levels, so the transistor 94 is turned on. At this time, the output terminals 3a and 3b are at the signal level of state (1). Therefore, transistor 122
The +120 pins 5 and 118 are conductive, thus supplying current to transistors 96 and 97. Therefore, even if the state of the transistor 94.95 changes, the state of the transistor 96.97 does not change, and therefore its collector voltage remains as shown in FIGS. 7(C) and 7(f). There was no change in the status of 109.

The state of the output terminal 11g also remains unchanged.

Next, it becomes a carp state and goes low, high and low.

High level signals are output terminals 2a+2b and 3g+3b
When the output is output to , the transistors 94 and 95 do not change from the state a), but the current supply from the transistors 115t and 11B disappears because the transistor 122 turns on. Therefore, transistor 96 is turned on, transistor 97 is turned off, and their collector voltages are as shown in FIG. 7(e).
, 2vF and 2VF+VBEes as in (f)
’voltage. However, in this case, transistor 12
1 is in the on state, transistors 105 and 1
08s109 is in an inactive state. Therefore, no trigger is performed and there is no level change at the output terminal 11a.

Since the next state is the state (i) mentioned above, the output terminal 1
1a remains at low level.

Like this h lP! As long as the first trochanter l is rotating, the output of the output terminal 11a of the rotation detection circuit 11 is as shown in FIG. 7(g).
As in, it remains at a low level.

A forced stop operation is performed and the rotor l decelerates.

When the speed finally reaches a certain level, output terminal 2a I 2b t
Only the flip-flop including the 3a* resistor 103ell is activated. At this time, as described above, the emitter area of transistor 1030 is set larger than that of transistor 111.

The transistor 103 is turned on, the transistor 111 is turned off, and the output terminal 11a becomes high level.

As described above, according to the present invention, there is no need to attach a mechanical stop device or a V4, and it can be incorporated into the control iU to perform a forced stop purely electrically. Conventionally, integration was up to 200' in Figure 1, but according to the present application, it is 300' in Figure 3! This makes it possible to integrate. Therefore, the system can be made smaller and lighter.

It has many advantages such as improved reliability.

1

[Brief explanation of the drawing]

FIG. 1 shows a diagram of a conventional example. FIG. 2 is a block diagram of the present invention, and FIG. 3 is a timing chart showing the operating principle of the invention. Figure 4 is a circuit diagram showing a specific example of a switch circuit. Figure 1M5 is a circuit diagram showing a specific example of a current buffer and drive coil. Figure 6 is a circuit diagram showing a specific example of a rotation detection circuit. 7 is a timing chart showing an explanation of the operation of FIG. 6. FIG. 4.5...Drive coil section, l...Rotor, 9...Mechanical brake circuit, 6 or 7...
...Current buffer circuit kslio...Switch circuit, 2-3...Hall gate part, 11...
... Rotation detection circuit, 1000: ... Positive power supply line, 3000 ... Ground line. 2000... Negative power line, 58*61"...
...Hall element s 2at2b*3at3b...
...Output terminal of the Hall element section %lla...Output terminal of the rotation detection circuit.

Claims (1)

[Claims] Supplying current to a drive coil to rotate the motor, supplying current in the opposite direction to the drive coil to decelerate the motor when the rotation stops, and detecting zero rotational speed to stop the current supply to the drive coil. A motor control device featuring: