KR100643168B1 - Bldc motor driving method using lead angle adjustment - Google Patents

Bldc motor driving method using lead angle adjustment Download PDF

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Publication number
KR100643168B1
KR100643168B1 KR1020060067793A KR20060067793A KR100643168B1 KR 100643168 B1 KR100643168 B1 KR 100643168B1 KR 1020060067793 A KR1020060067793 A KR 1020060067793A KR 20060067793 A KR20060067793 A KR 20060067793A KR 100643168 B1 KR100643168 B1 KR 100643168B1
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South Korea
Prior art keywords
mcu
bldc motor
motor
rotational speed
inverter
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KR1020060067793A
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Korean (ko)
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이근호
박창수
박종락
조재옥
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주식회사 삼현
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/17—Circuit arrangements for detecting position and for generating speed information
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

A method for driving a BLDC(BrushLess DC) motor by adjusting a lead angle is provided to improve the performance of the BLDC motor by optimizing torque without using additional hardware components. An MCU(Micro Controller Unit) produces a rotation speed of a BLDC motor by using a clock and a position of a rotor received from a position sensor(S11). The MCU compares the produced rotation speed with a reference speed(S12). The MCU sets a lead angle corresponding to the rotation speed from a memory device(S21). The MCU produces a current application time by applying the set lead angle and controls an inverter according to the current application time(S31).

Description

진상각 조정을 통한 비엘디씨모터의 구동방법 {BLDC motor driving method using lead angle adjustment}BLDC motor driving method using lead angle adjustment

도 1은 비엘디씨모터의 제어장치 블럭도1 is a block diagram of a control device of the BCD motor

도 2는 비엘디씨모터의 구동요소별 파형도2 is a waveform diagram for each driving element of the BCD motor

도 3은 비엘디씨모터의 저속회전시 파형도Figure 3 is a waveform diagram of the low speed rotation of the BC motor

도 4는 비엘디씨모터의 고속회전시 파형도4 is a waveform diagram of the high speed rotation of the BCD motor

도 5는 본 발명의 진상각 조정을 통한 고속회전시 파형도Figure 5 is a waveform diagram at high speed rotation through the fastening angle adjustment of the present invention

도 6은 본 발명의 흐름도6 is a flow chart of the present invention.

<도면의 주요부분에 대한 부호설명><Code Description of Main Parts of Drawing>

100 : BLDC모터(BrushLess DC Motor)100: BLDC Motor (BrushLess DC Motor)

110 : 위치센서(rotor position sensor)110: rotor position sensor

200 : 인버터(inverter)200: inverter

300 : MCU(Micro Controller Unit)300: MCU (Micro Controller Unit)

310 : 기억장치310: memory device

320 : 입력부320: input unit

400 : PWM생성부400: PWM generator

S11 : 회전속도산출단계S11: Rotational speed calculation step

S12 : 회전속도판단단계S12: Rotational Speed Judgment Step

S21 : 진상각설정단계S21: fast forward angle setting step

S31 : 인버터제어단계S31: inverter control step

본 발명은 BLDC모터(BrushLess DC Motor)의 구동을 제어하기 위한 제어장치를 운용함에 있어서, 기 설정된 고속회전시 회전속도별 진상각 조정치를 기억장치에 수록하고, BLDC모터의 회전속도가 소정의 기준치를 초과할 시 이를 인출하여 전류투입시점의 조정에 적용함으로써, 고속회전시 토크를 향상시킬 수 있도록 한 것이다.In the present invention, when operating a control device for controlling the operation of a brushless DC motor (BrushLess DC Motor), the preset fastening angle adjustment value for each rotational speed at high speed rotation is stored in the memory device, the rotational speed of the BLDC motor is a predetermined reference value When exceeding, it is taken out and applied to the adjustment of the current injection time, so that it is possible to improve the torque at high speed rotation.

BLDC모터는 구조적으로 영구자석의 회전자가 적용된 동기모터와 유사하나, 작동방식에 있어서는 전력용 반도체 스위칭소자와 회전자의 위치검출수단을 통하여 회전자의 기자력과 고정자의 기자력이 일정각을 유지하도록 함으로써 직류모터의 운전특성을 얻게되는 특징이 있다.The BLDC motor is similar in structure to the synchronous motor in which the permanent magnet rotor is applied, but in the operation method, the magnetomotive force of the rotor and the magnetomotive force of the stator maintain a constant angle through the power semiconductor switching element and the position detecting means of the rotor. It is characterized by obtaining the operating characteristics of DC motor.

따라서 BLDC모터는 정류자형 직류모터에서와 같이 브러시의 마멸로 인한 보수가 필요없으면서도 정류자형 직류모터와 같은 우수한 제어특성을 가지며, 전력용 반도체 스위칭소자의 개발과 희토류자석의 개발에 힘입어 고속화 및 소형화가 가능하게 되어 서보시스템의 다양한 분야에서 널리 사용되고 있다.Therefore, BLDC motor has the same superior control characteristics as the commutator DC motor without requiring repair due to brush wear as in the commutator DC motor.The BLDC motor has high speed and speed due to the development of power semiconductor switching elements and the development of rare earth magnets. It is possible to miniaturize and is widely used in various fields of the servo system.

BLDC모터는 통상 영구자석인 회전자와 고정된 계자권선을 가지며, 도 1에 도시된 BLDC모터(100)는 3상의 계자권선을 가지는 경우로서, 동 도면에 도시된 바와 같이, 위치센서(110)에 의하여 회전자의 위치가 검측되고, 검측된 위치에 의하여 MCU(300)가 PWM생성부(400) 및 인버터(200)를 제어함으로써, 인버터(200)에 의하여 각 계자권선별로 전압의 인가 및 해제가 반복되며 BLDC모터(100)가 회전하게 된다.The BLDC motor has a rotor and a fixed field winding, which is usually a permanent magnet, and the BLDC motor 100 shown in FIG. 1 has a three-phase field winding, and as shown in the figure, the position sensor 110. The position of the rotor is detected by the controller, and the MCU 300 controls the PWM generator 400 and the inverter 200 based on the detected position, thereby applying and releasing voltage for each field winding by the inverter 200. Is repeated and the BLDC motor 100 is rotated.

일단 BLDC모터(100)의 회전자가 회전하게 되면 자계속을 도선이 움직이는 것과 같은 효과가 발생하게 되어, 각 계자권선에 유도기전력인 역기전력이 발생하게 되며, 따라서 각 계자권선에는 인가전압에서 역기전력전압을 감한 전압에 따라 권선전류가 흐르게 된다.Once the rotor of the BLDC motor 100 rotates, the same effect as the conducting movement of the magnetic wire is generated, and the counter electromotive force which is induced electromotive force is generated in each field winding. Therefore, the counter electromotive force is applied to each field winding at the applied voltage. The winding current flows according to the subtracted voltage.

저속회전시 BLDC모터(100)의 위상에 따른 권선전류, 역기전력전압 및 토크의 파형은 도 2에 도시되어 있으며, 이들 중 0도에서 180도 구간의 파형을 하나의 위상축에 도시하면 도 3과 같다.The waveforms of the winding current, back EMF voltage and torque according to the phase of the BLDC motor 100 at the low speed rotation are shown in FIG. 2, and the waveforms of 0 to 180 degrees on one phase axis are shown in FIG. 3. same.

도 3에 도시된 바와 같이, 역기전력과 권선전류의 중복되는 영역이 클수록 BLDC모터(100)의 토크도 커지게 되는데, 따라서 역기전력과 권선전류의 파형이 동형(同形) 및 동상(同相, synchronized)일 경우 이상적인 토크출력을 가지게 된다.As shown in FIG. 3, the greater the overlapping area of the counter electromotive force and the winding current, the greater the torque of the BLDC motor 100. Therefore, the waveforms of the counter electromotive force and the winding current are homogeneous and synchronized. In this case, it has an ideal torque output.

그러나, BLDC모터(100)의 회전속도가 증가함에 따라, 계자권선의 역기전력도 증가하게 되므로, 인가전압과 역기전력의 차인 실제 권선전압은 전원인가시 완만하게 증가하였다가, 전원차단시 급격하게 감소하는 양태를 보이게 되며, 그에 따라 권선전류 또한 도 4에서와 같이 완만한 증가구간과 급격한 감소구간을 가지는 톱니파형태를 가지게 될 뿐 아니라, 계자권선의 인덕턴스에 의한 시간지연으로 인하여 파형이 늘어지는 현상이 발생하게 된다.However, as the rotation speed of the BLDC motor 100 increases, the counter electromotive force of the field winding also increases, so that the actual winding voltage, which is the difference between the applied voltage and the counter electromotive force, gradually increases when the power is applied, and then suddenly decreases when the power is turned off. As a result, as shown in FIG. 4, the winding current also has a sawtooth wave shape having a gradual increase section and a sharp decrease section, as well as a phenomenon in which the waveform sags due to the time delay caused by the inductance of the field winding. Done.

따라서 동 도면에 도시된 바와 같이, 토크의 파형이 비대칭적으로 변화하고 그 크기 또한 감소될 수 밖에 없어서, 출력향상을 위하여 BLDC모터(100)의 물리적 제원을 조정하여야 하는 문제점이 있었다.Therefore, as shown in the figure, the waveform of the torque is asymmetrically changed and the size can also be reduced, there is a problem that the physical specifications of the BLDC motor 100 must be adjusted to improve the output.

본 발명은 전술한 문제점을 감안하여 창안한 것으로, BLDC모터를 구동함에 있어서, 고속회전시 회전속도별 진상각(lead angle) 조정치를 기억장치에 저장하고, 이를 인출 및 적용하여, BLDC모터에 대한 전류인가 시점을 조정함으로써, 토크발생 양태를 최적화할 수 있도록 한 것이다.SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and in driving a BLDC motor, a lead angle adjustment value for each rotational speed at high speed rotation is stored in a memory device, and is extracted and applied to the BLDC motor. By adjusting the timing of applying the current, it is possible to optimize the torque generation mode.

본 발명은 별도의 하드웨어적 구성요소의 추가없이, 기억장치에 기 설정된 진상각 정보 및 이에 대한 운용소프트웨어만을 탑재함으로써 실시가 가능하다.The present invention can be implemented by mounting only the preset factual information and the operating software thereof in the storage device without the addition of additional hardware components.

본 발명의 상세한 구성 및 수행절차를 첨부된 도면을 통하여 설명하면 다음과 같다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A detailed configuration and a procedure of the present invention will be described with reference to the accompanying drawings.

우선 도 1은 본 발명을 포함한 BLDC모터(100)의 제어장치를 간략하게 도시한 것으로, BLDC모터(100)에 전원을 인가하는 인버터(200)와 인버터(200)구동을 위한 PWM(Pulse Width Modulation)신호를 발생하는 PWM생성부(400), 이들 인버터(200) 및 PWM생성부(400)를 제어하는 MCU(300), MCU(300)에 회전자의 위치를 검출하여 전송하는 위치센서(110), MCU(300)와 연결되고, 각종 설정치 및 운용소프트웨어가 수록되는 기억장치(310) 및 사용자의 조작에 따라 기동, 정지 및 속도조절 등의 입력을 담당하는 입력부(320)가 구성되어 있다.First, FIG. 1 briefly illustrates a control device of a BLDC motor 100 including the present invention, and a PWM (Pulse Width Modulation) for driving the inverter 200 and the inverter 200 for applying power to the BLDC motor 100 is shown. PWM generating unit 400 for generating a signal, MCU 300 for controlling these inverters 200 and PWM generating unit 400, position sensor 110 for detecting and transmitting the position of the rotor to the MCU (300) ), A memory device 310 connected to the MCU 300 and storing various setting values and operation software, and an input unit 320 for inputting start, stop, and speed control according to a user's operation.

도 5는 본 발명에 의하여 진상각이 조정되는 상황을 도시한 것으로, 0도에서 180도에 이르는 토크, 권선전류 및 역기전력의 파형을 도시하고 있으며, 진상각의 조정이 이루어지지 않은 종래 BLDC모터(100)의 파형인 도 4와 비교해 볼때, 역기전력과 권선전류의 중첩영역이 상당수준 확대되었음을 알 수 있다.5 illustrates a situation in which the fastening angle is adjusted according to the present invention, and shows a waveform of torque, winding current, and counter electromotive force ranging from 0 degrees to 180 degrees, and the conventional BLDC motor (without adjusting the fastening angle) ( As compared with FIG. 4, which is the waveform of 100, it can be seen that the overlapping region of the counter electromotive force and the winding current has been significantly expanded.

이러한 진상각의 조정은 도 6에 도시된 과정을 통하여 진행되며, 이를 상세히 설명하면 다음과 같다.The adjustment of the true angle is performed through the process shown in FIG. 6, which will be described in detail as follows.

우선, BLDC모터(100)의 회전이 개시되면 MCU(300)는 위치센서(110)로부터 수신한 회전자위치정보와 자체 내장된 클럭(Clock)에 의하여 BLDC모터(100)의 각속도 즉, 회전속도(V)를 산출하게 된다.First, when the rotation of the BLDC motor 100 starts, the MCU 300 rotates the angular velocity, that is, the rotational speed, of the BLDC motor 100 based on the rotor position information received from the position sensor 110 and a built-in clock. (V) is calculated.

진상각(Θ) 조정의 필요성은 고속회전에 따른 권선전류의 파형변화에 기인하는 것이므로, 회전속도(V)가 소정의 속도 이상일 경우, 즉 권선전류의 파형변화가 유의(有意)한 수준 이상일 경우에 진상각(Θ)의 조정이 필요하게 된다.Since the necessity of adjusting the fastening angle Θ is due to the change in the waveform of the winding current according to the high speed rotation, when the rotational speed V is above a predetermined speed, that is, when the change in the waveform of the winding current is more than a significant level. It is necessary to adjust the fastening angle Θ.

따라서, 회전속도(V)가 산출되면 산출된 회전속도(V)가 소정의 기준속도(Vc)를 초과할 경우 진상각(Θ)을 조정하는 다음 과정을 진행하고, 회전속도(V)가 기준속도(Vc) 이하일 경우 진상각(Θ) 조정을 수행하지 않거나 기 설정된 초기치(Θi) 를 적용하게 된다.Therefore, when the rotational speed V is calculated, when the calculated rotational speed V exceeds the predetermined reference speed Vc, the following process of adjusting the fastening angle Θ is performed, and the rotational speed V is the reference. If the speed is below Vc, the adjustment of the advance angle Θ is not performed or the preset initial value Θi is applied.

진상각(Θ)의 조정은 기억장치(310)에 수록된 진상각데이터를 인출함으로써 개시되는데, 진상각데이터는 BLDC모터(100) 개발과정에서의 시험 등을 통하여 회전속도(V)별로 산출된 최적의 조정치가, 소정의 함수 또는 순서쌍 등의 형식으로 기억장치(310)에 저장된 것을 말한다.The adjustment of the fastening angle Θ is started by extracting the fastening angle data stored in the memory device 310. The fastening angle data is optimally calculated for each rotational speed (V) through tests in the development process of the BLDC motor 100. Means that the adjustment value is stored in the storage device 310 in the form of a predetermined function or ordered pair.

도 6을 통하여 도시된 진상각데이터는 회전속도(V)를 변수로 하는 함수형태로 표현되어 있으며, 이러한 진상각데이터 함수는 BLDC모터(100)의 제원이나 사용목적 등에 따라 다양하게 설정될 수 있는 것으로, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 BLDC모터(100)의 구동조건에 따라 시험 등을 통하여 설정할 수 있는 사항이므로 이에 대한 청구범위의 구체적인 한정은 하지 않는다.The fast forward angle data shown through FIG. 6 is expressed in the form of a function having a rotational speed (V) as a variable, and the fast forward angle data function may be set in various ways according to the specifications and the purpose of use of the BLDC motor 100. As the matter can be set through a test or the like according to the driving conditions of the BLDC motor 100 by those skilled in the art to which the present invention pertains, there is no specific limitation on the claims.

검측된 회전속도(V)에 따른 진상각(Θ)이 결정되면, MCU(300)가 이를 통하여 전류의 투입시점을 산출한 후 그 결과에 따라 인버터(200)를 제어함으로써 진상각(Θ) 조정이 완료되며, BLDC모터(100)의 회전중에 전술한 과정이 반복되면서, 출력을 최적화 하게 되는 것이다.When the fast angle Θ is determined according to the detected rotational speed V, the MCU 300 calculates the input time of the current through the controller, and adjusts the fast angle Θ by controlling the inverter 200 according to the result. This is completed, while the above-described process is repeated during the rotation of the BLDC motor 100, to optimize the output.

결국 본 발명의 기술요지는 BLDC모터(BrushLess DC Motor)(100)와 연결된 인버터(inverter)(200)와 이를 제어하는 MCU(Micro Controller Unit)(300), MCU(300)에 연결된 기억장치(310) 및 회전자의 위치를 검출하여 MCU(300)에 전송하는 위치센서(110)가 포함된 제어장치로 BLDC모터(100)를 구동함에 있어서, MCU(300)가 위치센서(110)로부터 입력된 회전자위치와 클럭(clock)을 통하여 BLDC모터(100)의 회전속도(V)를 산출하는 회전속도산출단계(S11)와, MCU(300)가 산출된 회전속도(V)와 기 설정된 기준속도(Vc)를 비교하는 회전속도판단단계(S12)와, MCU(300)가 기억장치(310)로부터 회전속도(V)에 해당되는 진상각(Θ)을 인출하는 진상각설정단계(S21)와, MCU(300)가 인출된 진상각(Θ)을 적용하여 전류투입시점을 산출한 후 그에 따라 인버터(200)를 제어하는 인버터(200)제어단계(S31)를 포함함을 특징으로 하는 진상각 조정을 통한 비엘디씨모터의 구동방법이다.After all, the technical aspect of the present invention is an inverter (200) connected to the BLDC motor (BrushLess DC Motor) 100 and the microcontroller unit (300), MCU (300) for controlling the memory device 310 ) And the BLDC motor 100 with the control device including the position sensor 110 for detecting and transmitting the position of the rotor to the MCU 300, the MCU 300 is inputted from the position sensor 110. Rotational speed calculation step S11 of calculating the rotational speed V of the BLDC motor 100 through the rotor position and a clock, and the rotational speed V calculated by the MCU 300 and the preset reference speed. Rotational speed determination step (S12) for comparing (Vc), and advancement angle setting step (S21) and the MCU 300 draws the true angle (Θ) corresponding to the rotational speed (V) from the memory device 310 and The inverter 300 calculates a current input time by applying the extracted advance angle Θ, and then controls the inverter 200 according to the inverter 200. A method of driving a DC motor with Biel amortization adjustment.

본 발명을 통하여 BLDC모터의 출력 및 작동효율을 제고할 수 있으며, 기존의 제어장치에 별도의 하드웨어적 구성요소를 추가하지 않고도 발명의 수행이 가능하므로 적은 비용으로도 BLDC모터의 성능을 개선할 수 있게 되었다.Through the present invention, it is possible to improve the output and operating efficiency of the BLDC motor, and it is possible to improve the performance of the BLDC motor at low cost since the invention can be performed without adding a separate hardware component to the existing control apparatus. It became.

Claims (1)

BLDC모터(BrushLess DC Motor)(100)와 연결된 인버터(inverter)(200)와 이를 제어하는 MCU(Micro Controller Unit)(300), MCU(300)에 연결된 기억장치(310) 및 회전자의 위치를 검출하여 MCU(300)에 전송하는 위치센서(110)가 포함된 제어장치로 BLDC모터(100)를 구동함에 있어서,The inverter 200 connected to the BLDC motor 100, the microcontroller unit 300 controlling the microcontroller 300, the memory device 310 connected to the MCU 300, and the rotor are positioned. In driving the BLDC motor 100 with a control device including a position sensor 110 to detect and transmit to the MCU 300, MCU(300)가 위치센서(110)로부터 입력된 회전자위치와 클럭(clock)을 통하여 BLDC모터(100)의 회전속도(V)를 산출하는 회전속도산출단계(S11)와;A rotational speed calculation step S11 of which the MCU 300 calculates the rotational speed V of the BLDC motor 100 through a rotor position and a clock inputted from the position sensor 110; MCU(300)가 산출된 회전속도(V)와 기 설정된 기준속도(Vc)를 비교하는 회전속도판단단계(S12)와;A rotation speed determination step (S12) in which the MCU 300 compares the calculated rotation speed V with a preset reference speed V c; MCU(300)가 기억장치(310)로부터 회전속도(V)에 해당되는 진상각(Θ)을 인출하는 진상각설정단계(S21)와;An advance angle setting step (S21) in which the MCU 300 draws the advance angle Θ corresponding to the rotational speed V from the memory device 310; MCU(300)가 인출된 진상각(Θ)을 적용하여 전류투입시점을 산출한 후 그에 따라 인버터(200)를 제어하는 인버터(200)제어단계(S31)를 포함함을 특징으로 하는 진상각 조정을 통한 비엘디씨모터의 구동방법.Advance angle adjustment characterized in that it comprises an inverter 200 control step (S31) for calculating the current input time by applying the extracted advance angle (Θ) the MCU 300 controls the inverter 200 accordingly Method of driving BCD motor through.
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KR101032919B1 (en) * 2008-02-08 2011-05-06 캐논 가부시끼가이샤 Brushless dc motor and image pickup apparatus

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JPH05211796A (en) * 1992-01-30 1993-08-20 Daikin Ind Ltd Method and device for driving brushless dc motor
JP2001211681A (en) 2000-01-26 2001-08-03 Koyo Seiko Co Ltd Brushless dc motor
JP2004180480A (en) 2002-09-30 2004-06-24 Japan Servo Co Ltd Driving device for stepping motor

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Publication number Priority date Publication date Assignee Title
JPH05211796A (en) * 1992-01-30 1993-08-20 Daikin Ind Ltd Method and device for driving brushless dc motor
JP2001211681A (en) 2000-01-26 2001-08-03 Koyo Seiko Co Ltd Brushless dc motor
JP2004180480A (en) 2002-09-30 2004-06-24 Japan Servo Co Ltd Driving device for stepping motor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101032919B1 (en) * 2008-02-08 2011-05-06 캐논 가부시끼가이샤 Brushless dc motor and image pickup apparatus
US8030865B2 (en) 2008-02-08 2011-10-04 Canon Kabushiki Kaisha Brushless DC motor and image pickup apparatus

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