TW202027403A - Motor controlling method and device - Google Patents

Motor controlling method and device Download PDF

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TW202027403A
TW202027403A TW108100613A TW108100613A TW202027403A TW 202027403 A TW202027403 A TW 202027403A TW 108100613 A TW108100613 A TW 108100613A TW 108100613 A TW108100613 A TW 108100613A TW 202027403 A TW202027403 A TW 202027403A
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current signal
preset value
motor
brushless motor
voltage signal
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TW108100613A
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TWI685189B (en
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陳錦豪
李正中
孟育民
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台達電子工業股份有限公司
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Abstract

A motor controlling method is suitable to a startup process of a sensorless brushless DC (BLDC) motor. The motor controlling method includes the following steps. A phase voltage signal and a driving voltage signal are generated according to a starting current signal with a first predetermined value and phase current signal. A driving current signal is generated according to the driving voltage signal, so as to drive the BLDC for rotating, wherein the first predetermined value at least makes the BLDC motor to maintain normal rotation. The driving current signal is sensed to generate the corresponding phase current signal. A load state of a shaft end of the BLDC is determined according to the phase voltage signal with the change of the corresponding phase current signal and the starting current signal. A magnitude of the starting current signal is adaptively adjusted according to the load state of the shaft end and/or according to an electric rotation angle velocity and a torque demand of the BLDC motor.

Description

馬達控制方法與裝置Motor control method and device

本發明關於一種控制方法與裝置，特別是關於一種適用於無感測器之直流無刷馬達之啟動程序之馬達控制方法與裝置。The present invention relates to a control method and device, and more particularly to a motor control method and device suitable for the startup procedure of a DC brushless motor without a sensor.

直流無刷(brushless DC, BLDC)馬達由於轉子擁有內建磁場之特性，使得其性能與效率優於其他馬達，因此大量被應用在各個領域。而良好的直流無刷馬達控制就必須取得轉子位置以投入正確的控制磁場。現行在取得直流無刷馬達轉子位置的方式主要分為有感測器(編碼器)與無感測器(電氣預估)兩種方式，而在速度與位置控制性能要求較低或環境條件較差的應用場合下，多半使用無感測驅動技術作為直流無刷馬達取得轉子位置加以控制之方法。Brushless DC (BLDC) motors have a built-in magnetic field in the rotor, which makes their performance and efficiency better than other motors, so they are widely used in various fields. And good DC brushless motor control must obtain the rotor position to put in the correct control magnetic field. The current methods for obtaining the rotor position of a brushless DC motor are mainly divided into two methods: with sensor (encoder) and without sensor (electrical estimation), and the speed and position control performance requirements are low or the environmental conditions are poor. In most applications, non-sensing drive technology is used as a method to control the rotor position of a DC brushless motor.

現行無感測驅動技術通常需要將馬達以開迴路電流或電壓控制至一定轉速後，待無感測演算法偵測出馬達轉子位置資訊後進入閉迴路控制。然而，在開迴路電流或電壓控制時因無法預估轉子負載條件，因此多半會投入較大之電流進行驅動以防止馬達啟動失敗。而這樣的大電流在輕載條件下將形成多餘的電量損失。因此，馬達之啟動控制的設計仍有改善的空間。The current sensorless drive technology usually needs to control the motor to a certain speed with an open loop current or voltage, and then enter the closed loop control after the sensorless algorithm detects the motor rotor position information. However, in the open-loop current or voltage control, the rotor load conditions cannot be estimated, so a larger current is usually used for driving to prevent the motor from failing to start. And such a large current will cause excess power loss under light load conditions. Therefore, there is still room for improvement in the design of motor start control.

本發明在於提供一種馬達控制方法與裝置，藉以有效地減少馬達在啟動控制期間的電量損失。The present invention is to provide a motor control method and device, so as to effectively reduce the power loss of the motor during startup control.

本發明提供一種馬達控制方法，適用於無感測器之直流無刷馬達之啟動程序。此馬達控制方法包括下列步驟。依據具有第一預設值之啟動電流信號及相電流信號，產生相電壓信號與驅動電壓信號。依據驅動電壓信號產生驅動電流信號，以驅動直流無刷馬達進行運轉，其中第一預設值用於至少使直流無刷馬達維持正常運轉。感測驅動電流信號，以產生對應之相電流信號。依據隨對應之相電流信號變化之相電壓信號與啟動電流信號，確定直流無刷馬達的軸端負載狀態。依據軸端負載狀態及/或依據直流無刷馬達之電氣旋轉角速度與扭力需求，適應性調整啟動電流信號的大小。The present invention provides a motor control method, which is suitable for the startup procedure of a DC brushless motor without a sensor. This motor control method includes the following steps. According to the starting current signal and the phase current signal having the first preset value, the phase voltage signal and the driving voltage signal are generated. The drive current signal is generated according to the drive voltage signal to drive the DC brushless motor to operate, wherein the first preset value is used to at least maintain the DC brushless motor to operate normally. The driving current signal is sensed to generate the corresponding phase current signal. According to the phase voltage signal and the starting current signal that change with the corresponding phase current signal, the shaft end load state of the DC brushless motor is determined. According to the load status of the shaft end and/or according to the electrical rotation angular speed and torque requirements of the DC brushless motor, the magnitude of the starting current signal is adaptively adjusted.

本發明另提供一種馬達控制裝置，包括驅動單元、變頻器、感測單元與控制單元。驅動單元依據具有第一預設值之啟動電流信號及相電流信號，產生相電壓信號與驅動電壓信號。變頻器依據驅動電壓信號產生驅動電流信號，以驅動直流無刷馬達進行運轉，其中第一預設值用於至少使直流無刷馬達維持正常運轉。感測單元感測變頻器之驅動電流信號，以產生對應之相電流信號。控制單元提供啟動電流信號，並依據隨對應之相電流信號變化之相電壓信號與啟動電流信號，確定直流無刷馬達的軸端負載狀態，且依據軸端負載狀態及/或依據直流無刷馬達之電氣旋轉角速度與扭力需求，適應性調整啟動電流信號的大小。The present invention also provides a motor control device, which includes a drive unit, a frequency converter, a sensing unit and a control unit. The driving unit generates a phase voltage signal and a driving voltage signal according to the starting current signal and the phase current signal having the first preset value. The frequency converter generates a driving current signal according to the driving voltage signal to drive the DC brushless motor to operate, wherein the first preset value is used to at least maintain the DC brushless motor to operate normally. The sensing unit senses the drive current signal of the inverter to generate the corresponding phase current signal. The control unit provides the starting current signal, and determines the shaft end load status of the DC brushless motor according to the phase voltage signal and the starting current signal that change with the corresponding phase current signal, and according to the shaft end load status and/or according to the DC brushless motor According to the electrical rotation angular speed and torque requirements, the size of the starting current signal can be adjusted adaptively.

本發明所揭露之馬達控制方法與裝置，依據軸端負載狀態及/或依據直流無刷馬達之電氣旋轉角速度與扭力需求，適應性調整啟動電流信號的大小。如此一來，可以避免以持續大的啟動電流來驅動直流無刷馬達進行運轉而增加電量損失的情況發生，以有效地減少直流無刷馬達在啟動程序期間的電量損失。The motor control method and device disclosed in the present invention adaptively adjust the magnitude of the starting current signal according to the load state of the shaft end and/or according to the electrical rotation angular speed and torque requirements of the DC brushless motor. In this way, it is possible to avoid the situation where the brushless DC motor is driven to operate with a continuous large starting current and increase the power loss, so as to effectively reduce the power loss of the brushless DC motor during the startup procedure.

在以下所列舉的各實施例中，將以相同的標號代表相同或相似的元件或組件。In the embodiments listed below, the same reference numerals will be used to represent the same or similar elements or components.

第1A圖為依據本發明之一實施例之馬達控制裝置的示意圖。請參考第1A圖，本實施例之馬達控制裝置100適用於無感測器之直流無刷馬達160之啟動程序。換言之，馬達控制裝置100不包括位置感測器相關線路。在具有感測器之馬達的控制電路中，位置感測器則是安裝在馬達上的。在一些實施例中，直流無刷馬達160可適用於家電產品，例如滾筒洗衣機、直立式洗衣機、乾衣機/烘衣機等，但是並非限定於此。在本實施例中，馬達控制裝置100包括驅動單元110、變頻器130、感測單元140與控制單元150。FIG. 1A is a schematic diagram of a motor control device according to an embodiment of the invention. Please refer to FIG. 1A. The motor control device 100 of this embodiment is suitable for the startup procedure of a sensorless DC brushless motor 160. In other words, the motor control device 100 does not include a position sensor related circuit. In the control circuit of a motor with a sensor, the position sensor is installed on the motor. In some embodiments, the DC brushless motor 160 may be applied to household appliances, such as drum washing machines, upright washing machines, clothes dryers/dryers, etc., but it is not limited thereto. In this embodiment, the motor control device 100 includes a driving unit 110, a frequency converter 130, a sensing unit 140, and a control unit 150.

驅動單元110依據啟動電流信號iqs 及相電流信號，產生d軸電壓信號

Figure 02_image001
與q軸電壓信號
Figure 02_image003
，並依據d軸電壓信號
Figure 02_image001
與q軸電壓信號
Figure 02_image003
，產生驅動電壓信號。The driving unit 110 generates a d-axis voltage signal according to the starting current signal i qs and the phase current signal
Figure 02_image001
With q-axis voltage signal
Figure 02_image003
, And based on the d-axis voltage signal
Figure 02_image001
With q-axis voltage signal
Figure 02_image003
, Generate drive voltage signal.

具體來說，在驅動直流無刷馬達160的最初階段(t = 0時)，驅動單元110接收給定第一預設值(可視實際情況調整)的啟動電流信號iqs 和電流值為零的d軸電流信號

Figure 02_image005
以產生d軸電壓信號
Figure 02_image001
與q軸電壓信號
Figure 02_image003
，並進而產生初始的驅動電壓信號。Specifically, in the initial stage of driving the DC brushless motor 160 (at t = 0), the driving unit 110 receives a starting current signal i qs given a first preset value (adjustable according to actual conditions) and a current value of zero. d-axis current signal
Figure 02_image005
To generate d-axis voltage signal
Figure 02_image001
With q-axis voltage signal
Figure 02_image003
, And then generate the initial drive voltage signal.

在一些實施例中，第一預設值用於至少使直流無刷馬達160維持正常運轉，並且第一預設值的有效值(方均根)例如為4A(安培)。在本實施例中，上述啟動電流信號iqs 例如為用於驅動直流無刷馬達160之q軸電流。In some embodiments, the first preset value is used to at least maintain the DC brushless motor 160 in normal operation, and the effective value (root mean square) of the first preset value is, for example, 4A (amperes). In this embodiment, the aforementioned starting current signal i qs is, for example, the q-axis current used to drive the DC brushless motor 160.

變頻器130依據驅動電壓信號，產生驅動電流信號(即三相電流信號ias 、ibs 、ics )，以驅動直流無刷馬達160進行運轉。由於在初始階段，啟動電流信號iqs 係具有第一預設值使變頻器130產生足夠的驅動電流信號，因此馬達160可以於初始階段便開始運轉。The frequency converter 130 generates a driving current signal (ie, three-phase current signals i as , i bs , and i cs ) according to the driving voltage signal to drive the DC brushless motor 160 to operate. Since in the initial stage, the starting current signal i qs has the first preset value to enable the inverter 130 to generate a sufficient driving current signal, the motor 160 can start to operate in the initial stage.

感測單元140耦接變頻器130之輸出端，用於感測變頻器130之驅動電流信號(例如三相電流信號ias 、ibs 、ics 中的至少兩者)，以產生相電流信號(即

Figure 02_image007
、
Figure 02_image009
、
Figure 02_image011
)，並將產生的相電流信號回授給驅動單元110，使驅動單元100產生對應相電流信號改變之d軸電壓信號
Figure 02_image001
與q軸電壓信號
Figure 02_image003
。The sensing unit 140 is coupled to the output terminal of the inverter 130 for sensing the driving current signal of the inverter 130 (for example, at least two of the three-phase current signals i as , i bs , and i cs ) to generate phase current signals (which is
Figure 02_image007
,
Figure 02_image009
,
Figure 02_image011
), and the generated phase current signal is fed back to the driving unit 110, so that the driving unit 100 generates a d-axis voltage signal corresponding to the change of the phase current signal
Figure 02_image001
With q-axis voltage signal
Figure 02_image003
.

控制單元150耦接驅動單元110，用於提供啟動電流信號iqs 給驅動單元110，並依據隨感測單元產生之相電流信號變化之d軸電壓信號

Figure 02_image001
與啟動電流信號iqs ，判斷直流無刷馬達160的軸端負載狀態。接著，控制單元150依據軸端負載狀態及/或依據直流無刷馬達160之電氣旋轉角速度與扭力需求，適應性調整提供給驅動單元110之啟動電流信號iqs 的大小。軸端負載狀態例如包括，但不限定於輕載(light load)、中載(middle load)及重載(Heavy load)。另外，直流無刷馬達160之電氣旋轉角速度可由控制器150之內部數位資訊得知。The control unit 150 is coupled to the driving unit 110 for providing a starting current signal i qs to the driving unit 110 and based on the d-axis voltage signal that varies with the phase current signal generated by the sensing unit
Figure 02_image001
With the starting current signal i qs , the shaft end load state of the DC brushless motor 160 is judged. Then, the control unit 150 adaptively adjusts the magnitude of the starting current signal i qs provided to the driving unit 110 according to the load state of the shaft end and/or according to the electrical rotation angular velocity and torque requirements of the DC brushless motor 160. The load state of the shaft end includes, but is not limited to, light load, middle load, and heavy load, for example. In addition, the electrical rotational angular velocity of the DC brushless motor 160 can be obtained from the internal digital information of the controller 150.

具體來說，在初始階段，驅動單元110接收電流值為零的d軸電流命令信號(即

Figure 02_image005
=0)和控制單元150提供具有第一預設值之啟動電流信號iqs ，並據以產生d軸電壓信號
Figure 02_image001
與q軸電壓信號
Figure 02_image003
，以產生對應的驅動電流信號來驅動直流無刷馬達160。接著，透過感測單元160感測直流無刷馬達160初始運轉時所需的驅動電流信號產生對應的相電流信號並將之回授給驅動單元110。驅動單元110根據感測單元140產生的相電流信號對應調整d軸電壓信號
Figure 02_image001
與q軸電壓信號
Figure 02_image003
，此時控制單元150可依據調整後的d軸電壓信號
Figure 02_image001
判斷直流無刷馬達160的軸端負載狀態(即判斷馬達160為輕載、中載或重載)。接著，控制單元150便可依據軸端負載狀態及/或依據直流無刷馬達160之電氣旋轉角速度與扭力需求，適應性調整提供給驅動單元110之啟動電流信號iqs 的大小。進一步來說，若判斷馬達160為輕載，控制單元150便可減少提供的啟動電流信號iqs ，而不用繼續提供具有第一初始值的啟動電流信號iqs ，如此可減少初始驅動馬達時所需的功耗。Specifically, in the initial stage, the driving unit 110 receives a d-axis current command signal with a current value of zero (ie
Figure 02_image005
=0) and the control unit 150 provides a starting current signal i qs with a first preset value, and generates a d-axis voltage signal accordingly
Figure 02_image001
With q-axis voltage signal
Figure 02_image003
, To generate a corresponding drive current signal to drive the DC brushless motor 160. Then, the driving current signal required for the initial operation of the DC brushless motor 160 is sensed through the sensing unit 160 to generate a corresponding phase current signal and feedback it to the driving unit 110. The driving unit 110 correspondingly adjusts the d-axis voltage signal according to the phase current signal generated by the sensing unit 140
Figure 02_image001
With q-axis voltage signal
Figure 02_image003
, At this time, the control unit 150 can be based on the adjusted d-axis voltage signal
Figure 02_image001
Determine the shaft end load state of the DC brushless motor 160 (that is, determine whether the motor 160 is light load, medium load, or heavy load). Then, the control unit 150 can adaptively adjust the magnitude of the starting current signal i qs provided to the driving unit 110 according to the load state of the shaft end and/or according to the electrical rotation angular velocity and torque requirements of the DC brushless motor 160. Furthermore, if it is determined that the motor 160 is lightly loaded, the control unit 150 can reduce the starting current signal i qs provided , instead of continuing to provide the starting current signal i qs with the first initial value, which can reduce the initial driving of the motor. Required power consumption.

在一些實施例中，如第1A圖所示，驅動單元110包括速度命令產生器111、減法器112、速度控制器113、限制器114、速度及位置估測器115、反電動勢估測器116、切換器117、切換器118、三相轉二相轉換器119、電流控制器120、電流控制器121、限制器122、限制器123、二相轉三相轉換器124與調變單元125，然本發明並不以此為限。In some embodiments, as shown in FIG. 1A, the driving unit 110 includes a speed command generator 111, a subtractor 112, a speed controller 113, a limiter 114, a speed and position estimator 115, and a back-EMF estimator 116 , Switch 117, switch 118, three-phase to two-phase converter 119, current controller 120, current controller 121, limiter 122, limiter 123, two-phase to three-phase converter 124, and modulation unit 125, However, the present invention is not limited to this.

速度命令產生器111用於產生一角速度命令。減法器112用於將速度命令產生器111的角速度命令減去角速度

Figure 02_image013
，以得到角速度誤差
Figure 02_image015
。速度控制器113連接減法器112，接收並依據角速度誤差
Figure 02_image015
，以產生電流信號。限制器114連接速度控制器113，接收並限制速度控制器113所產生之電流信號。速度及位置估測器115連接減法器112，接收反電動勢電壓
Figure 02_image017
、
Figure 02_image019
，以產生角速度
Figure 02_image013
與電氣角度
Figure 02_image021
。反電動勢估測器116連接速度及位置估測器115，接收靜止軸電壓
Figure 02_image023
、
Figure 02_image025
及靜止軸電流
Figure 02_image027
、
Figure 02_image029
，以產生反電動勢電壓
Figure 02_image017
、
Figure 02_image019
。The speed command generator 111 is used to generate an angular speed command. The subtractor 112 is used to subtract the angular velocity from the angular velocity command of the velocity command generator 111
Figure 02_image013
To get the angular velocity error
Figure 02_image015
. The speed controller 113 is connected to the subtractor 112 to receive and calculate the angular velocity error
Figure 02_image015
To generate a current signal. The limiter 114 is connected to the speed controller 113, and receives and limits the current signal generated by the speed controller 113. The speed and position estimator 115 is connected to the subtractor 112 to receive the back-EMF voltage
Figure 02_image017
,
Figure 02_image019
To produce angular velocity
Figure 02_image013
And electrical angle
Figure 02_image021
. The back-EMF estimator 116 is connected to the speed and position estimator 115 to receive the static shaft voltage
Figure 02_image023
,
Figure 02_image025
And static shaft current
Figure 02_image027
,
Figure 02_image029
, To generate the back-EMF voltage
Figure 02_image017
,
Figure 02_image019
.

切換器117連接限制器114與控制單元120，接收速度控制器113所產生之電流信號及控制單元150所產生之啟動電流信號iqs ，並選擇速度控制器113所產生之電流信號或控制單元150所產生啟動電流信號iqs ，以輸出電流信號

Figure 02_image031
。在本實施例中，在開迴路控制模式，切換器117選擇控制單元150所產生之啟動電流信號iqs ，以輸出電流信號
Figure 02_image031
。在閉迴路控制模式，切換器117選擇速度控制器113所產生之電流信號，以輸出電流信號
Figure 02_image031
。The switch 117 is connected to the limiter 114 and the control unit 120, receives the current signal generated by the speed controller 113 and the start current signal i qs generated by the control unit 150, and selects the current signal generated by the speed controller 113 or the control unit 150 Generated starting current signal i qs to output current signal
Figure 02_image031
. In this embodiment, in the open loop control mode, the switch 117 selects the starting current signal i qs generated by the control unit 150 to output the current signal
Figure 02_image031
. In the closed loop control mode, the switch 117 selects the current signal generated by the speed controller 113 to output the current signal
Figure 02_image031
.

切換器118連接速度及位置估測器115與控制單元150，接收速度及位置估測器115所產生之電氣角度

Figure 02_image021
與控制單元150所產生之電氣角度
Figure 02_image033
，以輸出電氣角度
Figure 02_image035
。在本實施例中，在開迴路控制模式，切換器118選擇控制單元150所產生之電氣角度
Figure 02_image033
，以輸出電氣角度
Figure 02_image035
。在閉迴路控制模式，切換器118選擇速度及位置估測器115電氣角度
Figure 02_image021
，以輸出電氣角度
Figure 02_image035
。The switch 118 connects the speed and position estimator 115 and the control unit 150, and receives the electrical angle generated by the speed and position estimator 115
Figure 02_image021
And the electrical angle generated by the control unit 150
Figure 02_image033
To output electrical angle
Figure 02_image035
. In this embodiment, in the open loop control mode, the switch 118 selects the electrical angle generated by the control unit 150
Figure 02_image033
To output electrical angle
Figure 02_image035
. In closed loop control mode, switch 118 selects speed and position estimator 115 electrical angle
Figure 02_image021
To output electrical angle
Figure 02_image035
.

三相轉二相轉換器119連接感測單元140、反電動勢估測器116與切換器118，接收相電流信號

Figure 02_image007
、
Figure 02_image009
、
Figure 02_image011
與電氣角度
Figure 02_image035
，先將相電流信號
Figure 02_image007
、
Figure 02_image009
、
Figure 02_image011
轉換成二相的靜止軸電流
Figure 02_image027
、
Figure 02_image029
，再將二相的靜止軸電流
Figure 02_image027
、
Figure 02_image029
轉換成二相的同步軸電流
Figure 02_image037
、
Figure 02_image039
。電流控制器120連接三相轉二相轉換器119，接收同步軸電流
Figure 02_image037
與電流
Figure 02_image005
，以產生同步軸電壓。電流控制器121連接三相轉二相轉換器119，接收同步軸電流
Figure 02_image039
與電流
Figure 02_image031
，以產生同步軸電壓。其中，電流控制器120與121分別為比例-積分(PI)控制器。The three-phase to two-phase converter 119 is connected to the sensing unit 140, the back-EMF estimator 116 and the switch 118, and receives the phase current signal
Figure 02_image007
,
Figure 02_image009
,
Figure 02_image011
And electrical angle
Figure 02_image035
, First the phase current signal
Figure 02_image007
,
Figure 02_image009
,
Figure 02_image011
Converted into two-phase stationary shaft current
Figure 02_image027
,
Figure 02_image029
, Then the two-phase static shaft current
Figure 02_image027
,
Figure 02_image029
Converted into two-phase synchronous shaft current
Figure 02_image037
,
Figure 02_image039
. The current controller 120 is connected to the three-phase to two-phase converter 119 to receive the synchronous shaft current
Figure 02_image037
With current
Figure 02_image005
, To generate synchronous shaft voltage. The current controller 121 is connected to the three-phase to two-phase converter 119 to receive the synchronous shaft current
Figure 02_image039
With current
Figure 02_image031
, To generate synchronous shaft voltage. Among them, the current controllers 120 and 121 are respectively proportional-integral (PI) controllers.

限制器122連接電流控制器120，限制電流控制器120所產生之同步軸電壓，以產生同步軸d軸電壓信號

Figure 02_image001
。限制器123連接電流控制器121，限制電流控制器121所產生之同步軸電壓，以產生同步軸q軸電壓信號
Figure 02_image003
。The limiter 122 is connected to the current controller 120 to limit the synchronous axis voltage generated by the current controller 120 to generate a synchronous axis d-axis voltage signal
Figure 02_image001
. The limiter 123 is connected to the current controller 121 to limit the synchronous axis voltage generated by the current controller 121 to generate the synchronous axis q-axis voltage signal
Figure 02_image003
.

二相轉三相轉換器124連接限制器122、123、反電動勢估測器116與切換器118，接收同步軸d軸電壓信號

Figure 02_image001
、同步軸q軸電壓信號
Figure 02_image003
與電氣角度
Figure 02_image035
，先將同步軸d軸電壓信號
Figure 02_image001
與同步軸q軸電壓信號
Figure 02_image003
轉換成靜止軸電壓
Figure 02_image041
與靜止軸電壓
Figure 02_image043
，再將靜止軸電壓
Figure 02_image041
與靜止軸電壓
Figure 02_image043
轉換成三相電壓
Figure 02_image045
、
Figure 02_image047
、
Figure 02_image049
。調變單元125連接二相轉三相轉換器，接收三相電壓
Figure 02_image045
、
Figure 02_image047
、
Figure 02_image049
，並對三相電壓
Figure 02_image045
、
Figure 02_image047
、
Figure 02_image049
進行脈寬調變，以產生脈寬調變電壓之驅動電壓信號給變頻器130。The two-phase to three-phase converter 124 is connected to the limiters 122, 123, the back-EMF estimator 116 and the switch 118, and receives the synchronous axis d-axis voltage signal
Figure 02_image001
, Synchronous axis q axis voltage signal
Figure 02_image003
And electrical angle
Figure 02_image035
, First connect the d-axis voltage signal
Figure 02_image001
Q-axis voltage signal with synchronous axis
Figure 02_image003
Converted into static shaft voltage
Figure 02_image041
And static shaft voltage
Figure 02_image043
, Then the static shaft voltage
Figure 02_image041
And static shaft voltage
Figure 02_image043
Converted to three-phase voltage
Figure 02_image045
,
Figure 02_image047
,
Figure 02_image049
. The modulation unit 125 is connected to a two-phase to three-phase converter to receive three-phase voltage
Figure 02_image045
,
Figure 02_image047
,
Figure 02_image049
, And the three-phase voltage
Figure 02_image045
,
Figure 02_image047
,
Figure 02_image049
The pulse width modulation is performed to generate a driving voltage signal of the pulse width modulation voltage to the inverter 130.

第1B圖為依據本發明之一實施例之直流無刷馬達之單相等效電路。第1C圖為依據本發明之一實施例之直流無刷馬達之單相等效電路的向量分析。第1D圖為依據本發明之另一實施例之直流無刷馬達之單相等效電路的向量分析。請合併參考第1B圖、第1C圖與第1D圖，

Figure 02_image051
為相電壓，
Figure 02_image053
為相電流，
Figure 02_image055
為直流無刷馬達160之內部電阻rs 的電壓，
Figure 02_image057
為直流無刷馬達160之內部電感L的電壓，
Figure 02_image059
為反電動勢電壓，
Figure 02_image061
為直流無刷馬達160之阻抗電壓即
Figure 02_image055
與
Figure 02_image057
之向量和。Figure 1B is a single-phase equivalent circuit of a brushless DC motor according to an embodiment of the present invention. Figure 1C is a vector analysis of a single-phase equivalent circuit of a DC brushless motor according to an embodiment of the present invention. Figure 1D is a vector analysis of a single-phase equivalent circuit of a brushless DC motor according to another embodiment of the present invention. Please refer to Figure 1B, Figure 1C and Figure 1D together,
Figure 02_image051
Is the phase voltage,
Figure 02_image053
Is the phase current,
Figure 02_image055
Is the voltage of the internal resistance r s of the brushless DC motor 160,
Figure 02_image057
Is the voltage of the internal inductance L of the brushless DC motor 160,
Figure 02_image059
Is the back-EMF voltage,
Figure 02_image061
Is the impedance voltage of the brushless DC motor 160 that is
Figure 02_image055
versus
Figure 02_image057
The vector sum.

並且，直流無刷馬達160之輸出機械功率如下公式(1)所示：

Figure 02_image063
,                            (1)And, the output mechanical power of the DC brushless motor 160 is shown in the following formula (1):
Figure 02_image063
, (1)

其中，

Figure 02_image065
為直流無刷馬達160的輸出機械功率，
Figure 02_image067
為角速度，
Figure 02_image069
為直流無刷馬達160的輸出轉矩，其在直流無刷馬達160的速度維持時隨直流無刷馬達160之轉子軸端所承受負載條件而定。當直流無刷馬達160之軸端負載增加時，直流無刷馬達160的轉矩
Figure 02_image069
也會增加，以維持直流無刷馬達160之定速度的需求，使得直流無刷馬達160之機械功率上升。among them,
Figure 02_image065
Is the output mechanical power of the DC brushless motor 160,
Figure 02_image067
Is the angular velocity,
Figure 02_image069
It is the output torque of the DC brushless motor 160, which depends on the load condition of the rotor shaft end of the DC brushless motor 160 when the speed of the DC brushless motor 160 is maintained. When the shaft end load of the DC brushless motor 160 increases, the torque of the DC brushless motor 160
Figure 02_image069
It will also increase to maintain the constant speed of the DC brushless motor 160, so that the mechanical power of the DC brushless motor 160 increases.

另外，直流無刷馬達160之電氣輸入功率可如下公式(2)所示：

Figure 02_image071
(2)In addition, the electrical input power of the DC brushless motor 160 can be shown in the following formula (2):
Figure 02_image071
(2)

其中，

Figure 02_image073
正比於直流無刷馬達160之轉子軸端的機械輸出功率，”3”為三相，
Figure 02_image059
為反電動勢電壓，
Figure 02_image053
為相電流，
Figure 02_image075
為反電動勢電壓
Figure 02_image059
與相電流
Figure 02_image053
之間的夾角，
Figure 02_image051
為相電壓，
Figure 02_image077
為相電壓
Figure 02_image079
與相電流
Figure 02_image081
之間的夾角。並且，直流無刷馬達160之機械輸出功率與電氣輸入功率之間的關係如下公式(3)所示：
Figure 02_image083
,                           (3)among them,
Figure 02_image073
It is proportional to the mechanical output power of the rotor shaft end of the DC brushless motor 160, "3" is three-phase,
Figure 02_image059
Is the back-EMF voltage,
Figure 02_image053
Is the phase current,
Figure 02_image075
Is the back-EMF voltage
Figure 02_image059
And phase current
Figure 02_image053
The angle between
Figure 02_image051
Is the phase voltage,
Figure 02_image077
Is the phase voltage
Figure 02_image079
And phase current
Figure 02_image081
The angle between. In addition, the relationship between the mechanical output power and the electrical input power of the DC brushless motor 160 is shown in the following formula (3):
Figure 02_image083
, (3)

其中，

Figure 02_image085
為直流無刷馬達160的效率。另外，公式(2)在直流無刷馬達160之輕載與重載的情況下，電壓與電流分量的相對關係可分別如第1C圖及第1D圖所示。其中，第1C圖對應直流無刷馬達160之重載的情況下，電壓與電流分量的對應關係，而第1D圖對應直流無刷馬達160之輕載的情況下，電壓與電流分量的對應關係。也就是說，由第1C圖與第1D圖可知，當相電流
Figure 02_image081
維持一固定值時，相電壓
Figure 02_image079
之大小與相位會隨直流無刷馬達160之輸出機械功率(即馬達之軸端負載值)增加而有所變化，其中特別是相電流
Figure 02_image081
與相電壓
Figure 02_image079
之夾角明確反應出直流無刷馬達160之軸端負載特性，亦即直流無刷馬達160之機械輸出功率因軸端負載上升而增加，也可從直流無刷馬達160之電氣輸入功率觀察出直流無刷馬達160之軸端負載特性。among them,
Figure 02_image085
The efficiency of the DC brushless motor 160. In addition, in formula (2), in the light load and heavy load conditions of the DC brushless motor 160, the relative relationship between the voltage and current components can be as shown in Fig. 1C and Fig. 1D, respectively. Among them, Figure 1C corresponds to the corresponding relationship between the voltage and current components under the heavy load of the DC brushless motor 160, and Figure 1D corresponds to the corresponding relationship between the voltage and current components under the light load situation of the DC brushless motor 160 . In other words, it can be seen from Figure 1C and Figure 1D that when the phase current
Figure 02_image081
When maintaining a fixed value, the phase voltage
Figure 02_image079
The size and phase of the brushless DC motor 160 will change with the increase of the output mechanical power (that is, the load value of the motor shaft end), especially the phase current
Figure 02_image081
Phase voltage
Figure 02_image079
The included angle clearly reflects the characteristics of the shaft end load of the DC brushless motor 160, that is, the mechanical output power of the DC brushless motor 160 increases due to the increase of the shaft end load. It can also be observed from the electrical input power of the DC brushless motor 160 Shaft end load characteristics of brushless motor 160.

簡言之，當在啟動馬達160的階段，若先提供一固定的驅動電流(例如，固定的

Figure 02_image081
)以啟動馬達160，則當下可透過感測馬達160的機械功率反推馬達160之軸端負載的特性(例如為重載或輕載)。在了解負載的特性後，便可根據負載的特性對應調整提供的驅動電流。In short, when starting the motor 160, if a fixed drive current (for example, fixed
Figure 02_image081
) To start the motor 160, the mechanical power of the motor 160 can be sensed to reverse the load characteristics of the shaft end of the motor 160 (for example, heavy load or light load). After understanding the characteristics of the load, the drive current provided can be adjusted accordingly according to the characteristics of the load.

第1E圖為依據本發明之一實施例之變頻器之輸出電壓在d-q軸上的向量分析。第1F圖為依據本發明之另一實施例之變頻器之輸出電壓在d-q軸上的向量分析。第1G圖為依據本發明之另一實施例之變頻器之輸出電壓在d-q軸上的向量分析。第1H圖為依據本發明之另一實施例之變頻器之輸出電壓在d-q軸上的向量分析。其中，第1E圖對應於第1F圖，第1G圖對應於第1H圖。於一些實施例中，變頻器130之輸出電壓可以是透過硬體偵測電路或由軟體之數位控制命令得知)。Figure 1E is a vector analysis of the output voltage of the inverter on the d-q axis according to an embodiment of the present invention. Figure 1F is a vector analysis of the output voltage of the inverter according to another embodiment of the present invention on the d-q axis. Figure 1G is a vector analysis on the d-q axis of the output voltage of the inverter according to another embodiment of the present invention. Figure 1H is a vector analysis of the output voltage of the inverter according to another embodiment of the present invention on the d-q axis. Among them, Figure 1E corresponds to Figure 1F, and Figure 1G corresponds to Figure 1H. In some embodiments, the output voltage of the inverter 130 can be obtained through a hardware detection circuit or a software digital control command).

在第1E圖、第1F圖、第1G圖與第1H圖中，

Figure 02_image087
為三相電壓向量
Figure 02_image079
、
Figure 02_image089
、
Figure 02_image091
之和，
Figure 02_image093
為d軸的電壓信號，
Figure 02_image095
為q軸的電壓信號。並且，在第1E圖、第1F圖對應直流無刷馬達160之重載的情況下，電壓與電流分量的對應關係，而第1G圖、第1H圖對應直流無刷馬達160之輕載的情況下，電壓與電流分量的對應關係。由第1E圖、第1F圖、第1G圖與第1H圖可以看出，當直流無刷馬達160之軸端的負載增加時，d軸電壓信號
Figure 02_image093
Figure 02_image097
)會下降(如第1E圖、第1F圖所示)，而當直流無刷馬達160之軸端的負載降低時，d軸電壓信號
Figure 02_image093
會上升(如第1G圖、第1H圖所示)。也就是說，透過觀察d軸電壓信號
Figure 02_image093
的變化，可以得知直流無刷馬達160之軸端負載條件。In Figure 1E, Figure 1F, Figure 1G, and Figure 1H,
Figure 02_image087
Is the three-phase voltage vector
Figure 02_image079
,
Figure 02_image089
,
Figure 02_image091
Sum,
Figure 02_image093
Is the voltage signal of the d axis,
Figure 02_image095
Is the voltage signal of the q axis. In addition, in Figure 1E and Figure 1F corresponding to the heavy load of the DC brushless motor 160, the corresponding relationship between the voltage and current components, and Figure 1G and Figure 1H correspond to the light load of the DC brushless motor 160 Below, the corresponding relationship between voltage and current components. It can be seen from Figure 1E, Figure 1F, Figure 1G, and Figure 1H that when the load on the shaft end of the DC brushless motor 160 increases, the d-axis voltage signal
Figure 02_image093
Figure 02_image097
) Will decrease (as shown in Figure 1E and Figure 1F), and when the load on the shaft end of the DC brushless motor 160 decreases, the d-axis voltage signal
Figure 02_image093
Will rise (as shown in Figure 1G and Figure 1H). In other words, by observing the d-axis voltage signal
Figure 02_image093
The change of, we can know the shaft end load condition of the DC brushless motor 160.

於一些實施例中，控制單元150可先對d軸電壓信號

Figure 02_image093
進行低通濾波處理再進行積分放大處理，以產生處理後的d軸電壓信號
Figure 02_image093
，並依據處理後的d軸電壓信號
Figure 02_image093
與啟動電流信號
Figure 02_image099
，確定直流無刷馬達160的軸端負載狀態。In some embodiments, the control unit 150 may first respond to the d-axis voltage signal
Figure 02_image093
Perform low-pass filtering and then integrate and amplify to generate processed d-axis voltage signal
Figure 02_image093
, And based on the processed d-axis voltage signal
Figure 02_image093
And start current signal
Figure 02_image099
, Determine the shaft end load state of the DC brushless motor 160.

另外，在上述實施例中，控制單元150利用d軸電壓信號

Figure 02_image093
與啟動電流信號
Figure 02_image099
，確定直流無刷馬達160的軸端負載狀態，但本發明不限於此，控制單元150也可以利用q軸電壓信號
Figure 02_image095
與啟動電流信號
Figure 02_image099
，確定直流無刷馬達160的軸端負載狀態。在一些實施例中，控制單元150亦可以同時利用d軸電壓信號
Figure 02_image093
與q軸電壓信號
Figure 02_image095
和啟動電流信號
Figure 02_image099
，確定直流無刷馬達160的軸端負載狀態。In addition, in the above embodiment, the control unit 150 uses the d-axis voltage signal
Figure 02_image093
And start current signal
Figure 02_image099
, Determine the shaft end load state of the DC brushless motor 160, but the present invention is not limited to this, the control unit 150 can also use the q-axis voltage signal
Figure 02_image095
And start current signal
Figure 02_image099
, Determine the shaft end load state of the DC brushless motor 160. In some embodiments, the control unit 150 can also simultaneously use the d-axis voltage signal
Figure 02_image093
With q-axis voltage signal
Figure 02_image095
And start current signal
Figure 02_image099
, Determine the shaft end load state of the DC brushless motor 160.

接著，控制單元150根據內部參數電氣旋轉角速度

Figure 02_image101
並根據公式(4)(如下所示)計算取得直流無刷馬達160在不同角速度與角加速度下之扭力需求，
Figure 02_image103
(4)Next, the control unit 150 electrically rotates the angular velocity according to the internal parameters
Figure 02_image101
According to formula (4) (shown below), the torque requirement of the brushless DC motor 160 at different angular velocities and angular accelerations is calculated,
Figure 02_image103
(4)

其中，

Figure 02_image105
為馬達輸出的轉矩，亦即維持馬達在特定角速度與特定角加速度下之扭力需求，
Figure 02_image107
為直流無刷馬達160軸端所承受負載轉矩，
Figure 02_image109
為轉子慣量，
Figure 02_image111
為角速度，
Figure 02_image113
為摩擦力。在控制單元150取得直流無刷馬達電氣旋轉角速度
Figure 02_image115
與所計算之
Figure 02_image105
扭力需求後，控制單元150會依據直流無刷馬達160的當前扭力需求狀態，適應性調整驅動單元110之啟動電流信號
Figure 02_image099
的大小，例如將啟動電流信號
Figure 02_image099
的大小進行調降的操作。如此一來，在直流無刷馬達160之啟動程序期間，可以有效地減少直流無刷馬達160的電量損失。among them,
Figure 02_image105
Is the torque output by the motor, that is, the torque required to maintain the motor at a specific angular velocity and a specific angular acceleration,
Figure 02_image107
Is the load torque on the 160 shaft end of the DC brushless motor,
Figure 02_image109
Is the rotor inertia,
Figure 02_image111
Is the angular velocity,
Figure 02_image113
For friction. Obtain the electrical rotation angular velocity of the DC brushless motor in the control unit 150
Figure 02_image115
And calculated
Figure 02_image105
After the torque is required, the control unit 150 will adaptively adjust the starting current signal of the drive unit 110 according to the current torque demand state of the DC brushless motor 160
Figure 02_image099
The magnitude of the current signal will start
Figure 02_image099
The size of the operation is reduced. In this way, during the startup procedure of the DC brushless motor 160, the power loss of the DC brushless motor 160 can be effectively reduced.

上述說明了本實施例之馬達控制裝置100的各元件及其配置關係，以下將列舉其他實施例來說明馬達控制裝置100的操作。The above describes the components of the motor control device 100 of the present embodiment and their configuration relationships. Other embodiments will be listed below to illustrate the operation of the motor control device 100.

第2圖為本發明之一實施例之馬達控制裝置的運作時序圖。請參考第2圖，標號T為啟動程序期間，亦即開迴路控制階段，且啟動程序期間T包括期間T1、T2、T3與T4。曲線S11表示驅動直流無刷馬達160之相電流，曲線S12表示本發明所預估之直流無刷馬達160之軸端負載狀態，

Figure 02_image099
為啟動電流信號(對應直流無刷馬達160之相電流峰值)，W1為提供給直流無刷馬達160之電氣旋轉角速度之命令對應的實際值，在期間T1~T4其值為
Figure 02_image115
，其餘期間其值為速度命令產生器111所產生之角速度命令，S1為直流無刷馬達160之實際轉速。Figure 2 is a timing diagram of the operation of the motor control device according to an embodiment of the invention. Please refer to Figure 2, the label T is the start-up procedure period, that is, the open-loop control phase, and the start-up procedure period T includes periods T1, T2, T3, and T4. Curve S11 represents the phase current driving the brushless DC motor 160, and curve S12 represents the shaft end load state of the brushless DC motor 160 estimated by the present invention.
Figure 02_image099
To start the current signal (corresponding to the peak value of the phase current of the DC brushless motor 160), W1 is the actual value corresponding to the command of the electrical rotation angular velocity provided to the DC brushless motor 160. The value is in the period T1~T4
Figure 02_image115
, The value of the angular velocity command generated by the velocity command generator 111 during the remaining period, S1 is the actual rotation speed of the DC brushless motor 160.

在期間T1，控制單元150提供啟動電流信號

Figure 02_image099
並將啟動電流信號
Figure 02_image099
增加至第一預設值i1。另外，驅動單元110依據具有第一預設值i1的啟動電流信號
Figure 02_image099
與相電流信號產生對應的驅動電壓信號並提供給變頻器130，使變頻器130依據驅動電壓信號而產生驅動電流信號，以驅動直流無刷馬達160進行運轉。During the period T1, the control unit 150 provides a starting current signal
Figure 02_image099
And will start the current signal
Figure 02_image099
Increase to the first preset value i1. In addition, the driving unit 110 is based on the starting current signal having the first preset value i1
Figure 02_image099
The driving voltage signal corresponding to the phase current signal is generated and provided to the inverter 130, so that the inverter 130 generates a driving current signal according to the driving voltage signal to drive the DC brushless motor 160 to operate.

在期間T2，如以上原理分析直流無刷馬達160之實際軸端負載狀態會反應於電流控制器120和121之輸出d軸電壓信號

Figure 02_image093
和q軸電壓信號
Figure 02_image117
，據此，控制單元150可對d軸電壓信號
Figure 02_image093
或q軸電壓信號
Figure 02_image095
進行處理(例如低通濾波及積分放大處理)，以取得直流無刷馬達160之軸端負載狀態分級資訊(如第2圖的曲線S12)，分級資訊可例如輕載、中載或重載。During the period T2, the actual shaft end load state of the DC brushless motor 160 will be reflected in the output d-axis voltage signal of the current controllers 120 and 121 based on the above analysis.
Figure 02_image093
And q-axis voltage signal
Figure 02_image117
According to this, the control unit 150 can respond to the d-axis voltage signal
Figure 02_image093
Or q-axis voltage signal
Figure 02_image095
Processing (such as low-pass filtering and integral amplification processing) is performed to obtain the shaft end load status classification information of the DC brushless motor 160 (such as curve S12 in FIG. 2). The classification information can be light load, medium load, or heavy load, for example.

在期間T3，控制單元150依據直流無刷馬達之軸端負載狀態(即曲線S12所提供之軸端負載資訊)，將啟動電流信號

Figure 02_image099
由第一預設值i1調降至第二預設值i2，並且調降的斜率例如為△1。其中，第二預設值i2的有效值(方均根)例如為3A。第一預設值的有效值(方均根)例如為4A。第二預設值i2可依據軸端負載狀態的不同而改變。舉例來說，輕載對應之第二預設值i2會小於中載對應之第二預設值i2，且中載對應之第二預設值i2也會小於重載對應之第二預設值i2。During the period T3, the control unit 150 will start the current signal according to the shaft end load status of the DC brushless motor (ie the shaft end load information provided by curve S12)
Figure 02_image099
The first preset value i1 is adjusted to the second preset value i2, and the slope of the decrease is, for example, Δ1. Wherein, the effective value (root mean square) of the second preset value i2 is, for example, 3A. The effective value (root mean square) of the first preset value is, for example, 4A. The second preset value i2 can be changed according to the load state of the shaft end. For example, the second preset value i2 corresponding to light load will be smaller than the second preset value i2 corresponding to medium load, and the second preset value i2 corresponding to medium load will also be smaller than the second preset value corresponding to heavy load i2.

在期間T4，當提供給直流無刷馬達160之電氣角速度命令對應的值W1到達預設角速度Wset 且維持於預設角速度Wset 時，並且直流無刷馬達160同步旋轉時即(s1=

Figure 02_image119
)其馬達轉速也會維持固定值。此時，由於直流無刷馬達160之轉速維持固定，則公式(4)中之
Figure 02_image121
會歸零，且直流無刷馬達160所對應之摩擦力B會隨直流無刷馬達160之轉速上升而下降(摩擦力會下降)，因此控制單元150可以透過公式(4)或查表取得對應直流無刷馬達160的扭力需求，亦即直流無刷馬達160的扭力需求會下降。During the period T4, when the value W1 corresponding to the electrical angular velocity command provided to the DC brushless motor 160 reaches the preset angular velocity W set and is maintained at the preset angular velocity W set , and the DC brushless motor 160 rotates synchronously (s1=
Figure 02_image119
) Its motor speed will also maintain a fixed value. At this time, since the speed of the brushless DC motor 160 remains constant, the formula (4)
Figure 02_image121
It will return to zero, and the friction force B corresponding to the brushless DC motor 160 will decrease as the speed of the brushless DC motor 160 increases (friction force will decrease), so the control unit 150 can obtain the corresponding through formula (4) or look-up table The torque requirement of the DC brushless motor 160, that is, the torque requirement of the DC brushless motor 160 will decrease.

接著，控制單元150便可依據直流無刷馬達160之扭力需求，將啟動電流信號

Figure 02_image099
由第二預設值i2調降至第三預設值i3，並且調降的斜率例如為△2。其中，第三預設值i3的有效值(方均根)例如為2A。類似地，第三預設值i3也會隨著第二預設值i2的不同而改變。Then, the control unit 150 can start the current signal according to the torque requirement of the DC brushless motor 160
Figure 02_image099
The second preset value i2 is decreased to the third preset value i3, and the slope of the decrease is, for example, Δ2. The effective value (root mean square) of the third preset value i3 is, for example, 2A. Similarly, the third preset value i3 will also change with the second preset value i2.

第3圖為本發明之另一實施例之馬達控制裝置的運作時序圖。在第3圖中，在啟動程序期間T的期間T1與T2，啟動電流信號

Figure 02_image099
與直流無刷馬達160之電氣旋轉角速度W1大致上與第2圖相同。第3圖與第2圖的差異在於在期間T2之後的期間T3，當直流無刷馬達160之電氣旋轉角速度W1到達預設角速度Wset 且維持於預設角速度Wset 時，直流無刷馬達160之轉速也會維持固定。Fig. 3 is an operation timing diagram of a motor control device according to another embodiment of the present invention. In Figure 3, during the period T1 and T2 of the start program period T, the start current signal
Figure 02_image099
The electrical rotation angular velocity W1 of the DC brushless motor 160 is substantially the same as that in FIG. 2. The difference between Figure 3 and Figure 2 is that in the period T3 after the period T2, when the electrical rotational angular velocity W1 of the DC brushless motor 160 reaches the preset angular velocity W set and is maintained at the preset angular velocity W set , the DC brushless motor 160 The speed will also remain constant.

此時，由於直流無刷馬達160之轉速維持固定，則公式(2)中之

Figure 02_image121
會歸零，且直流無刷馬達160所對應之摩擦力B會隨直流無刷馬達160之轉速上升而下降(摩擦力會下降)，因此控制單元150可以透過公式(4)或查表取得對應直流無刷馬達160的扭力需求，亦即直流無刷馬達160的扭力需求會下降。接著，控制單元150便可依據直流無刷馬達160之扭力需求，將啟動電流信號
Figure 02_image099
由第一預設值i1調降至第二預設值i2的有效值例如為3A，並且調降的斜率例如為△2。At this time, since the speed of the brushless DC motor 160 remains constant, the formula (2)
Figure 02_image121
It will return to zero, and the friction force B corresponding to the brushless DC motor 160 will decrease as the speed of the brushless DC motor 160 increases (friction force will decrease), so the control unit 150 can obtain the corresponding through formula (4) or look-up table The torque requirement of the DC brushless motor 160, that is, the torque requirement of the DC brushless motor 160 will decrease. Then, the control unit 150 can start the current signal according to the torque requirement of the DC brushless motor 160
Figure 02_image099
The effective value adjusted from the first preset value i1 to the second preset value i2 is, for example, 3A, and the slope of the decrease is, for example, Δ2.

接著，在期間T4，控制單元150依據直流無刷馬達之軸端負載狀態(例如，第2圖的曲線S12)，將啟動電流信號

Figure 02_image099
由第二預設值i2調降至第三預設值i3，並且調降的斜率例如為△1。。其中，第三預設值i3的有效值例如為2A。類似地，第三預設值i3也會依據軸端負載狀態的不同而改變。舉例來說，輕載對應之第三預設值i3會小於中載對應之第三預設值i3，且中載對應之第三預設值i3也會小於重載對應之第三預設值i3。Then, in the period T4, the control unit 150 will start the current signal according to the shaft end load state of the DC brushless motor (for example, the curve S12 in Figure 2)
Figure 02_image099
The second preset value i2 is adjusted to the third preset value i3, and the slope of the decrease is, for example, Δ1. . The effective value of the third preset value i3 is, for example, 2A. Similarly, the third preset value i3 will also change according to the load state of the shaft end. For example, the third preset value i3 corresponding to light load will be smaller than the third preset value i3 corresponding to medium load, and the third preset value i3 corresponding to medium load will also be smaller than the third preset value corresponding to heavy load. i3.

第4圖為本發明之另一實施例之馬達控制裝置的運作時序圖。在第4圖中，在啟動程序期間T的期間T1與T2，啟動電流信號

Figure 02_image099
與直流無刷馬達160之氣旋轉角速度W1大致上與第2圖和第3圖相同。第4圖與第2圖和第3圖的差異在於在期間T2之後的期間T3，控制單元150沒有對啟動電流信號
Figure 02_image099
進行調整，亦即啟動電流信號
Figure 02_image099
仍維持於第一預設值i1。Fig. 4 is an operation timing diagram of a motor control device according to another embodiment of the present invention. In Figure 4, during the period T1 and T2 of the start program period T, the start current signal
Figure 02_image099
The air rotation angular velocity W1 of the DC brushless motor 160 is substantially the same as that of Figs. 2 and 3. The difference between Fig. 4 and Fig. 2 and Fig. 3 is that in the period T3 after the period T2, the control unit 150 does not respond to the start current signal
Figure 02_image099
Make adjustments, that is, start the current signal
Figure 02_image099
It is still maintained at the first preset value i1.

接著，在期間T4，當直流無刷馬達160之電氣旋轉角速度W1到達預設角速度Wset 且維持於預設角速度Wset 時，直流無刷馬達160之轉速也會維持固定。由於直流無刷馬達160之轉速維持固定，且控制單元150所計算之直流無刷馬達160的扭力需求下降，因此控制單元150便可依據直流無刷馬達160之扭力需求及直流無刷馬達160之軸端負載狀態，將啟動電流信號

Figure 02_image099
由第一預設值i1調降至第二預設值i2。其中，第二預設值i2的有效值例如為2A。，第二預設值i2也會依據軸端負載狀態的不同而調整。Then, in the period T4, when the electrical rotation angular velocity W1 of the DC brushless motor 160 reaches the predetermined angular velocity W set and is maintained at the predetermined angular velocity W set , the rotational speed of the DC brushless motor 160 will also remain constant. Since the rotational speed of the brushless DC motor 160 remains constant and the torque demand of the brushless DC motor 160 calculated by the control unit 150 is reduced, the control unit 150 can rely on the torque demand of the brushless DC motor 160 and the torque requirement of the brushless DC motor 160. The load state of the shaft end will start the current signal
Figure 02_image099
Adjust from the first preset value i1 to the second preset value i2. Wherein, the effective value of the second preset value i2 is, for example, 2A. , The second preset value i2 will also be adjusted according to the load state of the shaft end.

於一些實施例中，在對應第2圖、第3圖與第4圖之期間T2~T4，控制單元150會以d軸電壓信號

Figure 02_image093
和q軸電壓信號
Figure 02_image117
之至少一者，確定直流無刷馬達160之軸端負載狀態，且判斷此軸端負載狀態是否為堵轉狀態。當確認軸端負載狀態為堵轉狀態，控制單元150更將啟動電流信號
Figure 02_image099
由第一、第二和第三預設值i1、i2、i3調升至第四預設值i4，使得直流無刷馬達160可以順利運轉。其中，第四預設值i4例如為直流無刷馬達160允許之最大電流，且此最大電流的有效值例如為5A。在本實施例中，啟動電流信號
Figure 02_image099
的調整方式是將第一預設值i1按一上升斜率調升至第四預設值i4，且並不限定此斜率之數值。In some embodiments, during the period T2~T4 corresponding to FIG. 2, FIG. 3, and FIG. 4, the control unit 150 uses the d-axis voltage signal
Figure 02_image093
And q-axis voltage signal
Figure 02_image117
At least one of them is to determine the shaft end load state of the DC brushless motor 160, and determine whether the shaft end load state is a locked rotor state. When it is confirmed that the load state of the shaft end is locked, the control unit 150 will start the current signal
Figure 02_image099
The first, second, and third preset values i1, i2, and i3 are increased to the fourth preset value i4, so that the DC brushless motor 160 can run smoothly. The fourth preset value i4 is, for example, the maximum current allowed by the DC brushless motor 160, and the effective value of the maximum current is, for example, 5A. In this embodiment, the start current signal
Figure 02_image099
The adjustment method is to increase the first preset value i1 to the fourth preset value i4 according to an increasing slope, and the value of this slope is not limited.

由上述實施例的說明，在直流無刷馬達160之啟動程序期間，本實施例之馬達控制裝置100可以依據直流無刷馬達160之軸端負載條件、電氣旋轉角速度及扭力需求，適應性調降啟動電流信號的大小。如此一來，可以避免以持續大的啟動電流信號來驅直流無刷馬達160進行運轉而增加電量損失的情況發生，以有效地減少直流無刷馬達160在啟動程序期間的電量損失。According to the description of the above embodiment, during the startup procedure of the DC brushless motor 160, the motor control device 100 of this embodiment can be adaptively adjusted according to the shaft end load condition, electrical rotation angular speed and torque requirements of the DC brushless motor 160 The magnitude of the starting current signal. In this way, it is possible to avoid the situation where the brushless DC motor 160 is driven to operate with a continuous large starting current signal and increase the power loss, so as to effectively reduce the power loss of the brushless DC motor 160 during the starting procedure.

在前述實施例中，馬達控制裝置100適用於驅動直流無刷馬達160，特別是不具有感測器的直流無刷馬達160，但本發明不限於此。本實施例之馬達控制裝置100亦可適用於驅動內置式永磁同步馬達(Interior Permanent Magnet Synchronous Motor, IPMSM)，並且馬達控制裝置100的運作可參考上述實施例的說明，仍可達到相同的控制效果。In the foregoing embodiment, the motor control device 100 is suitable for driving the DC brushless motor 160, especially the DC brushless motor 160 without a sensor, but the present invention is not limited thereto. The motor control device 100 of this embodiment is also suitable for driving a built-in permanent magnet synchronous motor (Interior Permanent Magnet Synchronous Motor, IPMSM), and the operation of the motor control device 100 can refer to the description of the above embodiment, and the same control can still be achieved. effect.

另外，前述第一預設值是以預設為例，但本發明不限於此。若是直流無刷馬達160之啟動負載的差異不大時，第一預設值也可以據前次啟動程序期間T所取得之d軸電壓信號

Figure 02_image093
和q軸電壓信號
Figure 02_image095
之至少一者的資訊，由控制單元150進行設定。In addition, the foregoing first preset value is based on a preset value as an example, but the present invention is not limited to this. If the difference in the starting load of the brushless DC motor 160 is not significant, the first preset value can also be based on the d-axis voltage signal obtained during the previous starting procedure T
Figure 02_image093
And q-axis voltage signal
Figure 02_image095
The information of at least one of them is set by the control unit 150.

第5圖為依據本發明之一實施例之馬達控制方法500的流程圖。本實施例之馬達控制方法適用於無感測器之直流無刷馬達之啟動程序。在步驟S502中，依據具有第一預設值之啟動電流信號及相電流信號，產生相電壓信號與驅動電壓信號。在步驟S504中，依據驅動電壓信號產生驅動電流信號，以驅動直流無刷馬達進行運轉，其中第一預設值用於至少使直流無刷馬達維持正常運轉。在步驟S506中，感測驅動電流信號，以產生對應之相電流信號。FIG. 5 is a flowchart of a motor control method 500 according to an embodiment of the invention. The motor control method of this embodiment is suitable for the startup procedure of a DC brushless motor without a sensor. In step S502, a phase voltage signal and a driving voltage signal are generated according to the starting current signal and the phase current signal having the first preset value. In step S504, a driving current signal is generated according to the driving voltage signal to drive the DC brushless motor to operate, wherein the first preset value is used to at least maintain the DC brushless motor in normal operation. In step S506, the driving current signal is sensed to generate the corresponding phase current signal.

在步驟S508中，依據隨對應之相電流信號變化之相電壓信號(例如d軸電壓信號和q軸電壓信號之至少一者)與啟動電流信號，確定直流無刷馬達的軸端負載狀態。在步驟S510中，依據軸端負載狀態及/或依據直流無刷馬達之電氣旋轉角速度與扭力需求，適應性調整啟動電流信號的大小。換言之，可僅根據確認的軸端負載狀態直接調整啟動電流，或者是僅根據直流無刷馬達之電氣旋轉角速度與扭力需求直接調整啟動電流，或者是不同階段選擇根據軸端負載狀態和根據直流無刷馬達之電氣旋轉角速度與扭力需求調整啟動電流。在本實施例中，上述扭力需求包括負載轉矩、馬達慣量與摩擦力。In step S508, the shaft end load state of the DC brushless motor is determined according to the phase voltage signal (for example, at least one of the d-axis voltage signal and the q-axis voltage signal) and the starting current signal that vary with the corresponding phase current signal. In step S510, the magnitude of the starting current signal is adaptively adjusted according to the load state of the shaft end and/or according to the electrical rotation angular velocity and torque requirement of the DC brushless motor. In other words, the starting current can be directly adjusted only according to the confirmed shaft end load status, or the starting current can be adjusted directly according to the electrical rotation angular speed and torque requirements of the DC brushless motor, or the different stages can be selected according to the shaft end load status and according to the DC no The electrical rotation angular speed and torque requirements of the brush motor adjust the starting current. In this embodiment, the aforementioned torque requirement includes load torque, motor inertia, and friction.

第6圖為依據本發明之另一實施例之馬達控制方法600的流程圖。本實施例之馬達控制方法600與馬達控制方法500類似。在本實施例中，馬達控制方法600包括馬達控制方法500中的步驟S502~S506及S510外，還包含步驟S608~S610。在步驟S608中，對依據隨相電流信號變化之d軸電壓信號和q軸電壓信號之至少一者進行處理，例如低通濾波及積分放大處理。接著，根據處理過的d軸電壓信號及/或q軸電壓信號以及啟動電流信號確定直流無刷馬達的軸端負載狀態(如步驟S610)。FIG. 6 is a flowchart of a motor control method 600 according to another embodiment of the invention. The motor control method 600 of this embodiment is similar to the motor control method 500. In this embodiment, the motor control method 600 includes steps S502 to S506 and S510 in the motor control method 500, and further includes steps S608 to S610. In step S608, processing is performed on at least one of the d-axis voltage signal and the q-axis voltage signal that vary with the phase current signal, such as low-pass filtering and integral amplification processing. Next, the shaft end load state of the DC brushless motor is determined according to the processed d-axis voltage signal and/or the q-axis voltage signal and the starting current signal (such as step S610).

第7圖為依據本發明之另一實施例之馬達控制方法700的流程圖。本實施例之馬達控制方法700與馬達控制方法500類似。在本實施例中，馬達控制方法700包括馬達控制方法500中的步驟S502~S508外，還包含步驟S710~S712。在步驟S710中，依據軸端負載狀態，將啟動電流信號由第一預設值調降至第二預設值。在一些實施例中，可選擇性地執行步驟S712。在步驟S712中，當直流無刷馬達之電氣旋轉角速度到達預設角速度且維持於預設角速度時，依據直流無刷馬達之扭力需求，將啟動電流信號由第二預設值調降至第三預設值。FIG. 7 is a flowchart of a motor control method 700 according to another embodiment of the invention. The motor control method 700 of this embodiment is similar to the motor control method 500. In this embodiment, the motor control method 700 includes steps S502 to S508 in the motor control method 500, and further includes steps S710 to S712. In step S710, according to the load state of the shaft end, the starting current signal is adjusted from the first preset value to the second preset value. In some embodiments, step S712 may be selectively performed. In step S712, when the electrical rotation angular velocity of the DC brushless motor reaches the preset angular velocity and is maintained at the preset angular velocity, the starting current signal is adjusted from the second preset value to the third according to the torque demand of the DC brushless motor default value.

第8圖為依據本發明之另一實施例之馬達控制方法800的流程圖。本實施例之馬達控制方法800與馬達控制方法700類似，其差異在於步驟S810~S812不同於步驟S710~S712。在步驟S810中，當確定直流無刷馬達的軸端負載狀態且直流無刷馬達之電氣旋轉角速度到達預設角速度並維持於預設頻率時，依據直流無刷馬達之扭力需求，將啟動電流信號由第一預設值調降至第二預設值。在一些實施例中，可選擇性地執行步驟S812。在步驟S812中，依據軸端負載狀態，將啟動電流信號由第二預設值調降至第三預設值。FIG. 8 is a flowchart of a motor control method 800 according to another embodiment of the invention. The motor control method 800 of this embodiment is similar to the motor control method 700, and the difference is that steps S810 to S812 are different from steps S710 to S712. In step S810, when the shaft end load state of the brushless DC motor is determined and the electrical rotational angular velocity of the brushless DC motor reaches the preset angular velocity and is maintained at the preset frequency, the current signal is activated according to the torque requirement of the brushless DC motor Decrease from the first preset value to the second preset value. In some embodiments, step S812 may be selectively performed. In step S812, according to the load state of the shaft end, the starting current signal is adjusted from the second preset value to the third preset value.

第9圖為依據本發明之另一實施例之馬達控制方法900的流程圖。本實施例之馬達控制方法900與馬達控制方法500類似。在本實施例中，馬達控制方法900包括馬達控制方法500中的步驟S502~S508外，還包含步驟S910。在步驟S910中，當軸端負載狀態為堵轉狀態，將啟動電流信號由第一預設值藉由一上升斜率調升至第二預設值，其中第二預設值的最大值為直流無刷馬達允許之最大電流。在一些實施例中，可根據實際需求調整斜率之大小，以調整啟動電流信號的增加幅度。FIG. 9 is a flowchart of a motor control method 900 according to another embodiment of the invention. The motor control method 900 of this embodiment is similar to the motor control method 500. In this embodiment, the motor control method 900 includes steps S502 to S508 in the motor control method 500, and further includes step S910. In step S910, when the load state of the shaft end is the locked rotor state, the starting current signal is increased from the first preset value to a second preset value with a rising slope, wherein the maximum value of the second preset value is DC The maximum current allowed by the brushless motor. In some embodiments, the magnitude of the slope can be adjusted according to actual requirements to adjust the increase range of the starting current signal.

綜上所述，本發明所揭露之馬達控制方法與裝置，透過依據具有第一預設值之啟動電流信號及相電流信號，產生相電壓信號(如d軸電壓信號和q軸電壓信號)與驅動電壓信號，並驅動電壓信號產生驅動電流信號，以驅動直流無刷馬達進行運轉，且依據隨相電流信號變化之d軸電壓信號和q軸電壓信號之至少一者與啟動電流信號，確定直流無刷馬達的軸端負載狀態，並依據軸端負載狀態及/或依據直流無刷馬達之電氣旋轉角速度與扭力需求，適應性調整啟動電流信號的大小。如此一來，可以避免以較大的啟動電流來驅直流無刷馬達進行運轉而增加電量損失的情況發生，以有效地減少直流無刷馬達在啟動程序期間的電量損失。In summary, the motor control method and device disclosed in the present invention generate phase voltage signals (such as d-axis voltage signals and q-axis voltage signals) and phase current signals according to the starting current signal and the phase current signal having a first preset value. Drive voltage signal, and drive voltage signal to generate drive current signal to drive the DC brushless motor to operate, and determine DC based on at least one of d-axis voltage signal and q-axis voltage signal that changes with phase current signal and the starting current signal The load state of the shaft end of the brushless motor, and the size of the starting current signal is adaptively adjusted according to the load state of the shaft end and/or according to the electrical rotation angular speed and torque requirements of the DC brushless motor. In this way, it can be avoided that the brushless DC motor is driven to operate with a larger starting current and the power loss is increased, so as to effectively reduce the power loss of the brushless DC motor during the startup procedure.

本發明雖以實施例揭露如上，然其並非用以限定本發明的範圍，任何所屬技術領域中具有通常知識者，在不脫離本發明之精神和範圍內，當可做些許的更動與潤飾，因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。Although the present invention is disclosed as above by embodiments, it is not intended to limit the scope of the present invention. Anyone with ordinary knowledge in the relevant technical field can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to those defined by the attached patent application scope.

100:馬達控制裝置110:驅動單元111:速度產生器112:減法器113:速度控制器114、122、123:限制器115:速度及位置估測器116:反電動勢估測器117、118:切換器119:三相轉二相轉換器120、121:電流控制器124:二相轉三相轉換器125:調變單元130:變頻器140:感測單元150:控制單元160:直流無刷馬達iqs :啟動電流信號

Figure 02_image001
、
Figure 02_image003
:相電壓信號
Figure 02_image013
、Wset :角速度
Figure 02_image015
:角速度誤差
Figure 02_image017
、
Figure 02_image019
:反電動勢電壓
Figure 02_image021
、
Figure 02_image033
、
Figure 02_image035
:電氣角度
Figure 02_image023
、
Figure 02_image025
:靜止軸電壓
Figure 02_image027
、
Figure 02_image029
:靜止軸電流
Figure 02_image031
:電流信號
Figure 02_image007
、
Figure 02_image009
、
Figure 02_image011
:相電流信號
Figure 02_image037
、
Figure 02_image039
:同步軸電流
Figure 02_image005
、
Figure 02_image031
:電流
Figure 02_image045
、
Figure 02_image047
、
Figure 02_image049
:三相電壓T:啟動程序期間W1:電氣旋轉角速度S1:轉速T1、T2、T3、T4:期間S11、S12:曲線i1:第一預設值i2:第二預設值i3:第三預設值500、600、700、800、900:馬達控制方法S502~S510、S608、S610、S710、S712、S810、S812、S910:步驟100: Motor control device 110: Drive unit 111: Speed generator 112: Subtractor 113: Speed controller 114, 122, 123: Limiter 115: Speed and position estimator 116: Back-EMF estimator 117, 118: Switch 119: Three-phase to two-phase converter 120, 121: Current controller 124: Two-phase to three-phase converter 125: Modulation unit 130: Inverter 140: Sensing unit 150: Control unit 160: DC brushless Motor i qs : starting current signal
Figure 02_image001
,
Figure 02_image003
: Phase voltage signal
Figure 02_image013
, W set : angular velocity
Figure 02_image015
: Angular velocity error
Figure 02_image017
,
Figure 02_image019
: Back-EMF voltage
Figure 02_image021
,
Figure 02_image033
,
Figure 02_image035
: Electrical angle
Figure 02_image023
,
Figure 02_image025
: Static shaft voltage
Figure 02_image027
,
Figure 02_image029
: Static shaft current
Figure 02_image031
: Current signal
Figure 02_image007
,
Figure 02_image009
,
Figure 02_image011
: Phase current signal
Figure 02_image037
,
Figure 02_image039
: Synchronous shaft current
Figure 02_image005
,
Figure 02_image031
: Current
Figure 02_image045
,
Figure 02_image047
,
Figure 02_image049
: Three-phase voltage T: During the start-up procedure W1: Electrical rotation angular speed S1: Rotation speed T1, T2, T3, T4: Period S11, S12: Curve i1: First preset value i2: Second preset value i3: Third preset Set value 500, 600, 700, 800, 900: Motor control method S502~S510, S608, S610, S710, S712, S810, S812, S910: steps

第1A圖為依據本發明之一實施例之馬達控制裝置的示意圖。 第1B圖為依據本發明之一實施例之直流無刷馬達之單相等效電路。 第1C圖為依據本發明之一實施例之直流無刷馬達之單相等效電路的向量分析。 第1D圖為依據本發明之另一實施例之直流無刷馬達之單相等效電路的向量分析。 第1E圖為依據本發明之一實施例之變頻器之輸出電壓在d-q軸上的向量分析。 第1F圖為依據本發明之另一實施例之變頻器之輸出電壓在d-q軸上的向量分析。 第1G圖為依據本發明之另一實施例之變頻器之輸出電壓在d-q軸上的向量分析。 第1H圖為依據本發明之另一實施例之變頻器之輸出電壓在d-q軸上的向量分析。 第2圖為本發明之一實施例之馬達控制裝置的運作時序圖。 第3圖為本發明之另一實施例之馬達控制裝置的運作時序圖。 第4圖為本發明之另一實施例之馬達控制裝置的運作時序圖。 第5圖為依據本發明之一實施例之馬達控制方法的流程圖。 第6圖為依據本發明之另一實施例之馬達控制方法的流程圖。 第7圖為依據本發明之另一實施例之馬達控制方法的流程圖。 第8圖為依據本發明之另一實施例之馬達控制方法的流程圖。 第9圖為依據本發明之另一實施例之馬達控制方法的流程圖。FIG. 1A is a schematic diagram of a motor control device according to an embodiment of the invention. Figure 1B is a single-phase equivalent circuit of a brushless DC motor according to an embodiment of the present invention. Figure 1C is a vector analysis of a single-phase equivalent circuit of a DC brushless motor according to an embodiment of the present invention. Figure 1D is a vector analysis of a single-phase equivalent circuit of a brushless DC motor according to another embodiment of the present invention. Figure 1E is a vector analysis of the output voltage of the inverter on the d-q axis according to an embodiment of the present invention. Figure 1F is a vector analysis of the output voltage of the inverter according to another embodiment of the present invention on the d-q axis. Figure 1G is a vector analysis on the d-q axis of the output voltage of the inverter according to another embodiment of the present invention. Figure 1H is a vector analysis of the output voltage of the inverter according to another embodiment of the present invention on the d-q axis. Figure 2 is a timing diagram of the operation of the motor control device according to an embodiment of the invention. Fig. 3 is an operation timing diagram of a motor control device according to another embodiment of the present invention. Fig. 4 is an operation timing diagram of a motor control device according to another embodiment of the present invention. Fig. 5 is a flowchart of a motor control method according to an embodiment of the invention. Fig. 6 is a flowchart of a motor control method according to another embodiment of the present invention. Figure 7 is a flowchart of a motor control method according to another embodiment of the present invention. Fig. 8 is a flowchart of a motor control method according to another embodiment of the present invention. Figure 9 is a flowchart of a motor control method according to another embodiment of the present invention.

S502、S504、S506、S508、S510:步驟 S502, S504, S506, S508, S510: steps

Claims (18)

一種馬達控制方法，適用於一直流無刷馬達之啟動程序，該馬達控制方法包括： (a)依據具有一第一預設值之一啟動電流信號及一相電流信號，產生一相電壓信號與一驅動電壓信號； (b)依據該驅動電壓信號產生一驅動電流信號，以驅動一直流無刷馬達進行運轉，其中該第一預設值用於至少使該直流無刷馬達維持正常運轉； (c)感測該驅動電流信號，以產生對應之該相電流信號； (d)依據隨對應之該相電流信號變化之該相電壓信號與該啟動電流信號，確定該直流無刷馬達的一軸端負載狀態；以及 (e)依據該軸端負載狀態及/或依據該直流無刷馬達之一電氣旋轉角速度與一扭力需求，適應性調整該啟動電流信號的大小。A motor control method is suitable for the start procedure of a DC brushless motor. The motor control method includes: (a) generating a phase voltage signal and a phase current signal according to a starting current signal having a first preset value and a phase current signal A driving voltage signal; (b) generating a driving current signal according to the driving voltage signal to drive the DC brushless motor to operate, wherein the first preset value is used to at least maintain the DC brushless motor in normal operation; c) Sense the drive current signal to generate the corresponding phase current signal; (d) Determine a shaft end of the DC brushless motor based on the phase voltage signal and the starting current signal that change with the corresponding phase current signal Load status; and (e) according to the load status of the shaft end and/or according to an electrical rotational angular speed of the DC brushless motor and a torque requirement, adaptively adjusting the magnitude of the starting current signal. 如申請專利範圍第1項所述之馬達控制方法，其中該相電壓信號包含d軸電壓信號和q軸電壓信號之至少一者。According to the motor control method described in claim 1, wherein the phase voltage signal includes at least one of a d-axis voltage signal and a q-axis voltage signal. 如申請專利範圍第1項所述之馬達控制方法，其中步驟(e)包括： 依據該負載狀態，將該啟動電流信號由該第一預設值調降至一第二預設值。According to the motor control method described in claim 1, wherein step (e) includes: adjusting the starting current signal from the first preset value to a second preset value according to the load state. 如申請專利範圍第3項所述之馬達控制方法，其中步驟(e)更包括： 當該直流無刷馬達之該電氣旋轉角速度到達一預設角速度且維持於該預設角速度時，依據該直流無刷馬達之該扭力需求，將該啟動電流信號由該第二預設值調降至一第三預設值。For the motor control method described in item 3 of the scope of patent application, wherein step (e) further includes: when the electrical rotation angular velocity of the DC brushless motor reaches a predetermined angular velocity and is maintained at the predetermined angular velocity, according to the direct current The torque requirement of the brushless motor reduces the starting current signal from the second preset value to a third preset value. 如申請專利範圍第1項所述之馬達控制方法，其中步驟(e)包括： 當該直流無刷馬達之該電氣旋轉角速度到達一預設角速度且維持於該預設角速度時，依據該直流無刷馬達之該扭力需求，將該啟動電流信號由該第一預設值調降至一第二預設值。For the motor control method described in claim 1, wherein step (e) includes: when the electrical rotation angular velocity of the DC brushless motor reaches a predetermined angular velocity and is maintained at the predetermined angular velocity, according to the DC motor The torque requirement of the brush motor reduces the starting current signal from the first preset value to a second preset value. 如申請專利範圍第5項所述之馬達控制方法，其中步驟(e)更包括： 依據該負載狀態，將該啟動電流信號由該第二預設值調降至一第三預設值。According to the motor control method described in claim 5, step (e) further includes: adjusting the starting current signal from the second preset value to a third preset value according to the load state. 如申請專利範圍第1項所述之馬達控制方法，其中步驟(e)包括： 當該負載狀態為一堵轉狀態，將該啟動電流信號由該第一預設值調升至一第二預設值，其中該第二預設值的最大值為該直流無刷馬達允許之一最大電流。For the motor control method described in item 1 of the scope of patent application, step (e) includes: when the load state is a locked-rotor state, increasing the starting current signal from the first preset value to a second preset value Setting value, wherein the maximum value of the second preset value is a maximum current allowed by the DC brushless motor. 如申請專利範圍第1項所述之馬達控制方法，其中步驟(d)包括： 對該相電壓信號進行一低通濾波及積分放大處理，以產生處理後的該相電壓信號；以及 依據處理後的該相電壓信號與該啟動電流信號，確定該直流無刷馬達的該負載狀態。For the motor control method described in item 1 of the patent application, the step (d) includes: performing a low-pass filtering and integral amplification processing on the phase voltage signal to generate the processed phase voltage signal; and according to the processed phase voltage signal The phase voltage signal and the starting current signal determine the load state of the DC brushless motor. 如申請專利範圍第1項所述之馬達控制方法，其中該第一預設值係根據該直流無刷馬達於執行前一次之啟動程序期間所取得之該相電壓信號而設定。As for the motor control method described in claim 1, wherein the first preset value is set according to the phase voltage signal obtained during the previous startup procedure of the DC brushless motor. 一種馬達控制裝置，適用於一直流無刷馬達之啟動程序，該馬達控制裝置包括： 一驅動單元，依據具有一第一預設值之一啟動電流信號及一相電流信號，產生一相電壓信號與一驅動電壓信號； 一變頻器，依據該驅動電壓信號產生一驅動電流信號，以驅動一直流無刷馬達進行運轉，其中該第一預設值用於至少使該直流無刷馬達維持正常運轉； 一感測單元，感測該變頻器之該驅動電流信號，以產生對應之該相電流信號；以及 一控制單元，提供該啟動電流信號，並依據隨對應之該相電流信號變化之該相電壓信號與該啟動電流信號，確定該直流無刷馬達的軸端負載狀態，且依據軸端負載狀態及/或依據該直流無刷馬達之一電氣旋轉角速度與一扭力需求，適應性調整該啟動電流信號的大小。A motor control device suitable for a start-up procedure of a DC brushless motor. The motor control device includes: a drive unit that generates a phase voltage signal according to a start current signal having a first preset value and a phase current signal And a driving voltage signal; an inverter, according to the driving voltage signal to generate a driving current signal to drive the DC brushless motor to operate, wherein the first preset value is used to at least maintain the DC brushless motor to maintain normal operation ; A sensing unit that senses the drive current signal of the inverter to generate the corresponding phase current signal; and a control unit that provides the starting current signal and depends on the phase that changes with the corresponding phase current signal The voltage signal and the starting current signal determine the shaft end load state of the DC brushless motor, and adjust the start adaptively according to the shaft end load state and/or according to an electrical rotational angular velocity and a torque requirement of the DC brushless motor The magnitude of the current signal. 如申請專利範圍第10項所述之馬達控制裝置，其中該相電壓信號包含d軸電壓信號和q軸電壓信號之至少一者。According to the motor control device described in claim 10, the phase voltage signal includes at least one of a d-axis voltage signal and a q-axis voltage signal. 如申請專利範圍第10項所述之馬達控制裝置，其中該控制單元更依據該負載狀態，將該啟動電流信號由該第一預設值調降至一第二預設值。For the motor control device described in claim 10, the control unit further adjusts the starting current signal from the first preset value to a second preset value according to the load state. 如申請專利範圍第12項所述之馬達控制裝置，其中當該直流無刷馬達之該電氣旋轉角速度到達一預設角速度且維持於該預設角速度時，該控制單元依據該直流無刷馬達之該扭力需求，將該啟動電流信號由該第二預設值調降至一第三預設值。For the motor control device described in item 12 of the scope of patent application, when the electrical rotation angular velocity of the DC brushless motor reaches a predetermined angular velocity and is maintained at the predetermined angular velocity, the control unit is based on the The torque demand reduces the starting current signal from the second preset value to a third preset value. 如申請專利範圍第10項所述之馬達控制裝置，其中當該直流無刷馬達之該電氣旋轉角速度到達一預設角速度且維持於該預設角速度時，控制單元更依據該直流無刷馬達之該扭力需求，將該啟動電流信號由該第一預設值調降至一第二預設值。For the motor control device described in item 10 of the scope of patent application, when the electrical rotation angular velocity of the DC brushless motor reaches a predetermined angular velocity and is maintained at the predetermined angular velocity, the control unit further depends on the value of the DC brushless motor The torque requirement reduces the starting current signal from the first preset value to a second preset value. 如申請專利範圍第14項所述之馬達控制裝置，其中該控制單元更依據該負載狀態，將該啟動電流信號由該第二預設值調降至一第三預設值。For the motor control device described in item 14 of the scope of patent application, the control unit further adjusts the starting current signal from the second preset value to a third preset value according to the load state. 如申請專利範圍第10項所述之馬達控制裝置，其中當該負載狀態為一堵轉狀態，該控制單元更將該啟動電流信號由該第一預設值調升至一第二預設值，其中該第二預設值的最大值為該直流無刷馬達允許之一最大電流。For the motor control device described in item 10 of the scope of patent application, when the load state is a locked-rotor state, the control unit further increases the starting current signal from the first preset value to a second preset value , Wherein the maximum value of the second preset value is a maximum current allowed by the DC brushless motor. 如申請專利範圍第10項所述之馬達控制裝置，其中該控制單元更對該相電壓信號進行一低通濾波及積分放大處理，並依據處理後的該相電壓信號與該啟動電流信號，確定該直流無刷馬達的該負載狀態。For the motor control device described in item 10 of the scope of patent application, the control unit further performs a low-pass filtering and integral amplification processing on the phase voltage signal, and determines according to the processed phase voltage signal and the starting current signal The load state of the DC brushless motor. 如申請專利範圍第10項所述之馬達控制裝置，其中該第一預設值係根據該直流無刷馬達於執行前一次之啟動程序期間所取得之該相電壓信號而設定。For the motor control device described in claim 10, the first preset value is set according to the phase voltage signal obtained during the previous startup procedure of the DC brushless motor.
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