KR102004937B1 - Apparatus for Calculating Angle of Rotor of BLDC Motor and the Method Thereof - Google Patents

Abstract

The present invention relates to a rotation angle initial position detection device and a method of the BLDC motor to correct the rotation angle of the BLDC motor changed by the impact and vibration in a harsh environment, such as shell firing, one side of the BLDC motor A gear unit mounted on the gear unit, a detection unit provided on one side of the gear unit to estimate an absolute initial position of the BLDC motor, and a control unit controlling the BLDC motor, wherein the detection unit is cylindrical. And a winch having a drum shape having a protrusion formed on the edge side of the drum and protruding outwardly, the winch being coupled to one side of the gear unit, and a stopper having a shape of a column and fixed to a proximal position of the winch. The second locking angle of the BLDC motor, characterized in that the locking portion of the winch is caught by the stopper to stop the rotation. It provides a position detection apparatus and method.

Description

Apparatus for Calculating Angle of Rotor of BLDC Motor and the Method Thereof}

 The present invention relates to a device for detecting the initial position of the rotation angle of a BLDC motor and a method thereof, and more particularly to a BLDC motor capable of correcting the rotation angle of a BLDC motor changed by shock and vibration in a harsh environment such as shell firing. The present invention relates to a rotation angle initial position detection device of a motor and a method thereof.

Brushless DC motor (hereinafter abbreviated as BLDC motor) detects the rotating magnetic field created by the rotor by embedding the magnetic sensor in the motor, and transmits this electric signal to the coil of the stator to control the rotation of the motor. It is a motor widely used in many fields that have been studied and require precise rotation control.

Specifically, in the BLDC motor, the winding is wound only on the stator, and the rotor has a strong permanent magnet formed by repeating the N pole and the S pole. In order for the BLDC motor to rotate continuously, it is necessary to form a continuous rotor field of the BLDC motor, and to form a continuous rotor field, the current flowing through the coils of each phase of the stator must be switched at an appropriate time. As such, the position of the rotor must be correctly recognized in order to properly change the current that changes the current direction of the motor stator coil so that the rotor can rotate.

In other words, in order to operate the BLDC motor smoothly, as described above, the position of the rotor and the switching point of the phase current must be precisely matched. For this purpose, the Hall sensor, which is a relative position detecting element, is a device for detecting the position of the rotor. A position detection sensor such as a hall sensor, a resolver element that is an absolute position detection element, or an encoder is used.

However, when the BLDC motor is used in a vehicle such as a shell, the launch environment must be considered. That is, such a vehicle generates a huge pressure behind the base immediately after launching, thus adversely affecting the components mounted inside the vehicle. That is, in the case of howitzer shells, the reverse inertia force and vibration of up to 20000G are applied to the shells for approximately several tens of milliseconds immediately after the launch, which greatly affects the electronic or mechanical parts mounted inside the shells.

Resolver devices and encoders mounted on BLDC motors, such as encoders, are vulnerable to shock and are therefore not suitable for use in products such as aircrafts with poor environments such as shells. In addition, even if the resolver device or encoder is designed to withstand impact, the price of such a resolver device or encoder is very expensive, which increases the manufacturing cost of the product.

However, the Hall sensor (Hall sensor) of the above position detection sensor can be used in products such as a vehicle having a poor environment, such as shells because it is relatively shock-resistant and inexpensive. Therefore, BLDC motors, which consist of Hall sensors only, are used for products such as aircrafts with poor environments such as shells.

However, the Hall sensor used in the BLDC motor is also inevitable due to the enormous pressure that occurs immediately after the launch of the flying objects when mounted on a flying object such as a shell. As a result of such pressure and vibration, the BLDC motor The initial setting position of the BLDC motor detected by the Hall sensor (Hall sensor) mounted on the fluctuated there is a problem that it is difficult to find the position and direction of rotation of the initial rotor. This occurs because the Hall sensor in the BLDC motor knows only the relative position at the time when the power is applied, not the absolute position.

Related prior art is Korean Patent Registration No. 10-1205861 (2012. 11.22 registration).

The present invention has been made to solve the above-described problems, the stopper pin for detecting the initial position on the gear unit mounted on one side of the BLDC motor in the BLDC motor mounted on a flying object and used to control the driving of various components. Rotation of the BLDC motor to prevent the malfunction of the product equipped with the BLDC motor by compensating the fluctuation value even if the initial setting position of the BLDC motor is changed by the impact and vibration when the flying object is launched by having a structure consisting of It is an object of the present invention to provide an initial position detecting device and a method thereof.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above.

The rotation angle initial position detection device of the BLDC motor of the present invention for achieving the above object is provided with a BLDC motor, a gear unit mounted on one side of the BLDC motor, and one side of the gear unit to provide an absolute value of the BLDC motor. And a detection unit for controlling the initial position and a control unit for controlling the BLDC motor, wherein the detection unit has a cylindrical drum shape and a locking portion protruding outwardly is formed at an edge side of the drum. And a winch coupled to one side of the gear unit and a stopper having a shape of a column and fixed to a position adjacent to the winch, wherein the locking portion of the winch is caught by the stopper to stop rotation. .

In detail, the control unit may rotate the BLDC motor at a constant speed for a predetermined time, but set the position of the BLDC motor at the initial position when the winch stops when the locking part is caught by the stopper.

The rotation angle initial position detection device of the BLDC motor of the present invention for achieving the above object is coupled to one side of the gear unit having a BLDC motor, a gear unit mounted on one side of the BLDC motor, a cylindrical drum shape And a control unit for controlling the winch and the BLDC motor, wherein the gear unit comprises: a gear device coupled to a plurality of gears for transmitting power provided from the BLDC motor to an output gear connected to the winch; It includes a case that is built-in and the support base of the gear device, the output gear is provided with a protrusion means protruding outward on a portion of one side edge of the disk shape, the outer case to which the winch is coupled is the output gear A circular opening is provided at a portion located and a pin means protruding in the inner center direction is provided on a portion of the inner circumferential surface of the opening. It may be characterized in that the group so that the projection means of the output gear is stopped and the rotation of the BLDC motor took the pin means of the outer case.

In detail, the control unit may rotate the BLDC motor at a constant speed for a predetermined time, but set the position of the BLDC motor at the initial position when the winch is stopped by the pin means. .

Specifically, the control unit may be characterized in that to drive the BLDC motor after calculating the absolute rotation angle by using the position command signal of the PWM signal input based on the set initial position.

Specifically, the BLDC motor may be characterized in that the position detection sensor consists of only a Hall sensor.

In the rotation angle initial position detection method of the BLDC motor of the present invention for achieving the above object, an initial rotation step of the control unit rotates the BLDC motor at a constant speed for a predetermined time, and the control unit is the rotation of the BLDC motor is stopped An initial position setting step of setting a position to an initial position, a command signal input step of receiving a position command signal of a PWM signal by the control unit, an absolute rotation angle calculation step of calculating an absolute rotation angle of the BLDC motor, and the control The unit may include a motor driving step of driving the BLDC motor to the absolute rotation angle position.

In detail, in the initial positioning step, the control unit may convert a load generated when the BLDC motor rotates into an amount of current, and then set a portion where the amount of current exceeds a predetermined standard as an initial position. have.

Specifically, the absolute rotation angle calculation step, the rotation angle range extraction step of the control unit extracts the winch rotation angle range (α) of the BLDC motor, the control unit is the gear ratio (a), the number of Hall sensors (b) and the motor Unit angle calculation step of calculating the Hall sensor counter unit angle β according to the number of poles (c), PWM signal range calculation step of the control unit calculates the angle according to the minimum to maximum range of the PWM signal and the control unit PWM signal And a position command signal processing step of calculating an absolute rotation angle using the position command signal and the Hall sensor counter unit angle β.

Specifically, the unit angle calculation step may be characterized in that the control unit calculates the Hall sensor counter unit angle β which is the rotation angle per one Hall sensor counter using the following equation.

(N = a×b×c)

(N = a × b × c)

At this time,

α: winch rotation angle range

a: gear ratio

b: Hall sensor count

c: motor pole

Specifically, in the position command signal processing step, the control unit calculates the Hall sensor counter command (D) according to the following equation, and then calculates the absolute rotation angle by multiplying the Hall sensor counter unit angle (β). You can do

D = (10x-10,000) × β × 10 ^-5

At this time,

x: Position command signal size (unit: μsec)

β: Hall sensor counter unit angle

As described above, the rotation angle initial position detecting apparatus and method of the BLDC motor of the present invention are provided with a structure consisting of a stopper pin for detecting the initial position in the gear unit mounted on one side of the BLDC motor, and thus the impact upon launching a flying object. Even if the initial setting position of the BLDC motor is changed due to over-vibration, the fluctuation value can be compensated for, thereby preventing malfunction of the product equipped with the BLDC motor.

In addition, the encoder or potentiometer that satisfies the high impact environment used in the conventional BLDC motor has a disadvantage in that the manufacturing cost of the product is increased because of the high price, whereas in one embodiment of the present invention, the high impact environment consisting of an inexpensive Hall sensor is satisfied. By providing a position detection sensor in the BLDC motor has an effect that can reduce the manufacturing cost of the product.

1 is a block diagram schematically illustrating a driving system of a rotation angle initial position detection device of a BLDC motor according to an embodiment of the present invention.
FIG. 2 is a perspective view illustrating a rotation angle initial position detecting device of the BLDC motor shown in FIG. 1.
3 is a perspective view showing in detail the detection unit shown in FIG.
Figure 4 is a perspective view showing a rotation angle initial position detection device of a BLDC motor according to another embodiment of the present invention.
FIG. 5 is a detailed perspective view showing the inside of a gear unit of an initial rotation angle detection device of a BLDC motor shown in FIG. 4.
6 is a plan view showing in detail the gear unit shown in FIG.
FIG. 7 is a perspective view and a plan view illustrating the output gear illustrated in FIG. 6.
8 is a perspective view and a plan view of the outer case shown in FIG.
9 is a flowchart illustrating a method of detecting a rotation angle initial position of a BLDC motor according to an embodiment of the present invention.
FIG. 10 is a flowchart illustrating an absolute rotation angle calculating step illustrated in FIG. 9.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention. Like elements in the figures are denoted by the same reference numerals wherever possible. In addition, detailed descriptions of well-known functions and configurations that may unnecessarily obscure the subject matter of the present invention will be omitted.

1 is a block diagram schematically showing a driving system of an apparatus for detecting a rotation angle initial position of a BLDC motor according to an embodiment of the present invention, and FIG. 2 illustrates an apparatus for detecting an initial position of a BLDC motor illustrated in FIG. 1. As a perspective view, the rotation angle initial position detection device of the BLDC motor is provided on the BLDC motor 100, the gear unit 200 mounted on one side of the BLDC motor 100, and one side of the gear unit 200. And a detection unit 300 for controlling the BLDC motor 100 and a control unit 400 for controlling the BLDC motor 100, wherein the detection unit 300 is cylindrical. It has a drum shape of the winch 310 is coupled to one side of the gear unit 200 is formed by the engaging portion 311 which is a protrusion protruding outward on the edge side of the drum, the shape of the winch The stopper 320 is fixed to the adjacent position of the 310 Can.

First, the rotation angle initial position detection device of the BLDC motor according to an embodiment of the present invention is to correct the rotation angle of the BLDC motor changed by the impact and vibration mounted on a product with a poor launch environment, such as shells, If the BLDC motor 100 mounted therein immediately after the launch of the aircraft product such as a shell is released from the initial position by being affected by shock and vibration, the winch 310 mounted on the BLDC motor 100 rotates. Starts and rotates until the catching part 311 of the winch 310 is caught by the stopper 320, then stops and sets its position as an initial position to provide a reference position for calculating the absolute rotation angle of the BLDC motor. You can do it.

BLDC motor 100 is an abbreviation of brushless DC motor and refers to a DC motor that removes mechanical contacts such as a brush and a commutator from an ordinary DC motor and instead installs an electronic rectifier. The driving method of rotating the three-phase current in synchronization with the magnetic pole of the rotor is used.

The driving system for driving the BLDC motor 100 is largely comprised of a power supply 10, a control unit 400 including a controller 410, an inverter 420, and a converter 430. Details thereof will be described later.

However, in order to detect the position of the rotor of the BLDC motor 100 and supply a current suitable for the current position of the rotor, an encoder or a recorder is used as a position detection sensor capable of detecting the position of the BLDC motor 100. Solver (Resolver) and the like can be used, in one embodiment of the present invention used only the Hall sensor as a position detection sensor for detecting the position of the rotor, the Hall sensor is mounted inside the BLDC motor 100 ( Drawing not shown).

The gear unit 200 includes a predetermined number of gears provided therein and a housing containing the gears, and is mounted on one side of the BLDC motor 100 to rotate together with a rotor of the BLDC motor 100. Therefore, the gear unit 200 is connected to various components provided in the aircraft such as shells to convert the rotational power generated in the BLDC motor 100 to the rotational power having a suitable torque and rotational speed.

3 is a perspective view illustrating the detection unit illustrated in FIG. 2 in detail, wherein the detection unit 300 has a winch 310 and a cylindrical drum shape, and a locking part 311 which is a protrusion protruding outward from an edge side of the drum. ) Is formed to include a winch 310 coupled to one side of the gear unit 200, and a stopper 320 in the shape of a pillar and fixed to a close position of the winch 310, the gear unit 200 It is a structure that makes it possible to estimate the absolute initial position of the BLDC motor 100 is provided on one side of the housing, that is, the opposite side to which the BLDC motor 100 is coupled.

The winch 310 is coupled to one side of the housing of the gear unit 200. The winch 310 rotating shaft connected to the bottom of the cylindrical drum meshes with a gear connected to the BLDC motor 100 inside the gear unit 200. When the rotor of the BLDC motor 100 rotates to be rotated together.

The catching part 311 of the winch 310 is a structure formed to protrude outward on a portion of the side of the cylindrical drum. The protruding structure has a predetermined height so that the catching part 311 is formed when the winch 310 rotates. When the part and the stopper 320 to be described later to meet the function to stop the rotation of the winch 310.

The stopper 320 is a short-length structure having the shape of a column and is installed to be fixed at one side of the housing of the gear unit 200, that is, at a position close to the portion where the winch 310 is coupled. The stopper 320, which is much smaller than the winch 310, has a size that can be caught by the catching portion 311 of the winch 310. Therefore, when the catching portion 311 of the winch 310 is initially in contact with the stopper 320 and is released from the initial position by shock or vibration, the catching portion 311 is moved away from the stopper 320. After the winch 310 starts to rotate again, the stopping part 311 stops while being caught by the stopper 320, so that the detection unit 300 may return to the initial position so that the BLDC motor 100 goes to the initial position. It becomes a structure that allows it. In the temporary embodiment of the present invention, the shape of the stopper 320 is a cylindrical shape, but the shape can be changed as much as necessary.

In conclusion, in one embodiment of the present invention, the detection unit 300 rotates the BLDC motor 100 at a constant speed for a predetermined time immediately after a vehicle such as a shell is fired, but the catching portion 311 is connected to the stopper 320. When the winch 310 stops by hanging, it serves to set the position at that time as the initial position.

The control unit 400 includes a controller 410, an inverter 420, and a converter 430 as part of a driving system that controls the BLDC motor 100.

Inverter 420 is a power converter that converts the DC power from the DC input power to three-phase AC power for driving the BLDC motor 100, the three-phase pulse type of the DC power supplied from the converter 430 having an arbitrary variable frequency It is switched to AC power (U, V, W) and supplied to the BLDC motor 100.

Inverter 420 may be configured as a conventional switching circuit consisting of six switching elements and a diode as an embodiment of the present invention. This is because six switching elements are required to supply the three-phase AC power (U, V, W) described above to the BLDC motor 100. Such an inverter is referred to as a three-phase full bridge inverter. do.

The converter 430 rectifies and smoothes the AC power source 10 to supply DC power, and is generally composed of a rectifier and a smoothing capacitor. In one embodiment of the present invention, as a converter 430 for driving the BLDC motor 100, a rectifier circuit that simply transforms an input AC power source into a DC power source is used, and a converter of a complicated type such as controlling the voltage of the output DC power source is used. Does not apply.

The controller 410 controls the BLDC motor 100 to be driven according to a control command given to the controller using data on the rotation speed, the position of the rotor, and the current from a sensor mounted inside the BLDC motor 100. do. That is, the controller 410 drives the BLDC motor 100 by determining the current position and current information of the BLDC motor 100 using the output information of the position sensor with respect to the position command proportional to the duty value of the input PWM signal. To control.

The controller 410 may be a microprocessor that controls a pattern of a PWM signal for controlling the BLDC motor 100. Thus, the controller 410 performs the inverter 420 control algorithm. That is, the controller 410 includes a PWM signal generator to generate a pattern of the PWM signal with respect to the value calculated by the controller 410 to supply the inverter 420.

In conclusion, in one embodiment of the present invention, the control unit 410 sets the initial position using the detection unit 300 and uses the position command signal of the input PWM signal based on the set initial position to determine the absolute rotation angle. After calculation, the BLDC motor 100 is driven.

Figure 4 is a perspective view showing a rotation angle initial position detection device of a BLDC motor according to another embodiment of the present invention, BLDC motor rotation angle initial position detection device, BLDC motor (100 ') and the BLDC motor ( The winch 300 'and the BLDC motor 100' are coupled to one side of the gear unit 200 'and the gear unit 200' mounted on one side of the gear unit 200 '. It may include a control unit 400 '.

In addition, the gear unit 200 'is a gear device 210' having a plurality of gears coupled to transfer the power provided from the BLDC motor 100 'to an output gear 214' connected to the winch 300 '. And a case 230 'in which the gear device 210' is built-in and which is a support base of the gear device 210 ', and the output gear 214' is outer side at a portion of one side edge of a disc shape. Protruding means 215 'protruding in a direction, and the outer case 232' to which the winch 300 'is coupled has a circular opening 234' at a portion where the output gear 214 'is located. And a pin means 233 'protruding toward an inner central portion of a portion of the inner circumferential surface of the opening 234', and the protruding means 215 'of the output gear 214' is formed of the outer case 232 '. The rotation of the BLDC motor 100 'is stopped by the pin means 215'.

First, the rotation angle initial position detection device of the BLDC motor according to another embodiment of the present invention is mounted on a product having a poor launch environment, such as shells, as described above, the rotation angle of the BLDC motor changed by shock and vibration In order to compensate for this, the BLDC motor 100 'mounted inside immediately after the launch of a vehicle product such as a shell is mounted on the BLDC motor 100' when it is moved out of the initial set position by being affected by shock and vibration. The winch 300 'starts to rotate, and the pin means 233' are formed in the outer case 230 'with protrusion means 3215' formed in the output gear 214 'of the gear device 210'. It is possible to provide a reference position for calculating the absolute rotation angle of the BLDC motor by rotating the motor until it stops and then stopping and setting the position to the initial position.

BLDC motor (100 ') is an abbreviation of brushless DC motor and refers to a DC motor that removes mechanical contacts such as brushes and commutators from ordinary DC motors and installs an electronic rectifier instead. The driving method of rotating the three-phase current in synchronization with the magnetic pole of the rotor is used.

The drive system for driving the BLDC motor 100 'is largely comprised of a power supply 10, a control unit 400' consisting of a controller 410 ', an inverter 420', and a converter 430 '. Details thereof will be described later.

However, in order to detect the position of the rotor of the BLDC motor 100 'and supply a current suitable for the current position of the rotor, an encoder as a position detection sensor capable of detecting the position of the BLDC motor 100', Alternatively, a resolver or the like may be used. In one embodiment of the present invention, only a Hall sensor is used as a position detection sensor for detecting the position of the rotor, and the Hall sensor is located inside the BLDC motor 100 '. (Not shown).

5 is a perspective view showing in detail a gear unit of the initial rotation angle detection device of the BLDC motor shown in Figure 4, Figure 6 is a detailed plan view of the gear unit, the gear unit 200 ', BLDC motor 100 'comprising a gear device 210' composed of a number of gears, a shaft 220 'which is a central axis of the gear devices 210', and a case 230 'containing the gears. It is mounted on one side of the BLDC motor (100 ') to be engaged with the motor rotating shaft (120') of the rotor to rotate together. In addition, the gear unit 200 'is connected to various components provided in a vehicle such as a shell to convert the rotational power generated in the BLDC motor 100' into a rotational power having a suitable torque and rotational speed.

The gear device 210 'is an input gear 211' connected to the motor rotation shaft 120 'of the BLDC motor 100', one side is connected to the input gear 211 ', and the other is a second reduction gear ( A first reduction gear 212 'connected to the second reduction gear 213', one side connected to the first reduction gear 213 'and the other reduction gear 213' connected to the output gear 214 '; In the BLDC motor 100 'including an output gear 214' which is connected to the second reduction gear 213 'and has an extension shaft 223' of the center extending outward to be coupled to the winch 300 '. It serves to convert the power provided to the appropriate torque and rotation speed.

The shaft 220 'is the central axis of the first and second shaft members 221' and 222 'and the output gear 223' which are the central axes of the first and second reduction gears 212 'and 213'. It extends to the winch 300 'and includes an extension shaft 223' serves to support the gears.

The case 230 'has a rectangular parallelepiped shape in one embodiment of the present invention, but the rectangular parallelepiped structure is separated in the longitudinal direction to be assembled and disassembled into the inner case 231' and the outer case 232 ', respectively. Can be. As described above, the case 230 ′ is preferably configured to form various coupling grooves in which the gears are seated so that a plurality of gears can be supported therein.

FIG. 7 is a perspective view and a plan view of the output gear illustrated in FIG. 6, wherein the output gear 214 ′ is provided with protrusions 215 ′ protruding outwardly on a portion of one side edge of a disc shape.

FIG. 8 is a perspective view and a plan view of the outer case illustrated in FIG. 6, wherein the outer case 232 'to which the winch 300' is coupled has a circular opening 234 'at a portion where the output gear 214' is located. And a pin means 233 'protruding toward an inner center portion of a portion of an inner circumferential surface of the opening 234'.

As a result, the rotation angle initial position detection device of the BLDC motor according to another embodiment of the present invention rotates the BLDC motor 100 'at a constant speed for a predetermined time immediately after a vehicle such as a shell is fired, but output gear 214'. The projection means (215 ') is caught by the pin means (233') of the outer case (232 ') when the winch 310 is stopped to function to set the position at that time to the initial position.

The winch 300 'is coupled to an outer side surface of the outer case 232' of the gear unit 200 ', and the central extension shaft 223' is the output gear 214 'inside the gear unit 200'. If the BLDC motor (100 ') rotates as the central axis of the axis), it can rotate together.

The control unit 400 ′ is a part of a drive system that controls the BLDC motor 100 ′ and includes a controller 410 ′, an inverter 420 ′, and a converter 430 ′.

Inverter 420 'is a power converter that converts a DC power supply from a DC input power source into a three-phase AC power source for driving the BLDC motor 100', and converts the DC power supplied from the converter 430 'into an arbitrary variable frequency. Switch to 3-phase AC power supply (U, V, W) and supply it to BLDC motor (100 ').

The inverter 420 'may be configured as a conventional switching circuit composed of six switching elements and diodes as an embodiment of the present invention. This is because six switching elements are required to supply the three-phase AC power (U, V, W) described above to the BLDC motor 100 '. Such an inverter is referred to as a three-phase full bridge inverter. It is called.

The converter 430 ′ rectifies and smoothes the power supply 10, which is an alternating current, and supplies a direct current power supply. The converter 430 ′ is generally composed of a rectifier and a smoothing capacitor. In one embodiment of the present invention, the converter 430 'for driving the BLDC motor 100' is a complicated form such as a rectifying circuit that simply transforms an input AC power source into a DC power source and controls the voltage of the output DC power source. Converter does not apply.

The controller 410 'controls the BLDC motor 100' to be driven according to a control command given to the controller using data on the rotational speed, the position of the rotor, and the current from a sensor mounted inside the BLDC motor 100 '. Function. That is, the controller 410 'determines the current position and current information of the BLDC motor 100' by using the output information of the position sensor with respect to the position command proportional to the duty value of the input PWM signal. ) To control the driving.

The controller 410 'may be a microprocessor that controls a pattern of a PWM signal for controlling the BLDC motor 100'. The controller 410 'performs an inverter 420' control algorithm. That is, the controller 410 'includes a PWM signal generator to generate a pattern of the PWM signal with respect to the value calculated by the controller 410' and supply it to the inverter 420 '.

In conclusion, in another embodiment of the present invention, the control unit 410 'is provided with the projection means 215' of the output gear 214 'provided in the gear unit 200' and the pins of the outer case 232 '. After the initial position is set using the means 233 ', the absolute rotation angle is calculated using the position command signal of the input PWM signal based on the set initial position, and then the BLDC motor 100' is driven.

Hereinafter, the rotation angle initial position detection method using the rotation angle initial position detection device of the BLDC motor according to an embodiment of the present invention configured as described above will be described in detail.

9 is a flowchart illustrating a method for detecting the initial angle of rotation of a BLDC motor according to an embodiment of the present invention. In the method of detecting the initial angle of rotation of a BLDC motor, the control units 400 and 400 ′ are used to control the BLDC motor 100. Initial rotation step (S510) for rotating a predetermined speed for a predetermined time (S510) and the control unit (400, 400 ') to set the position where the rotation of the BLDC motor (100, 100') stops to an initial position Initial position setting step (S520), the command signal input step (S530) that the control unit (400, 400 ') receives the position command signal of the PWM signal, and the absolute rotation angle of the BLDC motor (100, 100') The absolute rotation angle calculation step (S540) and the control unit (400, 400 ') may include a motor driving step (S550) for driving the BLDC motor (100, 100') to the absolute rotation angle position. .

Initial rotation step (S510) is the control unit (400, 400 ') BLDC motor (100, 100) in order to estimate the initial position of the BLDC motor (100, 100') out of the initial position immediately after the launch of the aircraft, such as shells ′) Is rotated at a constant speed for a predetermined time. In one embodiment of the present invention, for example, the control unit 400, 400 ′ counterclocks the BLDC motor 100, 100 ′ at a constant rpm speed for 4 seconds. It is a step of rotating in the direction.

Initial position setting step (S520), in the embodiment of the present invention control unit 400 also winch 310 connected to the BLDC motor 100 in accordance with the rotation of the BLDC motor 100 in the initial rotation step (S510) When rotating together, the locking portion 311 of the winch 310 is caught by the stopper 320 to stop the rotation of the BLDC motor 100, the control unit 400 is the position where the rotation of the winch 310 is stopped Is set to an initial position, and the position becomes an initial position of zero.

Alternatively, in another embodiment of the present invention, the winch 310 'is connected to the BLDC motor 100' in accordance with the rotation of the BLDC motor 100 'in the initial rotation step (S510). When rotating together, the projection means 215 'formed on the surface of the output gear 214' of the gear device 210 'is caught by the pin means 233' of the case 230 'and thus the BLDC motor 100'. ) Is stopped, and the control unit 400 'sets the position at which the winch 310' has stopped rotating to an initial position, that is, the position becomes a zero initial position.

The control unit 400, 400 ′ detects that the rotation of the BLDC motors 100, 100 ′ stops as described above. The control units 400, 400 ′ may rotate the BLDC motors 100, 100 ′. When the load generated at the time is converted into the amount of current and the current amount exceeds a predetermined criterion is detected, it is determined that the BLDC motors 100 and 100 'are stopped at that time and the corresponding position is set as the initial position.

The command signal input step S530 is a step in which the control units 400 and 400 ′ receive the position command signal of the PWM signal.

FIG. 10 is a flowchart illustrating an absolute rotation angle calculation step shown in FIG. 9. An absolute rotation angle calculation is performed to calculate an absolute rotation angle of the BLDC motor 100 through a series of calculations according to a position command signal of a PWM signal. Step S540 is a rotation angle range extraction step S541 in which the control units 400 and 400 'extract the rotation angle range α of the winches 310 and 300' of the BLDC motor 100 and 100 ', A unit angle calculation step (S542) in which the control units 400 and 400 'calculate the Hall sensor counter unit angle β according to the gear ratio a, the number of hall sensors b and the number of motor poles c, and the control unit The PWM signal range calculating step (S543) in which 400 calculates an angle according to the minimum to the maximum range of the PWM signal, and the control unit 400, 400 'is a position command signal of the PWM signal and the Hall sensor counter unit angle β It may include a position command signal processing step (S544) for calculating the absolute rotation angle by using a).

Rotation angle range extraction step (S541) is the winch 310, 300 'of the BLDC motor (100, 100') when the rotation angle range of the winch (310, 300 ') control unit 400 , 400 ') detects and stores the range, and the range may be 0 degrees to α degrees, which is according to the length of the portion occupied by the locking portion 311 of the winch 310 in one embodiment of the present invention. This is because the range of the angle at which the 310 rotates one turn is different. Alternatively, in another embodiment of the present invention, the range of the angle at which the position 300 'is rotated by one turn depends on the length of the portion occupied by the pin means 233' formed in the case 230 '.

The unit angle calculation step S542 is a step in which the control units 400 and 400 ′ calculate the Hall sensor counter unit angle β according to the gear ratio a, the number of Hall sensors b, and the number of motor poles c. It is the basic data used to calculate the absolute rotation angle which will be described later.

In detail, the control units 400 and 400 ′ calculate the Hall sensor counter unit angle β, which is a rotation angle per one Hall sensor counter, using Equation 1 below.

[Equation 1]

(N = a×b×c)

(N = a × b × c)

At this time,

α: winch rotation angle range

a: gear ratio

b: Hall sensor count

c: motor pole

가 된다.In the above, N denotes the number of counts of the Hall sensors required when the winches 310 and 300 'of the BLDC motors 100 and 100' are rotated one round, and thus the unit angle β, which is the rotation angle per Hall sensor counter. Is equal to Equation 1

Becomes

The PWM signal range calculating step S543 is a step of calculating the angle according to the minimum to the maximum range of the input PWM signal by the control units 400 and 400 ', for example, the range of the PWM signal in one embodiment of the present invention. Can be at least 10,000μsec ~ 20,000μsec, and the angle can be set to 0 degrees ~ Θ degrees. This is a data according to an embodiment of the present invention can be changed as necessary, of course.

Position command signal processing step (S544) is a step of calculating the absolute rotation angle using the position command signal of the PWM signal inputted by the control unit (400, 400 ') and the Hall sensor counter unit angle (β), In one embodiment, after the control unit 400 reads the position command PWM signal in units of 100 nsec, the control unit 400 may convert the hall sensor counter command as follows.

That is, when the given position command is x (μsec), the control unit (100, 100 ') rounds the Hall sensor counter command (D) calculated according to Equation 2 below, and multiplies the unit angle (β). Calculate the converted absolute rotation angle.

[Equation 2]

D = (10x-10,000) × β × 10 ^-5

At this time,

x: Position command signal size (unit: μsec)

β: Hall sensor counter unit angle

The motor drive step (S550) is the control unit (400, 400 ') is processed in the position command signal processing step (S544) and then the BLDC motor (100, 100) until the end of the mission to the absolute rotation angle position continuously coming in ′) Is driven.

Thereafter, the method of driving the BLDC motors 100 and 100 'may be performed in the same manner as the method of controlling the general BLDC motor.

As described above, the rotation angle initial position detecting device of the BLDC motor of the present invention and the method are composed of a structure consisting of a stopper for detecting the initial position in the gear unit mounted on one side of the BLDC motor, or a pin means in the case of the gear unit. Since the structure is provided, even if the initial setting position of the BLDC motor is changed by the impact and vibration when the flying object is fired, the change value is compensated to prevent the malfunction of the product equipped with the BLDC motor.

In addition, the encoder or potentiometer that satisfies the high impact environment used in the conventional BLDC motor has a disadvantage in that the manufacturing cost of the product is increased because of the high price, whereas in one embodiment of the present invention, the high impact environment consisting of an inexpensive Hall sensor is satisfied. By providing a position detection sensor in the BLDC motor has an effect that can reduce the manufacturing cost of the product.

The rotation angle initial position detection device and method of the BLDC motor according to an embodiment of the present invention as described above is not limited to the configuration and operation of the embodiments described above. The above embodiments may be configured such that various modifications may be made by selectively combining all or part of the embodiments.

10: power
100, 100 ': BLDC motor 200, 200': gear unit
210 ': Gear unit 211': Input gear
212 ': first reduction gear 213': second reduction gear
214 ': output gear 215': projection means
220 ': shaft 221': first shaft member
222 ': second shaft member 223': extension shaft
230 ': case 231': inner case
232 ': outer case 233': pin means
300: detection unit 310, 300 ': winch
311: latching portion 320: stopper
400, 400 ': control unit 410, 410': controller
420, 420 ': Inverter 430, 430': Converter

Claims (11)

delete delete A BLDC motor; and a gear unit mounted on one side of the BLDC motor; and a winch having a cylindrical drum shape and coupled to one side of the gear unit; And a control unit controlling the BLDC motor.
The gear unit includes a gear device having a plurality of gears coupled to transmit power provided from the BLDC motor to an output gear connected to a winch; and a case in which the gear device is built and the support base of the gear device is included. The output gear is provided with a protruding means protruding outwardly on a portion of one side edge of a disc shape, and the outer case to which the winch is coupled has a circular opening at a portion where the output gear is located and an inner circumferential surface of the opening. It is provided with a pin means protruding toward the inner center portion in part, the projection means of the output gear is caught by the pin means of the outer case to stop the rotation of the BLDC motor,
The control unit, the converter for rectifying and smoothing the AC power supply to supply a DC power source,
An inverter for converting the DC power supplied from the converter into a three-phase AC power in a pulse form having an arbitrary variable frequency;
And a controller configured to control the BLDC motor to be driven according to a control command using data on a rotation speed, a rotor position, and a current from a sensor mounted inside the BLDC motor.
The control unit rotates the BLDC motor at a constant speed for a predetermined time, but the projection means is caught by the pin means to set the position at that time as the initial position when the winch stops, and the input is based on the set initial position. After calculating the absolute rotation angle by using the position command signal of the PWM signal, drive the BLDC motor,
The gear device,
An input gear connected to the motor rotation shaft of the BLDC motor;
A first reduction gear connected to one side of the input gear;
One side is connected to the first reduction gear and the other side includes a second reduction gear connected to the output gear,
The output gear is connected to the second reduction gear and the extension shaft of the center extends to the outside is coupled to the winch,
The first reduction gear is a rotation angle initial position detection device of the BLDC motor, the other side is connected to the second reduction gear.
delete delete The method according to claim 3,
The BLDC motor is a rotation angle initial position detection device of the BLDC motor, characterized in that the position detection sensor made of a Hall sensor.
An initial rotation step of the control unit rotating the BLDC motor at a constant speed for a predetermined time;
An initial position setting step of setting, by the control unit, the position at which the rotation of the BLDC motor stops to an initial position;
A command signal input step of the control unit receiving a position command signal of a PWM signal;
An absolute rotation angle calculation step of calculating an absolute rotation angle of the BLDC motor; And
And a motor driving step of driving the BLDC motor by compensating for the calculated absolute rotation angle.
The control unit, the converter for rectifying and smoothing the AC power supply to supply a DC power source,
An inverter for converting the DC power supplied from the converter into a three-phase AC power in a pulse form having an arbitrary variable frequency;
And a controller configured to control the BLDC motor to be driven according to a control command using data on a rotation speed, a rotor position, and a current from a sensor mounted inside the BLDC motor.
The controller includes a PWM signal generator, generates a pattern of the PWM signal with respect to the calculated value and supplies it to the inverter,
Including a gear unit mounted on one side of the BLDC motor,
The gear unit includes a gear device having a plurality of gears coupled to transfer the power provided from the BLDC motor to an output gear connected to the winch; and,
The gear device,
An input gear connected to the motor rotation shaft of the BLDC motor;
A first reduction gear connected to one side of the input gear;
One side is connected to the first reduction gear and the other side includes a second reduction gear connected to the output gear,
The output gear is connected to the second reduction gear and the extension shaft of the center extends to the outside is coupled to the winch,
The first reduction gear is a rotation angle initial position detection method of the BLDC motor, the other side is connected to the second reduction gear.
The method according to claim 7,
In the initial position setting step,
And the control unit converts the load generated when the BLDC motor rotates into an amount of current, and then sets a portion where the amount of current exceeds a predetermined reference to an initial position of the BLDC motor.
The method according to claim 7,
The absolute rotation angle calculation step,
A rotation angle range extraction step of the control unit extracting the winch rotation angle range α of the BLDC motor;
A unit angle calculating step of the control unit calculating the hall sensor counter unit angle β according to the gear ratio a, the number of hall sensors b, and the number of motor poles c;
A PWM signal range calculation step of the control unit calculating an angle according to the minimum to the maximum range of the PWM signal; And
And a position command signal processing step of a control unit calculating an absolute rotation angle by using a position command signal of the PWM signal and the Hall sensor counter unit angle (β).
The method according to claim 9,
The unit angle calculation step, the control unit calculates the initial angle of rotation angle of the BLDC motor, characterized in that for calculating the Hall sensor counter unit angle (β) is a rotation angle per one Hall sensor counter using the following equation.

(N = a × b × c)
At this time,
α: winch rotation angle range
a: gear ratio
b: Hall sensor count
c: motor pole
The method according to claim 9,
The position command signal processing step,
The control unit calculates the Hall sensor counter command (D) according to the following equation, and then multiplies the Hall sensor counter unit angle (β) to calculate the absolute angle of rotation of the BLDC motor, characterized in that .

D = (10x-10,000) × β × 10 ^-5

At this time,
x: Position command signal size (unit: μsec)
β: Hall sensor counter unit angle

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