KR20200056572A - BLDC motor, Apparatus and Method for providing attach position information of hole sensors in the BLDC motor - Google Patents

Abstract

Disclosed are a BLDC motor, and a device and a method for providing attachment position information of hall sensors in the BLDC motor. The device for providing attachment position information comprises: a zero crossing point (ZCP) calculation unit calculating a ZCP by using a counter electro-motive force of each of a plurality of coils wound on a stator of a BLDC motor; and an information providing unit providing information of an attachment position of hall sensors by using the calculated ZCP.

Description

A BLDC motor and an apparatus and method for providing attachment position information of hall sensors in the BLDC motor {BLDC motor, Apparatus and Method for providing attach position information of hole sensors in the BLDC motor}

Embodiments of the present invention relates to an apparatus and method for providing guide information on a position of attachment of Hall sensors in a BLDC motor, and a BLDC motor to which it is applied.

In general, the electric motor is composed of a stator having a fixed and penetrating shape and a rotor rotating within the stator. In the case of a small-sized electric motor, the stator mainly uses a permanent magnet, and a coil is wound around the rotor so that an electric current is passed therein to become an electromagnet so that the stator and the rotor rotate to interact.

Meanwhile, with the recent development of semiconductors, permanent magnets are used as rotors, and coils are wound around the stator to supply power to them, thereby sequentially magnetizing the stators. Accordingly, as if the stator rotates, the rotor corresponding magnetically to the rotor also rotates. Such an electric motor is called a BLDC electric motor.

The control method in a typical BLDC motor requires a mechanical position sensor to detect rotor information. In general, the position of the rotor is detected by dividing the position of the rotor into six sections using a plurality of inexpensive Hall sensors. Hall sensors are ideally spaced at 120 ° and three are attached to the BLDC motor.

Fig. 1 shows the energized state and operation section of the switch in the inverter when the hall sensor is ideally disposed. Referring to FIG. 1, the section is divided into six according to the Hall signal, which is the output signal of the Hall sensor, and the on / off of the six switches in the inverter is controlled for each section to control the flow of current so that the rotor rotates in a constant direction. So that torque can be generated.

However, in reality, due to a mechanical sensor attachment error, the electrical phase of the Hall sensors is difficult to accurately maintain and maintain an interval of 120 °. This is as shown in FIG. 2. Therefore, the on / off timing of the switch may be later or faster than the ideal case due to a mechanical sensor attachment error. Particularly, in the case of a small multi-pole BLDC motor, the arrangement of these hall sensors is increasingly demanding precision, and when mounting errors of the hall sensors occur, they have an incorrect energization section due to incorrect position information, resulting in reduced output, torque ripple, noise, etc. Causes In order to solve this problem, a control technique for compensating the signals of the hall sensors so as to have an accurate energization section is actively being studied.

However, such a conventional method has a disadvantage in that it is not suitable for use in a low-cost BLDC motor because it requires a lot of computational processing using a high-performance processor.

In order to solve the problems of the prior art as described above, in the present invention, an apparatus and method for providing attachment position information of hall sensors capable of guiding accurate attachment positions of hall sensors without a position error in a BLDC motor, and I would like to propose an applied BLDC motor.

Other objects of the present invention may be derived by those skilled in the art through the following examples.

According to a preferred embodiment of the present invention to achieve the above object, in the apparatus for providing the attachment position information of the hall sensors in the BLDC motor, using the back electromotive force of each of the plurality of coils wound on the stator of the BLDC motor ZCP calculation unit to calculate the ZCP (Zero Crossing Point); And an information providing unit that provides information on the attachment positions of the hall sensors using the calculated ZCP.

The information providing unit, based on the default starting angle, selects the angle of the calculated ZCP angle plus the preset electrical angle as an angle A1 corresponding to the attachment position of the first hall sensor among the hall sensors, and the The angle A1 plus the angle of 120 ° is selected as an angle B1 corresponding to the attachment position of the second hall sensor among the hall sensors, and the angle A1 plus the angle of 240 ° is added to the angle among the hall sensors. The angle C1 corresponding to the attachment position of the third hall sensor can be selected.

The set electrical angle may be 30 °.

The information providing unit may include an angle A2 corresponding to the actual attachment position of the first hall sensor, an angle B2 corresponding to the actual attachment position of the second hall sensor, and the like based on the output timing of the hall signal output from the hall sensors, respectively. The angle C2 corresponding to the actual attachment position of the third hall sensor is respectively calculated, and the difference error value A between the angle A1 and the angle A2, the error value B difference between the angle B1 and the angle B2, and the angle C1 and the angle An error value C, which is a difference of C2, is calculated, and the attachment positions of the hall sensors can be adjusted based on the error value A, the error value B, and the error value C.

Each of the error value A, the error value B and the error value C has a (+) value or a (-) value, and the (+) value is a clockwise angle of the attachment position of the hall sensor according to the error value. It may correspond to moving, and the (-) value may correspond to moving the attachment position of the hall sensor at an angle in a counterclockwise direction according to an error value.

In addition, according to another embodiment of the present invention, the BLDC motor, the motor including a stator and a rotor; Hall sensors for detecting the position of the rotor; And a hall sensor attachment location information providing unit providing information on the attachment positions of the hall sensors, wherein the hall sensor attachment location information providing unit calculates ZCP by using back electromotive force of each of a plurality of coils wound on the stator. And, using the calculated ZCP BLDC motor is provided, characterized in that to provide information of the attachment position of the hall sensors.

In addition, according to another embodiment of the present invention, the method is performed in a device including a processor, and in a method of providing attachment position information of Hall sensors in a BLDC motor, each of a plurality of coils wound on a stator of the BLDC motor Calculating a back electromotive force of the; Calculating ZCP using the calculated back EMF; And providing information on the attachment position of the hall sensor using the calculated ZCP.

According to the present invention, there is an advantage in that it is possible to guide the correct position of the hall sensors without the position error in the BLDC motor.

In addition, it should be understood that the effects of the present invention are not limited to the above-described effects, and include all effects that can be deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a view showing an energized state and an operation section of a switch in an inverter when the hall sensor is ideally disposed.
2 is a view showing the concept of a mechanical attachment error of the hall sensor.
3 is a view schematically showing the configuration of a BLDC motor according to an embodiment of the present invention.
4 is a diagram showing a schematic configuration of an attachment location information providing unit according to an embodiment of the present invention.
5 to 8 are views for explaining the operation concept of the attachment location information providing unit according to an embodiment of the present invention.
9 is a flowchart illustrating a method for providing attachment position information of inner hall sensors according to an embodiment of the present invention.

As used herein, a singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, the terms "consisting of" or "comprising" should not be construed as including all of the various components, or various steps described in the specification, among which some components or some steps It may not be included, or it should be construed to further include additional components or steps. In addition, terms such as “... unit” and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented in hardware or software, or a combination of hardware and software. .

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a view schematically showing the configuration of a BLDC motor according to an embodiment of the present invention.

Referring to FIG. 3, the BLDC electric motor 300 includes a motor 310, hall sensors 320, a driving control unit 330, a driving unit 340, and an attachment location information providing unit 350.

The motor 310 is composed of a stator and a rotor rotating inside the stator, and can be driven using a three-phase current. At this time, a plurality of coils are wound on the stator, and the rotor may be a permanent magnet of two or more poles.

Hall sensors 320 are attached inside the motor 310 to detect the position of the rotor, and outputs a hall signal. For example, three Hall sensors 320 may be attached at an angle of 120 °, but the present invention is not limited thereto.

The driving control unit 330 calculates a control signal for driving the motor 310 based on the hall signals output from the hall sensors 320. Then, the driving unit 340 drives the motor 310 based on the control signal. At this time, the driving unit 340 includes an inverter, and a plurality of switches, for example, six switches are included in the inverter. The six switches are on / off controlled based on the control signals described above.

Attachment location information providing unit 350 may be configured as a separate device, or a component that can be included in the BLDC motor 300, information of the correct (ie, ideal) attachment location of the hall sensors 320 It performs the function of providing. Through the present invention, the user checks whether the hall sensors 320 are attached at intervals of an electric angle of 120 °, and the correct attachment positions of the hall sensors 320 on the motor 310 implemented in various shapes. Guide information can be provided.

Hereinafter, embodiments of the present invention will be described in detail with reference to the operation of the attachment location information providing unit 350.

4 is a view showing a schematic configuration of the attachment location information providing unit 350 according to an embodiment of the present invention.

Referring to FIG. 4, the attachment location information providing unit 350 may include a ZCP calculating unit 351 and an information providing unit 352. Hereinafter, the function of each component will be described in detail.

The ZCP calculator 351 calculates the counter electromotive force of each of the plurality of coils wound on the stator of the BLDC motor 300, and uses this to calculate a ZCP (Zero Crossing Point).

That is, the ZCP calculator 351 detects ZCP by comparing the reverse electromotive force of each phase obtained through the forced driving of the BLDC motor 300 and the DC input voltage included in the driver 340. 5 illustrates an example of a circuit included in the ZCP calculation unit 351 and the concept of the ZCP detection content through the circuit. Since the content of detecting ZCP is widely known, detailed description thereof will be omitted.

The information providing unit 352 provides the information of the ideal attachment position of the hall sensors 320 using the calculated ZCP, and in addition, the actual position information of the hall sensors 320 actually attached to the BLDC motor 300. And error value information of an ideal attachment position of the hall sensors 320. At this time, the information providing unit 352 may include a display unit (not shown), through which information can be displayed to the user.

In more detail, first, the information providing unit 352 may select an angle obtained by adding the calculated ZCP angle and a preset electrical angle as an angle at which a Hall signal is output from the first Hall sensor among the Hall sensors 320. . Preferably, the preset electrical angle may be 30 °. In other words, the information providing unit 352 may select the angle of the calculated ZCP angle plus the preset electrical angle (30 °) as an angle A1 corresponding to the ideal attachment position of the first hall sensor.

Next, the information providing unit 352 may select the angle A1 plus the electrical angle of 120 ° as the angle at which the hall signal is output from the second hall sensor among the hall sensors 320. That is, the information providing unit 352 may select the calculated angle of ZCP plus the electrical angle of 30 ° and the electrical angle of 120 ° as an angle B1 corresponding to the ideal attachment position of the second hall sensor. .

Subsequently, the information providing unit 352 may select the angle A1 plus the electric angle of 240 ° as the angle at which the hall signal is output from the third hall sensor among the hall sensors 320. That is, the information providing unit 352 may select the calculated angle of ZCP plus the preset electrical angle (30 °) and the electrical angle of 240 ° as an angle C1 corresponding to the ideal attachment position of the third hall sensor. .

In summary, centering on the starting angle on the default arc, the angle A1 associated with the ideal attachment position of the first hall sensor is ZCP + 30 °, the angle B1 associated with the ideal attachment position of the second hall sensor is ZCP + 150 °, The angle C1 associated with the ideal attachment position of the third hall sensor may be ZCP + 270 °. Meanwhile, referring to FIG. 6, the information providing unit 352 outputs signals according to the angles A1, B1, and C1 calculated using the D / A converter ((a) of FIG. 6), and the BLDC motor ( The 6-Step step waveform of driving 300) is output (Fig. 6 (b)).

Then, the information providing unit 352, based on the output timing of each of the Hall signals output from the Hall sensors 320 previously attached, the angle A2 corresponding to the actual attachment position of the first Hall sensor, the second Hall sensor The angle B2 corresponding to the actual attachment position and the angle C2 corresponding to the actual attachment position of the third hall sensor are respectively calculated.

Then, the information providing unit 352 calculates the error value C, which is the difference between the angle A1 and the angle A2, the error value B, which is the difference between the angle B1 and the angle B2, and the error value C, which is the difference between the angles C1 and C2. (Not shown).

That is, the information providing unit 352 performs a comparison operation between the signal of the attached hall sensor and the hall signal calculated through ZCP (ie, ZCP + 30 °, ZCP + 150 °, ZCP + 270 °). The amount of error generated due to the error in the mounting position of the hall sensors 320 is calculated and displayed to the user. FIG. 7 shows the result of the comparison operation between the Hall sensor signal and the Hall signal calculated through ZCP. On the other hand, the above process is repeatedly performed so that an error rate of about 1% can be satisfied.

The error amounts are information that means the moving direction information of the attached Hall sensors 320, and each of the error value A, the error value B, and the error value C may have a (+) value or a (-) value. At this time, the (+) value corresponds to moving the attachment position of the Hall sensor in a clockwise angle according to the error value, and the (-) value changes the attachment position of the Hall sensor in an anticlockwise angle according to the error value. It corresponds to moving. Therefore, the user can adjust the attachment position of the hall sensors 320 based on the error value A, the error value B, and the error value C.

Meanwhile, FIG. 8 shows a configuration of the substrate including the attachment location information providing unit 350. At this time, the ZCP calculation unit 351 corresponds to "ZCP detection circuit", and the information providing unit 352 corresponds to "MCU (TMS320F28335) and LED".

In short, the present invention compares the signal of the attached Hall sensor and the Hall signal calculated through ZCP, calculates error values, configures to satisfy an error rate of around 1%, and mounts Hall sensors of the BLDC motor 300. Check the mounting error and correct the error by moving the mounting positions of the Hall sensors.

In addition, the present invention allows the hall sensors 320 to be accurately disposed at intervals of 120 ° at an electric angle suitable for BLDC motors of various poles, thereby improving reliability of the BLDC motor 300, reducing output, It has the advantage of preventing noise.

9 is a flowchart illustrating a method for providing attachment position information of inner hall sensors according to an embodiment of the present invention. At this time, the method may be performed through a processor. Hereinafter, a process performed for each step will be described.

First, in step 910, the counter electromotive force of each of the plurality of coils wound on the stator of the BLDC motor is calculated.

Next, in step 920, the ZCP is calculated using the calculated back EMF.

Subsequently, in step 930, information on the ideal attachment position of the hall sensor is provided using the calculated ZCP.

According to an embodiment of the present invention, in step 930, with respect to the starting angle on the default arc, the angle A1 associated with the ideal attachment position of the first hall sensor is ZCP + 30 °, the ideal attachment position of the second hall sensor The angle B1 associated with can be selected as ZCP + 150 °, and the angle C1 associated with the ideal attachment position of the third hall sensor can be selected as ZCP + 270 °.

In addition, according to an embodiment of the present invention, in step 930, the angle A2 corresponding to the actual attachment position of the first hall sensor, based on the output timing of each of the hall signals output from the pre-attached hall sensors 320, respectively. , Calculate the angle B2 corresponding to the actual attachment position of the second hall sensor and the angle C2 corresponding to the actual attachment position of the third hall sensor, respectively, and the difference between the angle A1 and the angle A2 error value A, the difference error between the angle B1 and the angle B2 The error value C which is the difference between the value B and the angle C1 and the angle C2 can be calculated and displayed, respectively.

So far, embodiments of the method for providing attachment position information of hall sensors according to the present invention have been described, and the configuration of the BLDC motor 300 described with reference to FIGS. 1 to 8 can be applied to this embodiment as it is. Accordingly, a more detailed description will be omitted.

In addition, embodiments of the present invention may be implemented in the form of program instructions that can be executed through various computer means and can be recorded in computer readable media. The computer-readable medium may include program instructions, data files, data structures, or the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present invention, or may be known and available to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs, DVDs, and magnetic media such as floptical disks. Examples of program instructions, such as magneto-optical, and ROM, RAM, flash memory, etc., can be executed by a computer using an interpreter as well as machine code such as those produced by a compiler. Contains high-level language codes. The hardware device described above may be configured to operate as one or more software modules to perform the operations of one embodiment of the present invention, and vice versa.

As described above, the present invention has been described by specific matters such as specific components, etc. and limited embodiments and drawings, which are provided to help the overall understanding of the present invention, but the present invention is not limited to the above embodiments, Those skilled in the art to which the present invention pertains can make various modifications and variations from these descriptions. Accordingly, the spirit of the present invention should not be limited to the described embodiments, and should not be determined, and all claims that are equivalent or equivalent to the scope of the claims as well as the claims described below belong to the scope of the spirit of the invention. .

Claims (7)

In the apparatus for providing the position information of the attachment of the Hall sensors in the BLDC motor,
A ZCP calculation unit for calculating a zero crossing point (ZCP) by using back electromotive force of each of a plurality of coils wound on the stator of the BLDC motor; And
And an information providing unit that provides information on the attachment positions of the hall sensors by using the calculated ZCP. According to claim 1,
The information providing unit, based on the default starting angle, selects the angle of the calculated ZCP angle plus the preset electrical angle as an angle A1 corresponding to the attachment position of the first hall sensor among the hall sensors, and the The angle A1 plus the electric angle of 120 ° is selected as the angle B1 corresponding to the attachment position of the second hall sensor among the hall sensors, and the angle of the angle A1 plus the electric angle of 240 ° is selected from among the hall sensors. Apparatus for providing the attachment position information of the hall sensor, characterized in that the selection of the angle C1 corresponding to the attachment position of the third hall sensor. According to claim 2,
The set electrical angle is 30 ° Hall sensor attached location information providing device. According to claim 2,
The information providing unit,
The angle A2 corresponding to the actual attachment position of the first Hall sensor, the angle B2 corresponding to the actual attachment position of the second Hall sensor, and the third Hall sensor based on the output timing of each Hall signal output from the Hall sensors, respectively. Each angle C2 corresponding to the actual attachment position is calculated,
The difference error value A between the angle A1 and the angle A2, the error value B difference between the angle B1 and the angle B2, and the difference error value C between the angle C1 and the angle C2 are calculated,
The attachment position information providing device of the hall sensor, characterized in that the attachment position of the hall sensors is adjusted based on the error value A, the error value B and the error value C. The method of claim 4,
Each of the error value A, the error value B and the error value C has a (+) value or a (-) value, and the (+) value is a clockwise angle of the attachment position of the hall sensor according to the error value. A device for providing attachment position information of a hall sensor, characterized in that it corresponds to moving, and the (-) value corresponds to moving the attachment position of the hall sensor at an angle in a counterclockwise direction according to an error value. For BLDC motors,
A motor including a stator and a rotor;
Hall sensors for detecting the position of the rotor; And
Includes; Hall sensor attachment location information providing unit for providing information of the ideal location of the Hall sensor,
The hall sensor attachment position information providing unit calculates a ZCP (Zero Crossing Point) by using the back electromotive force of each of the plurality of coils wound on the stator, and provides information on the attachment positions of the hall sensors using the calculated ZCP BLDC electric motor, characterized in that. A method for providing attachment position information of hall sensors in a BLDC motor performed in a device including a processor,
Calculating back electromotive force of each of the plurality of coils wound on the stator of the BLDC motor;
Calculating a ZCP (Zero Crossing Point) using the calculated back EMF; And
And providing information on the attachment position of the hall sensor using the calculated ZCP.

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