KR860002000B1 - The speed detecting method of hall motor - Google Patents

The speed detecting method of hall motor Download PDF

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Publication number
KR860002000B1
KR860002000B1 KR1019830000069A KR830000069A KR860002000B1 KR 860002000 B1 KR860002000 B1 KR 860002000B1 KR 1019830000069 A KR1019830000069 A KR 1019830000069A KR 830000069 A KR830000069 A KR 830000069A KR 860002000 B1 KR860002000 B1 KR 860002000B1
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South Korea
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hall
motor
rotor
speed
comparators
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KR1019830000069A
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Korean (ko)
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KR840003361A (en
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도시오 야에하시
다까오 미야사까
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니뽕 빅터 가부시끼 가이샤
신지 이찌로
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G01P3/66—Devices characterised by the determination of the time taken to traverse a fixed distance using electric or magnetic means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor

Abstract

The speed monitoring system for a Hall motor with a pair of Hall elements, a rotary magnet and stator windings uses signal forming elements which are incorporated in the motor itself. These produce alternating signals with a phase displacement to give synchronizing signals corresponding to the motor position. The alternating signals are passed to a signal shaping circuit with a pair of comparators connected to a driving circuit which applies control voltages to the windings. The comparators are also connected to a differentiating section with two sets of capacitors, diodes and resistances connected to respective transistors and an equalizer.

Description

홀모터의 속도 제어방법How to control the speed of the hall motor

제 1 도는 본 발명에 의한 방법의 일실시예를 설명하기 위한 회로도.1 is a circuit diagram for explaining an embodiment of the method according to the present invention.

제 2 도 및 제 3 도는 각각 본 발명에 의한 방법에 사용하는 홀모터의 전개도 및 자계강도를 설명하기 위한 도면.2 and 3 are views for explaining the development and magnetic field strength of the hole motor used in the method according to the present invention, respectively.

제 4a 도, 제 4b 도 및 제 5a 도 내지 제 5f 도는 제 1 도에 도시된 회로의 동작설명용 신호파형도.4A, 4B, and 5A through 5F are signal waveform diagrams for explaining the operation of the circuit shown in FIG.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 로터 마그네트 41,42: 홀소자1: rotor magnet 4 1 , 4 2 : Hall element

7 : 모터 구동회로 81,82: 비교기7: Motor driving circuit 8 1 , 8 2 : Comparator

91,92: 미분회로 11 : 출력단자9 1 , 9 2 : Differential circuit 11: Output terminal

Tr1,Tr2: 트랜지스터 C3,C4: 콘덴서Tr 1 , Tr 2 : transistor C 3 , C 4 : condenser

R1~4: 저항R 1 ~ 4 : resistance

본 발명은 홀모터의 속도 제어방법에 관한 것으로서 로터 마그네트의 특정위치가 2개의 홀소자 사이를 변위하는데 요하는 시간을 검출하는 것에 의하여 로터 마그네트의 착자 정밀도에 관계없이 고정밀도로 속도검출을 할 수 있은 홀모터의 속도 제어방법을 제공하는 것을 목적으로 한다.The present invention relates to a speed control method of a hole motor, and by detecting the time required for a specific position of a rotor magnet to be displaced between two Hall elements, the speed can be detected with high precision regardless of the magnetization accuracy of the rotor magnet. An object of the present invention is to provide a method for controlling the speed of a hall motor.

종래의 홀모터의 회전속도 제어장치에는 회전축과 같이 회전하는 다자극 마그네트와 이것에 대향한 코일로 구성되는 주파수 발전기가 설치되어 로터의 회전에 의하여 상기 코일에 발생하는 교류 전압파형의 주파수를 검출하여 속도제어를 하고 있었다.Conventional Hall motor rotational speed control device is provided with a frequency generator consisting of a multi-pole magnet and a coil opposite to the rotating shaft to detect the frequency of the AC voltage waveform generated in the coil by the rotation of the rotor Speed control was in progress.

그러나 상기 종래의 홀모터는 주파수 발전기의 마그네틱의 착자정밀도, 마그네트의 표면과 코일의 평면정도, 마그네트와 모터 본체의 회전자와의 회전축 중심 어긋나기 등이 속도검출 정밀도에 영향을 주어 정확하게 속도검출을 할 수 없는 결점이 있었다. 또 주파수 발전기가 설치되어 있기 때문에 소형화가 곤란하고, 또 염가로 구성할 수 없는 등의 결점도 있었다.However, in the conventional Hall motor, the magnetization accuracy of the magnetic of the frequency generator, the surface accuracy of the magnet and the plane of the coil, and the deviation of the center of the rotation axis between the magnet and the rotor of the motor main body affect the speed detection accuracy, thereby accurately detecting the speed. There was a defect that could not be done. In addition, since a frequency generator is installed, it is difficult to miniaturize, and there is a drawback in that it cannot be constructed at low cost.

본 발명은 상기 결점을 제거한 것으로서 이하 도면과 같이 그 일실시예에 대하여 설명한다.The present invention removes the above-described drawbacks and one embodiment will be described as follows.

제 1 도는 본 발명에 의한 홀모터의 속도 제어방법의 일실시예를 설명하기 위한 회로도이고, 제 2 도는 본 발명에 의한 방법에 사용하는 6극 착자 2상 홀모터의 전개도를 표시하고, 각 도면중 동일구성 부분에는 동일부호를 붙인다.1 is a circuit diagram for explaining an embodiment of a speed control method of a Hall motor according to the present invention, and FIG. 2 is an exploded view of a six-pole magnetized two-phase Hall motor for use in the method according to the present invention. The same components are given the same reference numerals.

제 2 도에 있어서, 6극 착자 2상 홀모터의 전개도를 표시하고, 각 도면중 동일구성 부분에는 동일부호를 붙인다. 6극 착자의 로터 마그네트(이하, 로터라함) (1)와 스테이터 요크(2) 사이에는 스테이터 코일(3a 내지 3d) 및 전기 각 90° 격리하여 배치된 홀소자(41)(42)가 각각 설치되어(로터(1) 이외는 고정되어 있음). 로터(1)와 요크(2) 사이의 자계강도는 제 3 도에 표시한 바와 같다.In Fig. 2, a developed view of a six-pole magnetized two-phase hole motor is shown, and like reference numerals denote the same components in the drawings. Between the rotor magnet (hereinafter referred to as rotor) of the six-pole magnetizer (1) and the stator yoke (2), stator coils (3a to 3d) and Hall elements (4 1 ) (4 2 ) arranged insulated from each other by 90 ° It is installed each (it is fixed except rotor 1). The magnetic field strength between the rotor 1 and the yoke 2 is as shown in FIG.

지금 코일(3a 내지 3d)에 제 2 도에 표시하는 방향으로 전류가 흐르게 모터 구동회로(7)로부터 단자(5a),(5b)간 및 단자(5c),(5d)간에 각각 전압이 인가되면 로터(1)는 동도에 표시하는 위치로부터 화살표 A방향으로 회전된다.If a voltage is applied from the motor drive circuit 7 to the terminals 5a and 5b and between the terminals 5c and 5d, respectively, so that a current flows in the coils 3a to 3d in the direction shown in FIG. The rotor 1 is rotated in the direction of the arrow A from the position shown in the drawing.

이에 의해 로터(1)의 N극 중심에 제 2 도와 같이 대향한 홀소자(41)의 출력단자(61a)(61b)로부터 제 4 도 에 표시하는 전압 e1과 로터(1)의 N극과 S극 사이에서 제 2 도와 같이 대향한 홀소자(42)의 출력단자(62a)(62b)로부터 제4b도에 표시하는 전압 e2가 각각 전기각 90°의 위상차를 가지고 출력된다. 이 파형에 있어서, 입상시의 영교차점은 로터(1)의 S극과 N극 사이의 특정위치(제 2 도 중 예를 들면 B점)가 홀소자(41),(42)를 통과하는 시각을 표시한다.As a result, the voltage e 1 and the rotor 1 shown in FIG. 4 from the output terminals 6 1 a (6 1 b) of the Hall element 4 1 opposed to the center of the N pole of the rotor 1 as the second degree. The voltage e 2 shown in FIG. 4b from the output terminal 6 2 a (6 2 b) of the Hall element 4 2 opposed to the second and the north pole of the N and S poles as shown in FIG. The phase difference is output. In this waveform, the zero crossing point at the time of standing is that the specific position (for example, B point in FIG. 2) between the S pole and the N pole of the rotor 1 passes through the Hall elements 4 1 and 4 2 . Display the time to

홀출력전압 e1, e2는 각각 비교기(81)(82)에 공급되어 여기서 전압비교되어 제4a도 및 제4b도에 표시하는 영교차점에 입상 및 입하를 가지는 제5a도 및 제5b도에 표시하는 구형파 펄스신호(a),(b)로 되고, 모터 구동회로(7)에 공급되어, 코일 구동신호로 되어, 로터(1)가 일정 방향으로 회전을 계속하도록 코일(3a),(3b) 및 코일(3c),(3d)에 흐르는 전류의 방향을 적절히 절환한다. 제5a도 내지 제5f도에 표시하는 신호 파형은 모터의 회전수가 상승하여, 다시 되돌아온 상태의 파형이다.The Hall output voltages e 1 and e 2 are respectively supplied to the comparators 8 1 and 8 2 , where the voltages are compared and are shown in Figs. 5a and 5b having granularity and arrival at zero crossing points shown in Figs. 4a and 4b. The square wave pulse signals a and b shown in the figure are supplied to the motor drive circuit 7 to become a coil drive signal, so that the rotor 3 continues to rotate in a predetermined direction. Directions of currents flowing through 3b and coils 3c and 3d are appropriately switched. The signal waveforms shown in FIGS. 5A to 5F are waveforms in which the rotation speed of the motor rises and returns again.

한편, 펄스신호(a),(b)는 콘덴서(C1), 저항(R1), 다이오드(D1)로 된 미분회로(91) 및 콘덴서(C2), 저항(R2), 다이오드(D2)로 된 미분회로(92)로 각각 공급 미분되어, 각각 제5c도 및 제5d도에 표시한 바와 같은 미분펄스(c),(d)로 된다. 펄스(C)는 저항(R2)을 거쳐 트랜지스터(Tr1)에 공급되어 트랜지스터(Tr1)는 온이 되고, 이 순간 안정화 전원(E)의 전류에 의한 콘덴서(C3)의 충전이 완료하여, 그 콜렉터 전위는 영이 되고, 트랜지스터(Tr1)의 오프기간, 콘덴서(C3)의 전하는 저항(R5)을 거쳐 방전되어 그 콜렉터 전위는 R5C3인 시정수로 상승되어 제5e도에 표시한 바와 같이 된다.On the other hand, a pulse signal (a), (b) a capacitor (C 1), a resistance (R 1), a diode (D 1) with a differential circuit (91) and capacitor (C 2), a resistance (R 2), The differential circuits 9 2 of the diodes D 2 are supplied and differentiated into the differential pulses c and d as shown in FIGS. 5C and 5D, respectively. The pulse C is supplied to the transistor Tr 1 via the resistor R 2 , and the transistor Tr 1 is turned on. At this moment, the charging of the capacitor C 3 by the current of the stabilizing power supply E is completed. The collector potential becomes zero, the off period of the transistor Tr 1 , the charge of the capacitor C 3 are discharged through the resistor R 5 , and the collector potential rises to a time constant of R 5 C 3 , where As shown in the figure.

신호(e)의 상승중 펄스(d)가 저항(R4)을 거쳐 트랜지스터(Tr2)에 공급되어, 이것을 온으로 하기 때문에 콘덴서(C4)가 충전되어 트랜지스터(Tr2) 온시의 콜렉터 전위는 전압(e)와 거의 같게 된다. 버퍼앰프(10)는 고입력 임피던스 때문에 트랜지스터(Tr2)의 오프기간 트랜지스터(Tr2)의 콜렉터 전위는 홀드되고, 결과적으로 제5f도에 표시한 바와 같은 전압(f)으로 되어 출력단자(11)로부터 출력된다. 상기와 같이 홀출력전압(e1),(e2)의 영교차점은 로터(1)의 어느 한점이 홀소자(41),(42)를 통과하는 시각을 표시하고 있기 때문에 전압(e1),(e2)을 파형을 정형한 펄스(c),(d)는 그 시각에 대응하고 있고, 이 때문에 전압(e)를 펄스(d)에 의하여 샘플링해서 얻은 전위(f)는 이 모터의 회전속도에 비례한다.During the rising of the signal e, the pulse d is supplied to the transistor Tr 2 via the resistor R 4 and turned on, so that the capacitor C 4 is charged and the collector potential at the time of the transistor Tr 2 is turned on. Is almost equal to the voltage e. Because of the high input impedance, the buffer amplifier 10 holds the collector potential of the transistor Tr 2 of the off-period transistor Tr 2 , resulting in a voltage f as shown in FIG. 5F and output terminal 11. Is output from As described above, the zero crossing point of the hall output voltages e 1 and e 2 represents the time at which any one of the rotors 1 passes through the hall elements 4 1 and 4 2 . 1 ) and (e 2 ) correspond to the time of the pulses (c) and (d) that have been shaped. Therefore, the potential (f) obtained by sampling the voltage (e) by the pulse (d) is It is proportional to the rotation speed of the motor.

즉, 제 2 도 중 B점이 홀소자(41)의 바로 위로부터 홀소자(42)의 바로 위까지 이동하는데 요하는 시간을 t(초)로 하여, 홀소자(42)의 바로 위에 도달한 직후의 트랜지스터(Tr2)의 콜렉터 전위를 f(v)로 하면That is, the time required for the point B to move from immediately above the Hall element 4 1 to just above the Hall element 4 2 in FIG. 2 is t (seconds), and is directly above the Hall element 4 2 . If the collector potential of the transistor Tr 2 immediately after reaching is f (v)

Figure kpo00001
Figure kpo00001

로 표시된다. 여기서 E,C3,R5은 각각 일정치이므로 상기식에 의하여 시간 t에 따라서 그 역수와 비례관계(비례정수는 로터(1)의 극수로 정해진다)로 있는 회전속도가 간단히 검출된다. 출력단자(11)로부터의 전압(f)은 도시하지 않은 비교증폭기에 이어서 기준전압과 비교되어(즉 회전속도가 검출되어) 회전속도 오차신호로 되어 모터 구동회로(7)에 공급되어 로터(1)을 일정속도로 회전하도록 속도를 제어한다.Is displayed. Since E, C 3 and R 5 are constant values, the rotational speed in proportional relation (proportional constant is determined by the number of poles of the rotor 1) is simply detected according to the time t by the above equation. The voltage f from the output terminal 11 is compared with a reference amplifier (not shown) (i.e., the rotational speed is detected) followed by a comparison amplifier (not shown) to become a rotational speed error signal and supplied to the motor drive circuit 7 to supply the rotor 1 ) To control the speed at a constant speed.

상술된 바와 같이 본 발명에 의한 홀모터의 속도 제어방법은 로터 마그네트 자극의 특정위치가 2개의 홀소자의 한쪽으로부터 다른 쪽까지 변위하는데 요하는 시간을 검출하여 속도를 검출하고 있기 때문에 검출정밀도는 로터 마그네트 자극의 착자정밀도에는 관계없이 주파수 발전기로부터의 신호의 주파수를 검출하여 속도 제어하는 종래방법에 비하여 고정밀도로 검출할 수 있고, 또 주파수 발전기를 사용하는 필요가 없으므로 장치를 소형으로 또한 염가로 구성할 수 있는 등의 특별한 장점을 가지게 된다.As described above, the speed control method of the Hall motor according to the present invention detects the speed by detecting the time required for the specific position of the rotor magnet magnetic pole to be displaced from one of the two Hall elements to the other, so that the detection accuracy is the rotor magnet. Irrespective of the magnetizing precision of the magnetic pole, it can be detected with higher accuracy than the conventional method of detecting and controlling the frequency of the signal from the frequency generator, and the device can be made compact and inexpensive since there is no need to use the frequency generator. It has special advantages such as being present.

Claims (1)

로터 마그네트에 있어서의 자극의 특정위치를 소정거리 격리하여 설치한 2개의 홀소자의 한쪽 홀소자로부터 다른쪽 홀소자까지 변위하는데 요하는 시간을 검출하여 로터의 회전속도를 검출한뒤 홀모터 속도를 제어하는 것을 특징으로 하는 홀모터의 속도 제어방법.The hole motor speed is controlled after detecting the rotational speed of the rotor by detecting the time required for displacement from one Hall element to the other Hall element of two Hall elements provided by separating a specific position of the magnetic pole in the rotor magnet by a predetermined distance. Speed control method of the hall motor, characterized in that.
KR1019830000069A 1982-01-14 1983-01-10 The speed detecting method of hall motor KR860002000B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP57004333A JPS58131571A (en) 1982-01-14 1982-01-14 Detection of speed of hall motor
JP4333 1982-01-14
JP57-4333 1982-01-14

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KR840003361A KR840003361A (en) 1984-08-20
KR860002000B1 true KR860002000B1 (en) 1986-11-12

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DE (1) DE3300990A1 (en)
FR (1) FR2519765B1 (en)
GB (1) GB2115931B (en)

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US5122075A (en) * 1991-05-17 1992-06-16 Amp Incorporated Electrical connector with improved retention feature
JPH07337076A (en) * 1994-06-07 1995-12-22 Matsushita Electric Ind Co Ltd Three-phase brushless servo motor
JPH11356087A (en) * 1998-06-08 1999-12-24 Matsushita Electric Ind Co Ltd Three-phase brushless servo motor
US6862415B2 (en) 2001-06-27 2005-03-01 Eastman Kodak Company Device for treating the surface of an article in connection with printing
CN110501516B (en) * 2018-05-16 2022-02-08 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） Combined speed measuring system and method for ultra-high-speed linear motor

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DE2132783B2 (en) * 1971-07-01 1972-10-05 Siemens Ag ARRANGEMENT FOR GENERATING THE CLOCK FOR THE RECORDING OF DIGITAL INFORMATION ON A DATA MEDIUM, IN PARTICULAR A MAGNETIC TAPE
JPS4938110A (en) * 1972-08-16 1974-04-09
DE2330309C3 (en) * 1973-06-14 1978-04-13 Siemens Ag, 1000 Berlin Und 8000 Muenchen Circuit arrangement for speed control of a brushless DC motor
DE2534745C3 (en) * 1975-08-04 1979-07-26 Siemens Ag, 1000 Berlin Und 8000 Muenchen Circuit arrangement for generating an actual speed value from the voltages induced in the stator windings of a speed-controlled electronic motor
DE2725502C2 (en) * 1977-06-06 1984-10-18 Papst-Motoren GmbH & Co KG, 7742 St Georgen Arrangement for speed detection and preferably speed control
JPS5951941B2 (en) * 1977-08-12 1984-12-17 大塚製薬株式会社 carbostyril derivatives
JPS54107370A (en) * 1978-02-10 1979-08-23 Fujiya Audio Method of detecting revolution speed of brushless motor
JPS57160065A (en) * 1981-03-30 1982-10-02 Secoh Giken Inc Rotating speed detection device

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KR840003361A (en) 1984-08-20
GB2115931B (en) 1985-09-25
GB8300868D0 (en) 1983-02-16
JPS58131571A (en) 1983-08-05
GB2115931A (en) 1983-09-14
DE3300990C2 (en) 1988-01-28
FR2519765B1 (en) 1986-07-11
FR2519765A1 (en) 1983-07-18
DE3300990A1 (en) 1983-07-21

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