KR100827414B1 - Control apparatus and method for bldc hub motor - Google Patents

Abstract

An apparatus and a method for controlling a BLDC(BrushLess Direct Current) hub motor are provided to simplify construction of a drive and to reduce a cost by preventing a counter electromotive force like a residual power. An apparatus for controlling a BLDC(BrushLess Direct Current) hub motor includes an input unit(102), a sensor unit(106), a control unit(103), a switching element unit(104), and a BLDC hub motor(105). The input unit generates a command for controlling the forward and backward rotation number of a motor. The sensor unit senses a rotation of the motor. The control unit outputs a motor driving signal by combining a motor rotation signal of the sensor unit and the order for controlling the rotation number from the input unit. The switching element unit supplies a driving current to the motor by performing switching according to the combined signal. The BLDC hub motor is rotated by the driving current.

Description

Control apparatus and method for BLDC HB motors {Control apparatus and method for BLDC HUB MOTOR}

The present invention relates to a control device and a control method of a BLDC HUB motor, and more particularly, to a control device and a control method for using a permanent magnet in the rotor, the winding of the stator in a multi-phase independent parallel and distributed power control.

In general, brushless direct current (BLDC) motors form a rotating magnetic field by winding three-phase coils on the stator, and attaching a permanent magnet to the rotor to generate rotational force by interaction between the magnetic field formed in the stator and the magnetic field of the permanent magnet. It is a kind of DC motor to get.

Bieldish motor has been widely used in various fields recently to reduce noise and maintenance cost by eliminating the brush which is a disadvantage of DC motor, including all the advantages of DC motor such as ease of operation and ease of rotation control.

The BLD motor detects the position of the rotor and applies a control signal to the power drive module according to the detected position of the rotor, flowing an appropriate current to the stator's three-phase coil, thereby controlling the rotor's magnetic field and the current applied to the stator. The rotational force is obtained by the interaction of the magnetic field.

In order to detect the position of the rotor, it is essential to detect the position of the rotor. To detect the position of the rotor, use a Hall sensor whose potential difference varies according to the change of magnetic flux or install a CT (Current Transfomer) on each phase. Determine the location of the former.

In addition, such an example is disclosed in Korea Patent Publication No. 0725811 (31 May 2007).

That is, in the above document, as shown in FIG. 1, the driving device of the BCD motor includes a power module 22 including a rectifying unit 12 and a plurality of switching elements to rectify AC from the AC power source 10. ) And a power module driver 14 for outputting on and off signals of the switching element of the power module 22 and a controller 16 for outputting a drive control signal to the power module driver 14.

Also, in order to determine the position of the rotor using the back electromotive force induced by the stator, a position detection unit 18 including a plurality of comparators configured to output a zero crossing point detection signal by comparing the reference voltage and the back electromotive force is provided. It is configured to include.

Reference numerals 20a to c denote three-phase coils of the stator, and reference numerals 22a to c denote auxiliary windings for detecting the position of the rotor further wound on the three-phase coil.

This document proposes a technique for easily controlling the Bieldy's hair without using complicated algorithms such as vector control by using the auxiliary winding to detect back EMF and using the position detector as it is.

However, the technique disclosed in Korean Patent Publication No. 0725811 described above has a problem in that high speed and high torque driving cannot be performed due to the current limitation due to the high coil resistance value by applying a three-phase series winding to the stator of the motor.

In addition, the Republic of Korea Patent Publication No. 0725811 has a problem that the configuration and control of the controller is difficult because the counter electromotive force is generated at the start and stop in a sine wave or square wave or trapezoidal method in the control energization method.

An object of the present invention is to solve the problems described above, to provide a control device and a control method of a BLDC HUB motor having a winding having a multi-phase independent parallel structure in the stator of the motor.

It is another object of the present invention to provide a control device and a control method of a BLDC HUB motor that prevents back electromotive force of a motor coil in a rectangular manner in a controlled energization method.

According to the control device and control method of the BLDC HUB motor according to the present invention, the effect that the hysteresis can be eliminated by removing the residual power remaining in the motor coil.

In addition, according to the control device and control method of the BLDC HUB motor according to the present invention, by preventing the back electromotive force such as the residual power can be obtained the effect that the configuration of the drive can be simple and the cost can be reduced.

Further, according to the control device and control method of the BLDC HUB motor according to the present invention, the effect that the response characteristics can be excellent in the control is obtained.

In order to achieve the above object, a control device of a BLDC HUB motor according to the present invention is an BLDC motor control device comprising: an input unit for generating a rotational speed reverse rotation speed control command of a motor;

Sensor unit for detecting the rotation of the motor, a control unit for outputting a motor drive signal by combining the motor rotation signal and the rotational speed control command of the sensor unit, performing a switching operation according to the combined signal to drive the drive current to the motor A switching device unit for supplying, and a BLDC HUB motor rotated by the driving current, the winding of the BLDC HUB motor is composed of a multi-phase independent parallel, the control unit for driving the residual power of the motor coil in driving the switching device unit. In order to remove, the switching-on time of the lower signal is longer than the upper signal of the H bridge.

In addition, in order to achieve the above object, the control method of the BLDC HUB motor according to the present invention is a BLDC motor control method having a multi-phase independent parallel winding, comprising: (a) a forward / reverse signal of a motor, a variable speed command signal of a motor and a motor; (B) receiving and synchronizing the variable speed command signal and the rotational speed signal of the motor; (c) combining the synchronized signals and outputting a motor driving signal according to the combined signal; (D) forming and outputting the switching on time of the lower signal longer than the switching on time of the upper signal of the motor driving signal in the output of the combined signal; Therefore, it is characterized in that it comprises a step of transmitting a current to the motor and rotating the motor, (f) determining whether the variable speed command signal of the motor is 0, and if it is 0, stopping the motor.

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of the present invention, through which the purpose and features of the present invention will be more clear.

2 is an overall configuration diagram of a BLDC HUB motor according to the present invention, FIG. 3 is a block diagram of the control unit shown in FIG. 2, and FIG. 4 is a view showing a switching equivalent circuit of the switching element unit shown in FIG. 5 is a diagram illustrating timing of a switching signal of the switching equivalent circuit illustrated in FIG. 4, FIG. 6 is a diagram illustrating a connection diagram of a stator of the switching equivalent circuit illustrated in FIG. 4, and FIG. It is a flowchart which shows the control method of a BLDC HUB motor.

As shown in Figure 2, the overall configuration diagram (control device) of the BLDC HUB motor according to an embodiment of the present invention is the input unit 102, the command of the control command value signal and the forward and reverse rotation signal of the input unit 102 A control unit 103 for comparing and calculating a control command output signal with a position and speed signal of the rotor to output a drive signal, and a switching element unit for supplying current to the BLDC HUB motor by the drive signal output from the control unit 103 ( 104, a BLDC HUB motor 105 that rotates by a current supplied from the switching element unit 104, a sensor unit 106 that detects the position and speed of the rotor of the BLDC HUB motor 105, and It is composed of a power supply unit 101 for supplying the power required for the building block.

The power supply unit 101 receives a battery power source, which is a direct current power source, supplies motor driving power to the switching element unit 104 and the BLDC HUB motor 105, and the battery power source is input to a DC / DC converter and output as a DC15V logic power supply. And input to the logic driving power terminal of the controller 103.

The input unit 102 is a variable signal input circuit for varying the speed of the BLDC HUB motor. The input unit 102 includes a variable resistor to change the variable resistor to change a 15V power supply from 0V to 15V, and convert the variable signal into the controller 103. Input to PWM IN terminal of.

The sensor unit 106 is a sensor unit for giving a drive signal of a BLDC HUB motor having a multi-phase (m phase, m = 2,3 ---) independent parallel structure, and the sensor of this motor uses a photointerrupter sensor. .

The driving principle of the photointerrupter sensor is driven by the output signal of the sensor unit 106 and the speed command value signal for changing the speed of the motor, and when the encoder plate of the BLDC HUB motor 105 passes through the photointerrupter sensor element, 0V ( LOW signal), + 15V (HIGH signal) is output if it does not pass, and this signal is input to the logic IC combination unit 302 of FIG.

The control unit 103 includes a processor unit for processing and processing signals in the control system.

As shown in FIG. 3, the control unit 103 according to an exemplary embodiment of the present invention receives a signal of the PWM IN terminal and outputs a PWM OUT signal of a square wave, the PWM OUT signal and the sensor A logic IC combining unit 302 for receiving the signal of the unit 106, combining and outputting a switching timing logic signal, and a drive unit 303 for amplifying a logic signal according to the logic IC combining unit 302.

The logic IC combination unit 302 is composed of a combination of AND gate elements and NOT gate elements as a logic IC combination circuit, and receives a PWM OUT terminal and a sensor input signal of the PWM IC 301 to drive a drive signal by a logic circuit. A1, A2, A3, and A4 are output, and the output signal is input to the drive unit 303.

The drive unit 303 is a drive unit for driving a switching element composed of an H-bridge for driving an m-phase (m = 2,3, ---) motor. A1, which is a drive signal of the logic IC combination unit 302, A2, A3, and A4 are input to output signals Q1, Q2, Q3, and Q4 for driving the H bridge type switching elements (IGBT, GTO, TR, etc.) shown in FIG.

As shown in FIG. 4, the switching element unit 104 according to an exemplary embodiment of the present invention is a three-phase motor driving H bridge circuit diagram, and in the case of three phases, three H bridge drives are configured.

The drive element is composed of switching elements such as transistors, GTO, IGBT, etc., and receives the signals Q1, Q2, Q3.Q4 output from the drive unit 303 to drive one phase of the BLDC HUB motor having a multi-phase independent parallel structure. do.

It is composed of three H-bridge switching elements for driving three motors, that is, three motor coils 401, 402, 403 in a three-phase driving method.

The switching element driving signal is Q1, Q2, Q3, Q4, and the H bridge upper signal is called Q1, Q2, the lower signal is called Q3, Q4, Q1, Q4 is switched on, and Q2, Q3 is switched on.

At this time, the lower signal Q4 extends the switching time longer than the upper signal Q1 and removes the residual power remaining in the motor coils 401, 402, 403 to eliminate the hysteresis phenomenon.

This eliminates the need for a complex drive configuration in the present invention to eliminate the back EMF generated from the existing motor and prevent this back EMF, like the existing motor drive, the drive configuration is simple, the drive manufacturing cost is reduced, and the response characteristics during control outstanding.

Switching equivalent circuit of BLDC HUB motor with multi-phase (example of 3-phase motor) independent parallel structure, showing the sequence diagram of m-1 phase (3-1 phase, 2 phase excitation) excitation for distributed power control, excitation sequence AB -> BC-> CA-> AB-> BC

That is, distributed power control is possible in the motor control as in the equivalent circuit 603 of FIG. 6, so that a low voltage-high speed, low voltage-high torque BLDC HUB motor is possible, and the current generation of each phase is less than that of the existing motor, resulting in less heat generation rate. High reliability

As shown in FIG. 5, the timing diagram of the switching signal of the drive unit 303 according to the embodiment of the present invention is an example of a switching signal for driving a three-phase 16-pole BLDC HUB motor.

The switching signal must have m-1 phase (m = 2,3,4, ---), two phases drive three phases, and one phase must rest.

The rest phase and the rest period eliminate the residual power of the motor. When the switching signal between 7.5 degrees and 15 degrees rotates in sequence to A phase ON, B phase ON, and C phase OFF, two phases are always on and one phase is off.

In other words, the existing motor is a full-phase excitation, this motor is partly excited. Compared with the conventional PWM control method that controls AC and DC motors, this switching principle maintains a constant torque at any time and maintains a constant torque, enabling precise torque control, and a torque controller configuration or advanced algorithm. Unnecessary, precision linear torque is produced, but the price is cheaper than before.

Conventional motor control principle uses high-quality, high-performance processor and algorithm because power supply amount is different for each section and constant torque control is impossible.

This increases the price of the drive and motor. A motor composed of magnets can easily drive the magnetic force of the magnets, and the efficiency and control performance are excellent.

This motor has a multi-phase independent parallel structure as shown in FIG. 6 to allow distributed power control in which power is distributed and started, thereby easily overcoming magnetic force and smoothing speed control.

As shown in FIG. 6, a three-phase 16-pole example is shown as a connection diagram 603 of a stator and a rotor of a BLDC HUB motor having a multi-phase independent parallel structure according to an embodiment of the present invention. It is an equivalent circuit in which coils are connected in parallel (B1, B2, C1, C2 are also the same as A1, A2). Has independent, parallel structure.

And, the structure of the BLDC HUB motor is connected to the coil to the stator, the shaft is composed of a sensor plate and the like, the rotor is composed of a magnet, wheel, encoder plate and the like.

As shown in FIG. 7, a flowchart of a control device of a BLDC HUB motor according to an exemplary embodiment of the present invention includes a step in which a user turns on a motor driving power supply and a logic power supply (S10), and the control unit 103 is provided from an input unit 102. Receiving the forward and reverse signals of the motor, the variable speed command signal of the motor and the rotation signal of the motor (S20), the processor unit of the control unit 103 digitally converts the variable speed command signal as an analog signal using an A / D converter In step S30, the processor unit of the control unit 103 compares and synchronizes the digital signal with the sensor signal of the sensor unit 106 (S40), and in step S40, the processor unit converts the synchronized signal. Calculating (combining) and outputting the calculated (combined) signal to the drive unit 303 as upper and lower drive signals of the motor (S50), and latching timing of the outputted upper and lower drive signals of the motor. Of the lower drive signal Groups and a step (S60), In step a discontinuous phase excitation method in which the rest period as the phase excitation in the step (S60) to be longer than the period of the output waveform to form a top drive signal.

The drive unit 303 amplifies the received output signal to output a signal for driving the motor drive H bridge of the switching device unit 104 (S70), the motor drive H of the switching device unit 104 The bridge is configured to apply a driving signal to the motor according to the driving signal received from the drive unit 303 (S80), and the motor driving H bridge rotates the motor (motor) when the driving current flows to the motor and detects the rotation. In step S90, when the motor rotates in step S90, comparing the sensor signal of the sensor unit 106 with the speed command value of the input unit 102 and determining whether the speed command value is 0. In step S100, when the speed command value is 0, the motor is stopped, and when the speed command value is not 0, the process returns to step S30.

As mentioned above, although the invention made by the present inventor was demonstrated concretely according to the said Example, this invention is not limited to the said Example and can be variously changed in the range which does not deviate from the summary.

1 is a schematic diagram of a driving apparatus of a conventional BLDC motor;

2 is an overall configuration diagram of a BLDC Hub motor according to the present invention;

3 is a block diagram illustrating a control unit shown in FIG. 2;

4 is a diagram illustrating a switching equivalent circuit of the switching device unit illustrated in FIG. 2;

5 is a view showing timing of a switching signal of the switching equivalent circuit shown in FIG. 4;

6 is a view showing a connection diagram of a stator of the switching equivalent circuit shown in FIG. 4;

7 is a flowchart illustrating a control method of a BLDC Hub motor according to the present invention.

* Description of the symbols for the main parts of the drawings *

101: power supply

102: input unit

103: control unit

104: switching element portion

Claims (7)

In BLDC motor controller, An input unit for generating an inverse rotation control command of the rotational speed of the motor; Sensor unit for detecting the rotation of the motor, A control unit for outputting a motor driving signal by combining the motor rotation signal of the sensor unit and the rotational speed control command of the input unit; Switching element unit for supplying a drive current to the motor by performing a switching operation according to the combined signal, It is composed of a BLDC HUB motor rotating by the drive current, the winding of the BLDC HUB motor is composed of a multi-phase independent parallel, The control unit of the BLDC HUB motor control unit, characterized in that for driving the switching element to the longer the switching-on time of the lower signal than the upper signal of the H bridge to remove the residual power of the motor coil. The method of claim 1, The control unit is a control device of a BLDC HUB motor, characterized in that it comprises a drive unit for outputting a signal for driving the switching element unit in accordance with the combined signal. The method according to claim 1 or 2, The control unit is a control device of the BLDC HUB motor, characterized in that for discontinuous excitation to remove the residual power of the motor coil in the excitation of the motor. The method of claim 1, The sensor unit is a control device of the BLDC HUB motor, characterized in that the photointerrupter sensor for detecting the rotation of the motor. In the BLDC motor control method having a multi-phase independent parallel winding, (a) inputting a stationary signal of the motor, a variable speed command signal of the motor, and a rotation speed of the motor, (b) receiving and synchronizing the variable speed command signal with the rotational speed signal of the motor; (c) combining the synchronized signals and outputting a motor driving signal according to the combined signals; (d) forming and outputting the switching on time of the lower signal longer than the switching on time of the upper signal of the motor driving signal in the output of the combined signal; (e) transmitting current to the motor and rotating the motor according to the output drive signal; (f) determining whether the variable speed command signal of the motor is 0, and if 0, stopping the motor. The method of claim 5, The control method of the BLDC HUB motor further comprises the step of converting the variable speed command signal to digital using an A / D converter before step (b). The method of claim 5, The step (d) of the control method of the BLDC HUB motor, characterized in that further comprising the step of discontinuously excited to remove the residual power of the motor coil.

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