KR102077391B1 - Motor control system and method using pwm duty ratio - Google Patents

Abstract

Disclosed are a motor control system using a PWM duty ratio and a method thereof. The motor control method may include determining a control mode of a motor included in the motor unit based on whether a pulse width modulation (PWM) duty ratio of a PWM signal input to the motor unit for a predetermined time is changed from the controller. ; Adjusting the speed according to the PWM duty ratio of the PWM signal input to the motor unit when the control mode is determined as the first mode for controlling the speed of the motor; And when the control mode is determined as the second mode for controlling the operation of the motor unit except for the speed control of the motor, according to a control command corresponding to the converted PWM code of the PWM duty ratio of the PWM signal input to the motor unit. It may include performing an operation.

Description

Motor control system and method using PWM duty ratio {MOTOR CONTROL SYSTEM AND METHOD USING PWM DUTY RATIO}

The present invention relates to a system and method for controlling a motor without a separate control signal using a PWM duty ratio.

Motor control systems, such as battery-cooled cooling fans in hybrid vehicles, can receive target RPMs of cooling fans, such as 300Hz PWM Duty 10% to 90%, delivered from a controller such as Battery Management System (BMS) to a motor unit such as a cooling fan. Can be. The motor unit may control the RPM of the cooling fan connected to the motor by controlling the rotation speed of the motor according to the target RPM of the cooling fan. In addition, a motor unit such as a cooling fan may transmit RPM information of the cooling fan to the controller using a frequency.

However, the conventional motor control system continuously generates PWM noise in the continuous cooling mode, and cannot use the PWM signal to transmit control commands such as version information request, parameter learning, self diagnosis, and fault information request. There is a limitation that a separate transceiver is required to transmit a control command.

Therefore, there is a need for a method of transmitting a control command using a PWM signal without a separate transceiver.

According to the present invention, when the operation control of the motor is required, the controller transmits a PWM signal whose PWM duty ratio is varied for a predetermined time interval, converts the PWM signal received by the motor unit into a digit code, and controls a control command corresponding to the digit code. By performing the operation according to the present invention, it is possible to provide an apparatus and method for controlling the motor unit to perform the operation without a device for transmitting and receiving a separate control signal.

The present invention also provides an apparatus for feeding back a result of performing an operation of a motor unit to a controller without a device for transmitting and receiving result information by determining a frequency of a feedback signal according to a result of the operation control and feeding it back to the controller. It may provide a method.

Motor control method according to an embodiment of the present invention is to control the motor included in the motor unit based on whether the pulse width modulation (PWM) duty ratio (PWM) input to the motor unit for a predetermined time from the controller is variable Determining a mode; Adjusting the speed according to the PWM duty ratio of the PWM signal input to the motor unit when the control mode is determined as the first mode for controlling the speed of the motor; And when the control mode is determined as the second mode for controlling the operation of the motor unit except for the speed control of the motor, according to a control command corresponding to the converted PWM code of the PWM duty ratio of the PWM signal input to the motor unit. It may include performing an operation.

Determining a control mode of the motor control method according to an embodiment of the present invention, if the PWM duty ratio of the PWM signal input to the motor unit is maintained for the same time period, the control mode to the first mode When the PWM duty ratio of the PWM signal input to the motor unit is varied for a predetermined time period, the control mode may be determined as the second mode.

The method for controlling a motor according to an embodiment of the present invention may further include determining whether the digit code is normal, and performing an operation according to the control command may be performed when the digit code is normal. .

Motor control method according to an embodiment of the present invention, if the PWM duty ratio of the PWM signal input to the motor unit while the control mode is the second mode is maintained for the same time period, the control mode of the motor The method may further include converting from the second mode to the first mode.

Performing an operation according to a control command of the motor control method according to an embodiment of the present invention, by converting the digits for each of the PWM duty ratio that is changed N times during the predetermined time period, by combining the converted digits The digit code can be generated.

The motor control method according to an embodiment of the present invention may identify a control command corresponding to the digit code according to the value and the arrangement order of the digits included in the digit code, and perform an operation according to the identified control command. .

Method of generating a control signal of a motor according to an embodiment of the present invention comprises the steps of determining whether the operation control of the motor is required; Transmitting a PWM signal in which the PWM duty ratio remains the same for a predetermined time interval when operation control of the motor is not required; And when the operation control of the motor is necessary, transmitting a PWM signal whose PWM duty ratio is varied for a predetermined time interval according to a control command for controlling the operation of the motor.

Transmitting the PWM signal of the control signal generation method of the motor according to an embodiment of the present invention, identifying a digit code corresponding to the control command for controlling the operation of the motor; Identifying a PWM duty ratio corresponding to each of the digits included in the identified digit code; And transmitting a PWM signal whose PWM duty ratio is varied for a predetermined time interval according to the identified PWM duty ratios.

The motor control system according to an embodiment of the present invention transmits a PWM signal in which the PWM duty ratio remains the same for a predetermined time interval when the operation control of the motor is not necessary, and when the operation control of the motor is required, A controller for transmitting a PWM signal whose PWM duty ratio is varied for a predetermined time interval according to a control command for controlling the control signal; And a motor, and determines a control mode of the motor based on whether the PWM duty ratio of the PWM signal received from the controller for a predetermined time is variable, and wherein the control mode is determined as the first mode for controlling the speed of the motor. In this case, the speed is adjusted according to the PWM duty ratio of the received PWM signal, and when the control mode is determined as a second mode for controlling the operation of the motor unit except for the speed control of the motor, A motor unit may perform an operation according to a control command corresponding to the converted digit code of the PWM duty ratio.

The controller of the motor control system according to an embodiment of the present invention identifies a digit code corresponding to a control command for controlling the operation of the motor when the operation control of the motor is required, and includes the digits included in the identified digit code. The PWM duty ratio corresponding to each is identified, and the PWM duty ratio of the PWM duty ratio is transmitted for a predetermined time interval according to the identified PWM duty ratios.

The motor unit of the motor control system according to an embodiment of the present invention, when the PWM duty ratio of the PWM signal input to the motor unit while the control mode is the second mode is maintained for the predetermined time interval, the motor The control mode of may be converted from the second mode to the first mode.

The motor unit of the motor control system according to an embodiment of the present invention may convert the digits for each of the PWM duty ratios changed N times in a predetermined time interval, and combine the converted digits to generate the digit code.

The motor unit of the motor control system according to an embodiment of the present invention identifies a control command corresponding to the digit code according to the value and arrangement order of the digits included in the digit code, and performs an operation according to the identified control command. can do.

According to an embodiment of the present invention, when the operation control of the motor is required, the controller transmits a PWM signal whose PWM duty ratio is varied for a predetermined time interval, converts the PWM signal received by the motor unit into a digit code, and a digit code By performing the operation according to the control command corresponding to the, it is possible to control the motor unit to perform the operation without a device for transmitting and receiving a separate control signal.

In addition, according to an embodiment of the present invention, the motor unit determines the frequency of the feedback signal according to the result of the operation control and feeds back to the controller, the result of performing the operation of the motor unit without a separate device for transmitting and receiving the result information Feedback to the controller.

1 is a view showing a motor control system according to an embodiment of the present invention.
2 is an example of a motor unit included in a motor control system according to an embodiment of the present invention.
3 is an example of a PWM signal output by a controller according to an embodiment of the present invention.
4 is a flowchart illustrating a method of generating a control signal of a motor according to an embodiment of the present invention.
5 is a flowchart illustrating a motor control method according to an embodiment of the present invention.
6 is a flowchart illustrating a process of performing an operation of a motor control method according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The motor control method according to an embodiment of the present invention may be performed by the motor unit of the motor control system. In addition, the control signal generation method of the motor according to an embodiment of the present invention may be performed by a controller of the motor control system.

1 is a view showing a motor control system according to an embodiment of the present invention.

Motor control system according to an embodiment of the present invention may be composed of a controller 110 and a motor unit 120 as shown in FIG. For example, the motor unit 120 may be a vehicle ECU (Electronic Control Unit) cooling fan 121 as shown in FIG. 1. In addition, the motor control system can be applied to various motor systems that control the motor using a PWM signal.

The controller 110 may continuously generate a pulse width modulation (PWM) signal and transmit the same to the motor unit 120. In this case, the motor unit 120 may control the speed of the motor according to the PWM signal received from the controller 110. In addition, the motor unit 120 may feed back speed information of the motor to the controller 110 using the frequency of the feedback signal. In detail, the motor unit 120 may transmit a feedback signal having a frequency of a value obtained by dividing the RPM indicating the speed of the motor by a predetermined number to the controller 110. In this case, the motor unit 120 may transmit a feedback signal to which the relationship of RPM = frequency * 30 is established to the controller 110. For example, when the speed of the motor is 1500 RPM, the motor unit 120 may transmit a feedback signal having a frequency of 50 Hz to the controller 110.

In addition, when the operation control of the motor is required, the controller 110 may transmit a PWM signal whose PWM duty ratio is varied for a predetermined time period to the motor unit 120 according to a control command for controlling the operation of the motor.

In this case, the motor unit 120 may convert the PWM duty ratio of the PWM signal received from the controller 110 into a digit code. The motor unit 120 may perform an operation according to a control command corresponding to the digit code. In addition, the motor unit 120 may feed back the result of the control command to the controller 110 at a frequency.

In detail, the controller 110 may determine whether operation control of the motor included in the motor unit 120 is necessary. When the operation control of the motor is not necessary, the controller 110 may determine that the PWM duty ratio is for a predetermined period of time. The same PWM signal may be transmitted to the controller 110.

When the operation control of the motor is required, the controller 110 may transmit the PWM signal having the PWM duty ratio varied for a predetermined time period to the controller 110 according to a control command for controlling the operation of the motor. At this time, the controller 110 identifies a digit code corresponding to a control command for controlling the operation of the motor, identifies a PWM duty ratio corresponding to each of the digits included in the identified digit code, and identifies the identified PWM duty ratio. In some cases, a PWM signal having a variable PWM duty ratio for a predetermined time period may be transmitted.

In addition, the motor unit 120 may determine the control mode of the motor included in the motor unit 120 based on whether the PWM duty ratio of the PWM signal received from the controller 110 for a predetermined time is variable. have. In this case, when the PWM duty ratio of the PWM signal input to the motor unit 120 remains the same for a predetermined time period, the motor unit 120 may determine the control mode as the first mode. In addition, when the PWM duty ratio of the PWM signal input to the motor unit 120 is varied for a predetermined time period, the motor unit 120 may determine the control mode as the second mode.

When the control mode is determined as the first mode for controlling the speed of the motor, the motor unit 120 may adjust the speed of the motor according to the PWM duty ratio of the PWM signal input to the motor unit 120.

In addition, when the control mode is determined as the second mode for controlling the operation of the motor unit 120 except for the speed control of the motor, the motor unit 120 converts the PWM duty ratio of the PWM signal input to the motor unit 120. The operation may be performed according to a control command corresponding to the digit code.

Specifically, the motor unit 120 may convert the digits for each of the PWM duty ratios changed N times in a predetermined time interval and combine the converted digits to generate the digit code. In addition, the motor unit 120 may identify a control command corresponding to the digit code according to the value and arrangement order of the digits included in the digit code. Finally, the motor unit 120 may perform an operation according to the identified control command.

In addition, the motor unit 120 may determine whether the digit code is normal and perform an operation corresponding to the control command when the digit code is normal. In detail, the motor unit 120 may determine whether the digit code is normal by using the first digit, the last digit, and the checksum of the digit code.

When the PWM duty ratio of the PWM signal input to the motor unit 120 is maintained for the predetermined time period while the control mode is the second mode, the motor unit 120 changes the control mode of the motor in the second mode. Can switch to the first mode.

In the motor control system according to an embodiment of the present invention, when the operation control of the motor is required, the controller transmits a PWM signal whose PWM duty ratio is changed for a predetermined time period, and converts the PWM signal received by the motor unit into a digit code. By performing the operation according to the control command corresponding to the digit code, it is possible to control the motor unit to perform the operation without a device for transmitting and receiving a separate control signal.

In addition, the motor control system according to an embodiment of the present invention determines the frequency of the feedback signal according to the result of the operation control of the motor unit to feed back to the controller, the operation of the motor unit without a separate device for transmitting and receiving the result information The performance can be fed back to the controller.

2 is an example of a motor unit included in a motor control system according to an embodiment of the present invention.

The motor unit 120 may include an integrated motor driver integrated circuit 210 and a motor 220 as shown in FIG. 1.

The integrated motor drive IC 210 may determine the control mode of the motor 220 based on whether the PWM duty ratio of the PWM signal received from the controller 110 for a predetermined time is variable. The integrated motor drive IC 210 may control the motor 220 according to the determined control mode.

In addition, the integrated motor drive IC 210 may feed back the result of the operation of the motor 220 or the integrated motor drive IC 210 according to the control mode to the controller 110 through the frequency of the feedback signal.

The integrated motor drive IC 210 may be in a state in which switching noise is improved by applying a sin wave PWM technology. In addition, the integrated motor drive IC 210 may include a controller and a metal oxide semiconductor field effect transistor (MOSFET) integrally, thereby reducing the weight and size of the motor unit 120.

3 is an example of a PWM signal output by a controller according to an embodiment of the present invention.

When the operation control of the motor is not necessary, the controller 110 may transmit the PWM signal 310 to which the PWM duty ratio remains the same for a predetermined time period to the controller 110.

In addition, when the operation control of the motor is required, the controller 110 may transmit the PWM signal 320 whose PWM duty ratio is varied for a predetermined time period to the controller 110 according to a control command for controlling the operation of the motor. In this case, the position where the PWM duty ratio is varied and the variable ratio may be determined according to each of the digits included in the digit code corresponding to the control command.

For example, when the relationship between the PWM duty ratio and the digit value is as shown in Table 1, and the digit code corresponding to the control command is 5953535, the controller 110 has a duty ratio of 50% − as shown in FIG. The PWM signal 320 varied from> 90%-> 50%-> 30%-> 50%-> 30%-> 50% can be transmitted to the controller 110.

In this case, the PWM duty ratio may be a ratio between the region 301 of the maximum value and the region 302 of the minimum value in the predetermined period 300 as shown in FIG. 3. For example, in the PWM signal 310, since the maximum region 301 is half of the predetermined period 300, the PWM duty ratio of the PWM signal 320 may be 50%. On the other hand, in the PWM signal 320, since the region 301 of the maximum value is 90% of the predetermined period 300, the PWM duty ratio of the PWM signal 320 may be 90%.

4 is a flowchart illustrating a method of generating a control signal of a motor according to an embodiment of the present invention.

In operation 410, the controller 110 may determine whether operation control of the motor is required. In this case, the controller 110 may determine whether the operation control of the motor is necessary according to a pre-input condition, or may determine that the operation control of the motor is necessary when the operation control of the motor is requested from the user. For example, the controller 110 may determine that operation control for requesting version information or operation control for requesting diagnosis and operation control for requesting failure information are necessary.

If it is determined that the operation control of the motor is not necessary, the controller 110 may perform step 420. In addition, when the operation control of the motor is required, the controller 110 may perform step 430.

In operation 420, the controller 110 may transmit a PWM signal in which the PWM duty ratio remains the same for a predetermined time period to the motor unit 120.

In operation 430, the controller 110 may identify a digit code corresponding to a control command for controlling the operation of the motor.

In operation 440, the controller 110 may identify a PWM duty ratio corresponding to each of the digits included in the digit code identified in operation 430.

In operation 450, the controller 110 may transmit a PWM signal whose PWM duty ratio is changed for a predetermined time interval to the motor unit 120 according to the PWM duty ratios identified in operation 440.

In operation 460, the controller 110 may receive a feedback signal corresponding to the PWM signal transmitted in operation 420 or operation 450 from the motor unit 120. In this case, the motor unit 120 may control the operation of the motor unit 120 according to the received PWM signal. In addition, the motor unit 120 determines the frequency of the feedback signal according to the operation control result and feeds it back to the controller 110, thereby providing the controller with the result of performing the operation of the motor unit without a device for transmitting and receiving separate result information. have.

5 is a flowchart illustrating a motor control method according to an embodiment of the present invention.

In operation 510, the motor unit 120 may receive a PWM signal from the controller 110 for a predetermined time.

In operation 520, the motor unit 120 may determine whether the PWM duty ratio of the PWM signal received in operation 510 is variable. When the PWM duty ratio of the PWM signal is variable, the motor unit 120 may determine the control mode as the second mode in step 550. In addition, when the PWM duty ratio of the PWM signal is not changed and remains the same, the motor unit 120 may determine the control mode as the first mode in step 530.

In addition, when the PWM duty ratio of the PWM signal is less than the first threshold value or more than the second threshold value, the motor unit 120 may determine the control mode as the first mode in step 530. In this case, the first threshold value and the second threshold value may vary according to embodiments. For example, the first threshold value may be a PWM duty ratio of 5% and the second threshold value may be a PWM duty ratio of 95%.

In operation 540, the motor unit 120 may adjust the speed of the motor according to the PWM duty ratio of the PWM signal received in operation 510.

In operation 560, the motor unit 120 may convert to digital for each of the PWM duty ratios that are changed N times during a predetermined time period of the PWM signal received in operation 510 using Table 1. Then, the motor unit 120 may combine the digits to generate a digit code as shown in Table 2.

At this time, the first digit and the last digit of the digit code may have the same value and may indicate the beginning and end of the digit code. When Data 1 to Data 4 included in the digit code has one of 0 to 9, the duty ratio that can be expressed using Data 1 to Data 4 may be 0% to 90%. Also, the second digit based on the last digit of the digit code may be a check sum for confirming whether the digit code is normal. The remaining digits of the digit code may be information indicating a control command.

For example, the checksum may be determined by dividing the sum of the first digit and the remaining digits by a predetermined number as shown in Equation 1 below.

In operation 570, the motor unit 120 may determine whether the digit code converted in operation 560 is normal.

In this case, the motor unit 120 may determine whether the digit code is normal according to whether the first digit and the last digit of the digit code are the same. Specifically, since the value of the first digit and the last digit of the digit code is the same value, when the value of the first digit and the last digit of the digit code is the same, the motor unit 120 converts the digit code in step 560 May be determined to be normal, and step 580 may be performed. In addition, when the values of the first digit and the last digit of the digit code are different from each other, the motor unit 120 determines that an error has occurred in the process of transmitting the PWM signal or converting the PWM duty ratios into the digit code. Step 510 may be performed until confirmed.

In addition, the motor unit 120 may determine whether the digit code is normal by using the checksum of the digit code. Specifically, the checksum of the digit code is an operation result of applying other digits of the digit code to an equation such as Equation 1, and the equation is already determined. Therefore, the motor unit 120 may compare the calculation result using the other digits of the digit code to the calculation expression with the checksum. In addition, when the calculation result and the checksum are the same, the motor unit 120 may determine that the digit code converted in operation 560 is normal and perform operation 580. In addition, when the calculation result and the checksum are different from each other, the motor unit 120 may determine that the digit code converted in step 560 is abnormal and perform step 510 until the normal digit code is confirmed.

In operation 580, the motor unit 120 may identify a control command corresponding to the digit code according to the value and arrangement order of the digits included in the digit code, and perform an operation according to the identified control command.

For example, the motor unit 120 may store and manage a PWM code map (CODE MAP) including a control command corresponding to a digit code as shown in Tables 3 and 4. In addition, the motor unit 120 may identify the control command by searching the PWM code map for the values of the digits representing the control command in the digit code.

In operation 590, the motor unit 120 may transmit feedback based on the PWM signal to the controller 110 using the frequency of the feedback signal. In this case, the motor unit 120 feeds back the speed information of the motor whose speed is adjusted in the step 540 to the controller 110, or outputs the result of performing the operation according to the control command in the step 580 to the controller 110. You can feedback.

In this case, the motor unit 120 may feedback the controller 110 by modulating the frequency of the feedback signal according to the digit code according to the result of the operation.

In detail, the motor unit 120 may store and manage a frequency code map including digit codes corresponding to a result of performing an operation as shown in Table 5 below. In addition, the motor unit 120 may modulate the frequency of the feedback signal according to the relationship between the frequency and the digit value as shown in Table 6 and transmit it to the controller 110.

For example, when a result of performing an operation to be fed back to the controller 110 is MOTOR FAULT, the value of the digit code corresponding to the MOTOR FAULT may be 6017. When the digit value is 6, the frequency of the feedback signal is 80 Hz, and when the digit value is 0, the frequency of the feedback signal may be 50 Hz. In addition, when the digit value is 1, the frequency of the feedback signal may be 55 Hz, and when the digit value is 7, the frequency of the feedback signal may be 75 Hz. Therefore, the motor unit 120 may transmit a feedback signal having a frequency modulated in the order of 80 Hz to 50 Hz to 55 Hz to 75 Hz to the controller 110.

At this time, the controller 110 receiving the feedback signal may restore the digit code of 6017 from the frequency of the feedback signal using Table 6. In addition, the controller 110 may restore the MOTOR FAULT which is a result of performing an operation to feed back the digit code of 6017 using Table 5.

6 is a flowchart illustrating a process of performing an operation of a motor control method according to an embodiment of the present invention. Steps 610 to 680 of FIG. 6 may be included in step 580 of FIG. 5.

In operation 610, the motor unit 120 may determine whether the control command corresponding to the digit code is a version information request. If the control command corresponding to the digit code is a version information request, the motor unit 120 may perform step 620.

In operation 620, the motor unit 120 may determine version information of the frequency generator as feedback to be transmitted to the controller 110 in operation 590.

In operation 630, the motor unit 120 may determine whether the control command corresponding to the digit code is a learning request. If the control command corresponding to the digit code is a learning request, the motor unit 120 may perform step 640.

In operation 640, the motor unit 120 may perform a learning process to tune the motor and store the tuning result of the motor.

For example, the motor unit 120 may search for a factor value having a value that maintains a target speed while consuming the lowest current by combining minimum and maximum values of phase resistance, BEMF, and KT constants. . In addition, the motor unit 120 stores the retrieved factor value in a storage medium of the motor unit 120, thereby maintaining the production process without modification of firmware. For example, the storage medium of the motor unit 120 that stores the retrieved factor value may be an electrically erasable programmable read-only memory (EEPROM).

In operation 650, the motor unit 120 may determine whether the control command corresponding to the digit code is a diagnosis request. If the control command corresponding to the digit code is a diagnostic request, the motor unit 120 may perform step 660.

In operation 660, the motor unit 120 may self-diagnose its own condition. The motor unit 120 may store the self-diagnosis result in the storage medium of the motor unit 120.

In operation 670, the motor unit 120 may determine whether the control command corresponding to the digit code is a failure information request. If the control command corresponding to the digit code is a failure information request, the motor unit 120 may perform step 680.

In operation 680, the motor unit 120 may determine a self-diagnosis result stored in the storage medium of the motor unit 120 as feedback to be transmitted to the controller 110 in operation 590. For example, the motor unit 120 may determine as feedback to transmit information corresponding to the self-diagnosis result among the failure information shown in Table 4 to the controller 110.

According to the present invention, when the operation control of the motor is required, the controller transmits a PWM signal whose PWM duty ratio is varied for a predetermined time interval, converts the PWM signal received by the motor unit into a digit code, and controls a control command corresponding to the digit code. By performing the operation according to the present invention, the motor unit can be controlled to perform the operation without a device for transmitting and receiving a separate control signal.

In addition, according to the present invention, the motor unit determines the frequency of the feedback signal according to the result of the operation control and feeds it back to the controller, thereby feeding back the result of the operation of the motor unit to the controller without a device for transmitting and receiving the result information. .

The method according to the embodiment may be embodied in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. Computer-readable media may include, alone or in combination with the program instructions, data files, data structures, and the like. The program instructions recorded on the media may be those specially designed and constructed for the purposes of the embodiments, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks, such as floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains various modifications and variations from such descriptions. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the claims below but also by the equivalents of the claims.

110: controller
120: motor unit

Claims (13)

Determining a control mode of a motor included in the motor unit based on whether a pulse width modulation (PWM) duty ratio of the PWM signal input to the motor unit from the controller is changed;
Adjusting the speed according to the PWM duty ratio of the PWM signal input to the motor unit when the control mode is determined as the first mode for controlling the speed of the motor; And
When the control mode is determined as the second mode for controlling the operation of the motor unit except for the speed control of the motor, the PWM duty ratio of the PWM signal input to the motor unit is operated according to a control command corresponding to the converted digit code. Steps to perform
Including,
Performing an operation according to the control command,
And converting each of the PWM duty ratios changed N times during the predetermined time period into digits, and combining the converted digits to generate the digit code. The method of claim 1,
Determining the control mode,
When the PWM duty ratio of the PWM signal input to the motor unit remains the same for a predetermined time interval, the control mode is determined as the first mode,
And determining the control mode as the second mode when the PWM duty ratio of the PWM signal input to the motor unit is changed for a predetermined time interval. The method of claim 1,
Determining whether the digit code is normal;
More,
Performing an operation according to the control command,
And a motor control method performed when the digit code is normal. The method of claim 1,
When the PWM duty ratio of the PWM signal input to the motor unit remains the same for a predetermined time period while the control mode is the second mode, converting the control mode of the motor from the second mode to the first mode step
Motor control method further comprising. delete The method of claim 1,
Performing an operation according to the control command,
And a control command corresponding to the digit code according to the value and the arrangement order of the digits included in the digit code, and performing an operation according to the identified control command. Determining whether motion control of the motor is necessary;
If the operation control of the motor is not necessary, transmitting a PWM signal whose PWM duty ratio remains the same for a predetermined time interval; And
When the operation control of the motor is necessary, transmitting a PWM signal whose PWM duty ratio is variable for a predetermined time interval according to a control command for controlling the operation of the motor.
Including,
Transmitting the variable PWM signal,
Identifying a digit code corresponding to a control command for controlling the operation of the motor;
Identifying a PWM duty ratio corresponding to each of the digits included in the identified digit code; And
Transmitting a PWM signal whose PWM duty ratio is varied for a predetermined time interval according to the identified PWM duty ratios
Control signal generation method of the motor comprising a. delete If the operation control of the motor is not necessary, the PWM duty ratio transmits a PWM signal that remains the same for a certain period of time, and if the operation control of the motor is required, the PWM duty ratio is constant according to a control command for controlling the operation of the motor. A controller transmitting a variable PWM signal during a time interval; And
A control mode of the motor is determined based on whether the PWM duty ratio of the PWM signal received from the controller for a predetermined time is varied, and the control mode is determined as the first mode for controlling the speed of the motor. And adjusting the speed according to the PWM duty ratio of the received PWM signal, and when the control mode is determined as the second mode for controlling the operation of the motor except for the speed control of the motor, the PWM duty of the received PWM signal Motor unit which performs an operation according to a control command corresponding to the digit code whose ratio is converted
Including,
The controller,
When the operation control of the motor is required, the digit code corresponding to the control command for controlling the operation of the motor is identified, the PWM duty ratio corresponding to each of the digits included in the identified digit code is identified, and the identified PWM duty A motor control system for transmitting a PWM signal whose PWM duty ratio is variable over a period of time depending on the ratios. delete The method of claim 9,
The motor unit,
When the PWM duty ratio of the PWM signal input to the motor unit remains the same for a predetermined time period while the control mode is the second mode, converting the control mode of the motor from the second mode to the first mode Motor control system. The method of claim 9,
The motor unit,
And converting the digits for each of the PWM duty ratios changed N times during the predetermined time period, and combining the converted digits to generate the digit code. The method of claim 12,
The motor unit,
And a control command corresponding to the digit code according to the value and arrangement order of the digits included in the digit code, and performing an operation according to the identified control command.

Images